Vehicle control device, vehicle control method and vehicle following driving system

Abstract

A vehicle control device is mounted on a following vehicle in a vehicle following driving system in which a leading vehicle and a following vehicle are non-mechanically connected for following driving. The vehicle control device obtains a first physical quantity related to the amount of motion of the leading vehicle when the leading vehicle starts, which is sent from the leading vehicle, and based on the obtained first physical quantity, obtains a second physical quantity related to the amount of motion of the following vehicle when the following vehicle starts, and outputs an instruction for realizing the obtained second physical quantity to an actuator related to the drive of the following vehicle.

Description

Technical Field

[0001] The present invention relates to a vehicle following driving system in which a following vehicle follows a preceding vehicle. Background Art

[0002] As a background technology in the field of automatic driving control of a following vehicle that is electronically connected to a leading vehicle and follows the leading vehicle, there is, for example, Patent Document 1. Patent Document 1 discloses that the following vehicle receives information indicating the driving state of the leading vehicle, such as the vehicle speed or acceleration, information indicating operation quantities, such as the throttle opening, steering angle, and brake operation quantity, and information indicating vehicle specifications (various elements), such as vehicle weight and engine output characteristics, thereby being able to perform following driving control with the same operation as that given to the leading vehicle.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 5-170008 Summary of the invention

[0006] Problems to be solved by the invention

[0007] In Patent Document 1, although it is necessary to control the vehicle distance to be kept constant by inter-vehicle communication during driving, regardless of the vehicle speed, it does not consider the control when the vehicle starts after stopping. That is, due to parking space problems, the vehicle distance when stopped may be shorter than the target inter-vehicle distance when driving, or longer depending on the situation, or may not be consistent with the target inter-vehicle distance when driving. In this case, a technology is also needed for the vehicle to quickly reach the target inter-vehicle distance when driving after starting after stopping.

[0008] An object of the present invention is to provide a vehicle control device, a vehicle control method, and a vehicle following travel system that can quickly control a stopped vehicle to a target inter-vehicle distance during travel after starting.

[0009] Means for solving problems

[0010] According to one embodiment of the present invention, a vehicle control device for a following vehicle is installed in a vehicle following driving system, in which a leading vehicle and a following vehicle are non-mechanically connected for following driving, and the vehicle control device is configured to obtain a first physical quantity related to the motion amount of the leading vehicle when the leading vehicle starts, which is sent from the leading vehicle, and is related to the motion amount of the following vehicle when the following vehicle starts, based on the obtained first physical quantity, and output an instruction for realizing the obtained second physical quantity to an actuator related to the driving of the following vehicle.

[0011] According to an embodiment of the present invention, it is possible to provide a vehicle control device, a vehicle control method, and a vehicle following travel system capable of suppressing a following delay at the time of starting. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a configuration diagram showing the concept of the vehicle following travel system of the first embodiment.

[0013] Figure 2 The timing diagram shows the vehicle speeds, accelerations, and inter-vehicle distances of a leading vehicle and a following vehicle when the following vehicle starts later than the leading vehicle in a conventional vehicle following driving system.

[0014] Figure 3 This is a time series diagram showing the positions, inter-vehicle distance, and vehicle speeds of a leading vehicle and a following vehicle when a following vehicle accelerates suddenly when a vehicle starts in a conventional vehicle following travel system.

[0015] Figure 4 The timing diagram shows the positions, inter-vehicle distance, and vehicle speeds of a leading vehicle and a following vehicle when the following vehicle does not accelerate suddenly when the vehicle starts in a conventional vehicle following driving system.

[0016] Figure 5 This is a block diagram of the structure of the vehicle following driving system of the first embodiment.

[0017] Figure 6 This is a time chart showing the positions, inter-vehicle distances, and vehicle speeds of a leading vehicle and a following vehicle when the vehicle following travel system of the first embodiment has a stop interval shorter than a target inter-vehicle distance during travel.

[0018] Figure 7 This is a time chart showing the positions, inter-vehicle distances, and vehicle speeds of a leading vehicle and a following vehicle when the vehicle following travel system of the second embodiment has a stop interval shorter than a target inter-vehicle distance during travel.

[0019] Figure 8 This is a time chart showing the positions, inter-vehicle distances, and vehicle speeds of a leading vehicle and a following vehicle when the vehicle following travel system of the third embodiment has a stop interval shorter than a target inter-vehicle distance during travel.

[0020] Fig. 9 This is a time chart showing the positions, inter-vehicle distances, and vehicle speeds of a leading vehicle and a following vehicle when the vehicle following travel system of the fourth embodiment is longer than the target inter-vehicle distance during travel. DETAILED DESCRIPTION

[0021] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0022] Example 1

[0023] Figure 1 2 is a block diagram showing the concept of the vehicle following driving system of this embodiment. Figure 1 In the figure, 1 is the leading vehicle, and 2 is the following vehicle that follows the leading vehicle 1. The leading vehicle 1 and the following vehicle 2 are equipped with inter-vehicle communication devices, and the following vehicle 2 is connected to the leading vehicle 1 electronically rather than mechanically to follow the leading vehicle. On the same track as the leading vehicle, the following vehicle always automatically follows the leading vehicle at a certain target inter-vehicle distance.

[0024] Here, in such a vehicle following driving system, when the vehicle stops, due to parking space issues, to avoid being cut in by other vehicles when parking, etc., the vehicle interval when stopped sometimes needs to be shorter than the target vehicle interval when driving, and sometimes it needs to be longer depending on the situation, and sometimes it may not necessarily be consistent with the target vehicle interval when driving.

[0025] The following describes the previous issues. Figure 2 This is a timing diagram showing the speed, acceleration, and inter-vehicle distance of the leading and following vehicles when the vehicle starts from a stopped state in a conventional vehicle following driving system. Figure 2 In FIG. 1 , it is shown that the following car starts later than the preceding car and follows. Figure 2 In (b), the leading vehicle increases its acceleration to a specified value A0 when starting. Figure 2 As shown in (a), the speed is increased, and when the specified speed V0 is reached, the acceleration is set to zero for constant speed driving. On the other hand, the following car follows the acceleration and speed information of the preceding car. However, from the moment when the preceding car reaches the specified speed V0 and sets the acceleration to zero, the acceleration of the preceding car is zero. Therefore, when the following car also sets the acceleration to zero, the following car drives at a constant speed at the speed V1 before reaching the specified speed V0, maintaining the speed difference V0-V1. Therefore, as Figure 2 As shown in (c), the distance between the leading vehicle and the following vehicle will increase. For example, if the distance between vehicles becomes wider during platoon driving, it will cause a collision with the vehicle behind it, which is problematic. To solve this problem, for example, the following vehicle needs to start at the same time as the leading vehicle.

[0026] in addition, Figure 3 This is a time sequence diagram showing the positions, inter-vehicle distance, and vehicle speed of the leading and following vehicles when the vehicle starts from a stopped state in a conventional vehicle following driving system. Figure 3 , it is shown that the vehicle interval when stopped is shorter than the target vehicle interval when traveling. Figure 3 In (c), the leading vehicle increases its speed at the start and drives at a constant speed after reaching the specified speed V0. Figure 3As shown in (b), the following vehicle has a shorter inter-vehicle distance than the target inter-vehicle distance D0 when it stops. Figure 3 As shown in (c), before the distance between the vehicles is widened to a certain extent, the following vehicle stops or starts at a low speed (dashed circle A). Then, in order to make the vehicle speed consistent, it accelerates suddenly (dashed circle B). In this case, there is a problem such as poor ride comfort due to sudden acceleration.

[0027] in addition, Figure 4 In order to solve Figure 3 The above problems are solved without sudden acceleration. Figure 4 As shown in (c), since there is no sudden acceleration, the speed of the following vehicle is slower than that of the preceding vehicle. Figure 4 As shown in (b), the inter-vehicle distance is wider than the target inter-vehicle distance D0 (dashed circle A). Here, as described above, for example, in platooning, the inter-vehicle distance widens, causing a collision with the vehicle behind it, which is problematic. In addition, since the inter-vehicle distance is widened, Figure 4 As shown in (c), in order to shorten the inter-vehicle distance, the speed of the following vehicle is greater than that of the preceding vehicle through following control, and then stabilized at the target inter-vehicle distance D0. In this case, the following delay from the vehicle after stopping to the target inter-vehicle distance during driving is large, and this problem needs to be solved.

[0028] Therefore, in the present embodiment, a vehicle control device, a vehicle control method, and a vehicle following travel system are described below, which enable a stopped vehicle to be quickly controlled to a target inter-vehicle distance during travel after starting.

[0029] Figure 5 FIG. 1 is a structural block diagram of the vehicle following driving system in this embodiment. Figure 5 In the embodiment, the vehicle control device 10 of the leading vehicle 1 obtains information on the state A of the actuators of the driving device 11, the braking device 12, and the steering device 13, namely, engine torque, brake fluid pressure, actual steering angle, ABS (Anti-lock Brake System), TCS (Traction Control System), etc., and obtains vehicle motion amount information B from the vehicle speed / wheel speed sensor 14, the acceleration sensor 15, the yaw rate sensor 16, etc., and obtains driver operation information C from the brake pedal sensor 20, the accelerator pedal sensor 19, the steering torque sensor 18, and the steering angle sensor 17 that obtain the operation amount of the brake pedal, the accelerator pedal, and the steering operated by the driver. In addition, based on this information, the vehicle motion amount estimation unit 21 estimates how the physical quantity (acceleration, vehicle speed, etc.) related to the vehicle motion amount will change. In addition, there is a transmission device 22 that transmits this information as leading vehicle information.

[0030] In addition, since there is a delay in the communication or the actuator response of the following vehicle, the vehicle movement amount estimation unit 21 estimates the movement amount slightly in the future to compensate for the delay. In addition, if the delay is small or the control accuracy of the inter-vehicle distance is low, it is also possible to calculate only by the value of the acceleration sensor or the differential value of the vehicle speed / wheel speed.

[0031] The vehicle control device 30 of the following vehicle 2 includes: a receiving device 31, which receives the preceding vehicle information sent from the vehicle control device 10 of the preceding vehicle 1; a preceding vehicle identification sensor 32, which obtains the relative speed, relative angle, and relative distance to the preceding vehicle 1; an actuator control unit 33, which calculates and outputs the control quantities of a driving device 34 such as an engine or a driving motor, a braking device 35, and a steering device 36 based on the received preceding vehicle information and the information of the preceding vehicle identification sensor 32.

[0032] In this way, the leading vehicle and the following vehicle are connected non-mechanically by inter-vehicle communication. However, when the inter-vehicle communication is interrupted, the following vehicle can also output a command to the actuator control unit to start the following vehicle based on the information from the leading vehicle recognition sensor.

[0033] Figure 6 1 is a timing diagram showing the positions, inter-vehicle distance, and vehicle speed of the leading vehicle and the following vehicle when the vehicle starts from a stopped state in the vehicle following driving system of this embodiment. Figure 6 , it is shown that the vehicle interval when stopped is shorter than the target vehicle interval D0 when traveling. Figure 6 As shown in (c), the clocks (timing) of the leading vehicle and the following vehicle are synchronized, and they start at the same speed at the same time. After that, the following vehicle is controlled as follows: the vehicle speed is slowed down, the distance between the vehicles is increased, and the distance between the vehicles is close to the target distance between the vehicles D0.

[0034] Thus, it is possible to provide a vehicle control device, a vehicle control method, and a vehicle following travel system that can quickly control a stopped vehicle to a target inter-vehicle distance during travel after the vehicle starts.

[0035] As described above, according to the present embodiment, in the vehicle following travel system, it is possible to suppress a following delay at the time of starting.

[0036] Example 2

[0037] Figure 7 The vehicle following travel system of the present embodiment is a time chart showing the positions of a preceding vehicle and a following vehicle, the inter-vehicle distance, and the vehicle speed when the vehicle starts from a stopped state. Figure 7 and Figure 6 Similarly, this shows a case where the vehicle interval during a stop is shorter than the target inter-vehicle distance D0 during a run.

[0038] In this embodiment, if Figure 7 As shown in (c), the leading vehicle and the following vehicle start at the same speed at the same time. After that, the following vehicle performs the following control: slows down the vehicle speed, increases the inter-vehicle distance, and makes the inter-vehicle distance close to the target inter-vehicle distance D0. After that, the following vehicle performs the following control again: keeps the same speed as the leading vehicle, and slowly slows down the vehicle speed again to approach the target speed.

[0039] As described above, according to the present embodiment, similarly to the first embodiment, the vehicle after stopping can be quickly controlled to the target inter-vehicle distance during travel after starting, and the following delay during start can be suppressed in the vehicle following travel system.

[0040] Example 3

[0041] Figure 8 It is a time chart showing the positions, inter-vehicle distances, and vehicle speeds of a leading vehicle and a following vehicle when the vehicle starts from a stopped state in the vehicle following travel system in this embodiment. Figure 8 and Figure 6 , 7 Similarly, it indicates that the vehicle interval during stopping is shorter than the target inter-vehicle distance D0 during traveling.

[0042] In this embodiment, if Figure 8 As shown in (c), although the leading vehicle and the following vehicle start at the same time, the following vehicle starts at a speed with a gentler slope than the leading vehicle. After the vehicle spacing is increased to a certain extent, the following vehicle is controlled as follows: the vehicle speed is the same as that of the leading vehicle, so as to approach the target vehicle spacing.

[0043] As described above, according to this embodiment, similarly to the first and second embodiments, the vehicle after stopping can be quickly controlled to the target inter-vehicle distance during travel after starting, and the following delay during start can be suppressed in the vehicle following travel system.

[0044] Example 4

[0045] Fig. 9 The following diagram is a time chart showing the positions, inter-vehicle distances, and vehicle speeds of a leading vehicle and a following vehicle when the vehicle starts from a stopped state in the vehicle following travel system of the present embodiment. Fig. 9 This indicates that the vehicle interval during a stop is longer than the target inter-vehicle distance D0 during a run.

[0046] In this embodiment, if Fig. 9 As shown in (c), although the leading vehicle and the following vehicle start at the same time, the following vehicle starts at a speed with a greater slope than the leading vehicle. As a result, control is performed to narrow the inter-vehicle distance and bring the inter-vehicle distance close to the target inter-vehicle distance D0.

[0047] In addition, the following vehicle may also be controlled as follows: the following vehicle starts at the same speed as the leading vehicle, and then accelerates to narrow the inter-vehicle distance, so that the inter-vehicle distance approaches the target inter-vehicle distance D0.

[0048] As described above, according to this embodiment, even if the vehicle interval when stopped is longer than the target inter-vehicle distance when traveling, the stopped vehicle can be quickly controlled to the target inter-vehicle distance when traveling after starting, and the following delay when starting can be suppressed in the vehicle following traveling system.

[0049] The above embodiments are described, but the present invention is not limited to the above embodiments, and includes various modified examples. For example, the above embodiments are described in detail to explain the present invention in an easy-to-understand manner, and are not necessarily limited to having all the structures described. In addition, a part of the structure of a certain embodiment can be replaced with the structure of another embodiment, and the structure of another embodiment can be added to the structure of a certain embodiment. In addition, for a part of the structure of each embodiment, other structures can be added, deleted, or replaced.

[0050] This application claims the benefit of priority based on Japanese Patent Application No. 2018-163127 filed on August 31, 2018. The entire disclosure of Japanese Patent Application No. 2018-163127 filed on August 31, 2018, including the specification, claims, drawings, and abstract, is incorporated herein by reference in its entirety.

[0051] Description of symbols

[0052] 1: First car

[0053] 2: Follow-up car

[0054] 10: Vehicle control device for the leading vehicle

[0055] 11: Driving device

[0056] 12: Braking device

[0057] 13: Steering device

[0058] 14: Vehicle speed / wheel speed sensor

[0059] 15: Acceleration sensor

[0060] 16: Yaw rate sensor

[0061] 17: Steering angle sensor

[0062] 18: Steering torque sensor

[0063] 19: Accelerator pedal sensor

[0064] 20: Brake pedal sensor

[0065] 21: Vehicle motion estimation unit

[0066] 22: Transmitter

[0067] 30: Vehicle control device for following vehicles

[0068] 31: Receiving device

[0069] 32: Preceding vehicle recognition sensor

[0070] 33: Actuator control unit

[0071] 34: Drive device

[0072] 35: Braking device

[0073] 36: Steering device

Claims

1. A vehicle control device, mounted on a following vehicle in a vehicle following travel system, wherein a leading vehicle and the following vehicle are non-mechanically coupled to follow each other, The vehicle control device acquiring a first physical quantity related to the amount of motion of the preceding vehicle when the preceding vehicle starts moving and transmitted from the preceding vehicle, Based on the first physical quantity obtained, a second physical quantity related to the movement amount of the following vehicle when the following vehicle starts is obtained, and the second physical quantity is used to synchronize the following vehicle with the leading vehicle and start at the same time and speed as the leading vehicle. outputting a command for realizing the obtained second physical quantity to an actuator related to driving of the following vehicle, The vehicle control device changes the acceleration of the following vehicle after starting according to the inter-vehicle distance between the preceding vehicle and the following vehicle when they are stopped, thereby controlling the inter-vehicle distance between the preceding vehicle and the following vehicle when they are traveling to a target inter-vehicle distance.

2. The vehicle control device according to claim 1, wherein: When the leading vehicle and the following vehicle start, if the inter-vehicle distance when the leading vehicle and the following vehicle are stopped is shorter than the target inter-vehicle distance when the leading vehicle and the following vehicle are traveling, the vehicle control device makes the acceleration of the following vehicle after starting the same as or smaller than that of the leading vehicle.

3. The vehicle control device according to claim 2, wherein: The vehicle control device slows down the acceleration of the following vehicle before the vehicle speed of the following vehicle becomes equal to the vehicle speed of the preceding vehicle.

4. The vehicle control device according to claim 1, wherein: When the leading vehicle and the following vehicle start, if the target inter-vehicle distance when the leading vehicle and the following vehicle are traveling is longer than the inter-vehicle distance when the leading vehicle and the following vehicle are stopped, the vehicle control device makes the acceleration of the following vehicle after starting the same as or greater than that of the leading vehicle.

5. The vehicle control device according to claim 1, wherein: The non-mechanical connection is performed using vehicle-to-vehicle communication between the preceding vehicle and the following vehicle. When the inter-vehicle communication is interrupted, the vehicle control device outputs a command for starting the following vehicle to the actuator based on information from a preceding vehicle recognition sensor provided at the following vehicle.

6. The vehicle control device according to claim 1, wherein: The inter-vehicle distance between the preceding vehicle and the following vehicle when the preceding vehicle and the following vehicle are stopped is set to be shorter than a target inter-vehicle distance between the preceding vehicle and the following vehicle when the preceding vehicle and the following vehicle are traveling.

7. A vehicle control method, the method being executed by a vehicle control device mounted on a following vehicle in a vehicle following travel system, wherein a leading vehicle and the following vehicle are non-mechanically coupled to follow each other, The vehicle control method acquiring a first physical quantity related to the amount of motion of the preceding vehicle when the preceding vehicle starts moving and transmitted from the preceding vehicle, Based on the first physical quantity obtained, a second physical quantity related to the movement amount of the following vehicle when the following vehicle starts is obtained, and the second physical quantity is used to synchronize the following vehicle with the leading vehicle and start at the same time and speed as the leading vehicle. outputting a command for realizing the obtained second physical quantity to an actuator related to driving of the following vehicle, The acceleration of the following vehicle after starting is changed according to the inter-vehicle distance between the preceding vehicle and the following vehicle when they are stopped, so that the inter-vehicle distance between the preceding vehicle and the following vehicle when they are traveling is controlled to be a target inter-vehicle distance.

8. A vehicle following driving system, wherein a leading vehicle and a following vehicle are non-mechanically connected to each other so as to follow each other. The leading vehicle includes: A vehicle motion detection sensor for detecting a physical quantity related to the motion of the preceding vehicle; a first control unit for obtaining a first physical quantity related to the amount of motion of the leading vehicle when the leading vehicle starts, based on a physical quantity related to the amount of motion of the leading vehicle detected by the vehicle motion amount detection sensor and a signal related to a state of an actuator related to braking, driving or steering of the leading vehicle; as well as a transmitting unit that transmits the first physical quantity obtained by the first control unit to the following vehicle, The subsequent vehicles include: a receiving unit that acquires the first physical quantity transmitted from the transmitting unit; a second control unit that obtains a second physical quantity related to the movement amount of the following vehicle when the following vehicle starts, based on the first physical quantity received by the receiving unit, the second physical quantity being used to synchronize the following vehicle with the leading vehicle and start at the same time and speed as the leading vehicle; and an output unit for outputting, to an actuator related to driving of the following vehicle, a signal for realizing the second physical quantity obtained by the second control unit, In the following vehicle, the acceleration of the following vehicle after starting is changed according to the inter-vehicle distance between the preceding vehicle and the following vehicle when they are stopped, so that the inter-vehicle distance between the preceding vehicle and the following vehicle when they are traveling is controlled to be a target inter-vehicle distance.

Images