Device for determining a convoy vehicle and vehicle
Patent Information
- Authority / Receiving Office
- DE · DE
- Patent Type
- Patents
- Current Assignee / Owner
- ISUZU MOTORS LTD
- Filing Date
- 2019-08-30
- Publication Date
- 2026-07-23
AI Technical Summary
Existing systems struggle to accurately determine a platoon vehicle when two preceding vehicles travel side by side or swap positions, leading to reduced accuracy in platoon vehicle determination.
A platoon vehicle determination apparatus that includes a storage section to store identification information of a first vehicle, a detection section to acquire and location information of a third vehicle from a second vehicle, and a determination section to compare this information with the first vehicle's identification to identify a platoon vehicle candidate based on location and identification matching.
Enhances the accuracy of determining a platoon vehicle by correctly identifying the appropriate vehicle even in complex scenarios, such as when vehicles swap positions, using inter-vehicle communication and sensors like cameras and radar.
Abstract
Description
Technical field
[0001] The present disclosure relates to a device for determining a platoon vehicle and a vehicle. Background of the invention
[0002] In the known prior art, a system configured to determine that a platoon vehicle is to be organized into a platoon with a first vehicle is known (see, for example, PTL 1) which includes a detection section configured to detect identification information of a leading vehicle traveling in front of the first vehicle and a communication section configured to receive identification information of a platoon vehicle from any of the platoon vehicles of the surrounding vehicles, which are located, for example, in an area around the first vehicle.If the identification information of the vehicle ahead, captured by the detection section, and the identification information of the platoon vehicle, received by the communication section, match, the system determines the vehicle ahead to be a platoon vehicle and executes a predetermined procedure. Citation list for patent literature
[0003] PTL 1 Japanese patent application disclosure no. 2013-131065 Summary of the invention: Technical problem
[0004] In the system disclosed in PTL 1, when two vehicles ahead are driving side by side or when two vehicles ahead exchange their left and right positions, it is unclear to which of the two vehicles ahead the identification information captured by the detection section belongs, and the accuracy of determining the platoon vehicle is adversely reduced.
[0005] The subject of the present disclosure is to provide a device for determining a platoon vehicle and a vehicle that can increase the accuracy of the determination of the platoon vehicle. Solution to the problem
[0006] To achieve the above-mentioned objective, a device for determining a platoon vehicle of an embodiment of the present disclosure is configured to determine a platoon vehicle candidate, which is to be organized in a platoon with a first vehicle, from the surrounding vehicles located in an area around the first vehicle, wherein the device for determining a platoon vehicle comprises: a memory section configured to store identification information of the first vehicle;a detection section configured to receive from the second vehicle, which is one of the surrounding vehicles, identification information of a third vehicle located in an area around the second vehicle, and location information of the second vehicle in relation to the third vehicle, wherein the identification information of the third vehicle is read by the second vehicle and the location information of the second vehicle is provided by the second vehicle;and a determination section configured to perform a comparison between the identification information of the first vehicle stored in the memory section and the identification information of the third vehicle acquired by the acquisition section, and to determine the second vehicle as the platoon vehicle candidate among the surrounding vehicles based on the result of the comparison and the location information of the second vehicle in relation to the third vehicle, the location information of the second vehicle being acquired by the acquisition section.
[0007] Furthermore, a vehicle of an embodiment of the present disclosure includes the aforementioned device for determining a platoon vehicle. Advantageous effects of the invention
[0008] According to the present disclosure, it is possible to increase the accuracy of the determination of the platoon vessel. List of characters Fig. Figure 1 is a control block diagram schematically representing a configuration of a device for determining platoon vehicles according to an embodiment of the present disclosure; Fig. Figure 2 schematically shows two vehicles traveling in a line in the direction of travel; and Fig. Figure 3 is a flowchart of an exemplary method for determining platoon vessels according to the embodiment of the present disclosure. Description of the embodiments
[0009] One embodiment of the present disclosure is described below with reference to the drawings.
[0010] Fig. 1 is a control block diagram that schematically shows a configuration of a device 1 for determining platoon vessels according to the embodiment of the present disclosure shows. As shown in Fig. As shown in 1, a first vehicle will the platoon vehicle identification device 1 , a display section 2 , a memory section 6 and a vehicle-to-vehicle communication section 11 .
[0011] The display section 2 displays identification information for identifying the first vehicle will on. The display section 2 is positioned where the image is from the outside of the first vehicle will can be recorded. More precisely, the display section 2 A license plate on which the identification information is recorded. The license plate contains information representing a location name, classification information, Japanese hiragana character information, and the serial number. Note that the identification information is not limited to the license plate information, as long as the first vehicle willcan be identified. The identification information can be, for example, a vehicle identification number (VIN).
[0012] The storage section 6 stores the identification information of the first vehicle will Note that the memory section 6 stored identification information of the first vehicle will is identical to the one in the display section 2 Displayed identification information of the first vehicle will .
[0013] Fig. Figure 2 schematically shows two vehicles traveling in a line in the direction of travel. One of the surrounding vehicles is in an area around the first vehicle. will will be used as a second vehicle BB designated and is in Fig. 2 is depicted as the front vehicle of the two vehicles. Furthermore, a vehicle is shown behind the second vehicle. BB drives, as the third vehicle Vcdesignated and is in Fig. Vehicle 2 is shown as the rear vehicle of the two vehicles. The identification information of the third vehicle is also shown. Vc on the display section (license plate) of the third vehicle Vc displayed. As in Fig. As shown in 1, the second vehicle includes BB an object recognition section 7 , a tax section 8 and a vehicle-to-vehicle communication section 10 .
[0014] The object recognition section 7 detects the position and similar characteristics of an object in an area around the second vehicle BB based on information output by at least one camera, finder, radar device, and the like. The object detection section. 7 The result of the detection is sent to the control section. 8 out of.
[0015] The camera outputs data from captured images, for example, by capturing images of the front, rear, and sides of the second vehicle. BB were generated. The camera, for example, takes a picture of the third vehicle. Vc on, which is located on the rear of the second vehicle BB is located, and provides the captured image data of the third vehicle. Vc encompassing the display section (license plate) to the control section 8 The camera uses a known solid-state component, such as a charge-coupled image sensor (CCD) and a complementary metal oxide semiconductor image sensor (CMOS).
[0016] The finder detects the distance to the object by shining light (irradiation light) into an area around the second vehicle. BBIt emits light and receives scattered light from the object, and outputs a detection result. A Light Detection and Ranging (LiDAR) or Laser Imaging Detection and Ranging (LiDAR) system is used as the finder.
[0017] The radar device detects at least the position (distance and orientation) of an object by emitting electromagnetic waves into an area around the second vehicle. BB The radar system emits and receives electromagnetic waves reflected from the object (reflection waves) and outputs a detection result. In doing so, the radar system detects the position of the third vehicle. Vc The position (distance and orientation) of the second vehicle can be determined from the data collection result. BB with regard to the third vehicle Vc be determined.
[0018] As in Fig. As shown in 1, the tax section 8 a function as a reading section 9 The reading section 9It reads identification information such as letters and numbers. The reading section 9 reads the identification information of the third vehicle recorded in the display section. Vc based on data from the captured image of the third vehicle Vc , encompassing the display section, which was created, for example, by taking an image with a camera.
[0019] The vehicle-to-vehicle communication section 10A communication device is designed to use a wireless radio wave of a predetermined frequency band to transmit and receive data between vehicles and exchange a variety of vehicle-related information (hereinafter referred to as "vehicle information"). This vehicle information includes vehicle control information, the driving states of surrounding vehicles, and similar data. The inter-vehicle communication section transmits this information. 10 The vehicle information includes the identification information of the third vehicle. Vc and the location information (distance and orientation) of the second vehicle BB with regard to the third vehicle Vc to cross-vehicle communication 11 of the first vehicle will .
[0020] The vehicle-to-vehicle communication section 11sends the identification information of the third vehicle Vc and the location information (distance and orientation) of the second vehicle BB with regard to the third vehicle Vc , which are from the vehicle-to-vehicle communication section 10 were sent to the platoon vehicle identification device 1 .
[0021] The device 1 The determination of platoon vessels includes a control section 3 The tax section 3 It consists of a microcomputer comprising a central processing unit (CPU), a read-only memory (ROM), a random-access memory (RAM), an input interface, and an output interface. The CPU reads a program corresponding to the procedure from the ROM and loads it into the RAM, and performs centralized control of operations for each block and the like in conjunction with the loaded program.
[0022] The control section 3 It has functions such as the recording section 4 and the determination section 5 Note that these functions may be contained within an electrical control unit (ECU), which is a device that uses electronic circuitry to control every system in a vehicle. Additionally, some or all of these functions may also be provided separately by the control unit.
[0023] The recording section 4 captures the identification information of the third vehicle Vc and the position information (distance and orientation) of the second vehicle BB with regard to the third vehicle Vc .
[0024] The determination section 5 compares the identification information of the third vehicle Vc , which from the recording section 4were recorded, with the identification information of the first vehicle will , which are in the storage section 6 are stored. If the two identification pieces of information are identical, the determination section determines 5 the second vehicle BB , located at the front of the first vehicle will is located as a platoon vehicle candidate based on the position information (distance and orientation) of the second vehicle BB with regard to the first vehicle will as a third vehicle Vc (a vehicle whose identification information is being read). On the other hand, if the two sets of identification information are not identical, the determination section ends. 5 the procedure for determining the vehicle as a platoon vehicle candidate.
[0025] Next, a method for determining a platoon vehicle in the present embodiment is described with reference to Fig. 3 described. Fig. Figure 3 is a flowchart of an exemplary method for determining platoon vessels according to the embodiment of the present disclosure. The flowchart method is expediently implemented in the first vessel. will started, while the first vehicle will is on its way. Here, any vehicle from the surrounding vehicles is also moved around the first vehicle. will as a second vehicle BB specified, and any of the surrounding vehicles around the second vehicle BB will be the third vehicle Vc determined.
[0026] First, in step S100, the data acquisition section records 4 the identification information of the third vehicle Vc In this example, the capture section receives... 4the identification information of the third vehicle Vc from the second vehicle BB via cross-vehicle communication to obtain the identification information of the third vehicle Vc to record.
[0027] Next, in step S110, the data collection section records 4 the location information of the second vehicle BB (Distance and direction) in relation to the third vehicle Vc In this example, the capture section receives... 4 the location information of the second vehicle BB with regard to the third vehicle Vc from the second vehicle BB via cross-vehicle communication to obtain the location information of the second vehicle BB with regard to the third vehicle Vc to record.
[0028] Next, in step S120, the determination section reads 5the identification information of the first vehicle will from the memory section 6 .
[0029] Next, in step S130, the determination section determines 5 The procedure checks whether the two pieces of identification information are identical. If the two pieces of identification information are identical (step S130: YES), the procedure continues to step S140. If, however, the two pieces of identification information are not identical (step S130: NO), the procedure is terminated.
[0030] In step S140, the determination section determines 5 the second vehicle BB as a candidate for a platoon vehicle. The process then ends.
[0031] Note that the determination result of the determination section 5 is issued. The first vehicle willreceives unique information (such as the vehicle identification number and license plate information) of the second vehicle. BB as platoon vehicle candidates through cross-vehicle communication based on the determination result from the determination section 5 is issued. The second vehicle BB is identified as a platoon vehicle based on its unique information.
[0032] The platoon vehicle identification device 1 According to the present embodiment, it is arranged to be a platoon vehicle candidate that is in a platoon with the first vehicle will to be organized among the surrounding vehicles, which are located in an area around the first vehicle will are located, determined, wherein the platoon vehicle determination device 1 The following includes: a memory section 6, which is set up to provide identification information of the first vehicle will stores; a recording section 4 , which is set up so that it can be operated by a second vehicle BB , which is one of the surrounding vehicles, identification information of a third vehicle Vc , which is located in an area around the second vehicle BB is located, and location information of the second vehicle BB with regard to the third vehicle Vc recorded, whereby the identification information of the third vehicle Vc from the second vehicle BB be read and the location information of the second vehicle BB from the second vehicle BB be specified, and a definition section 5 , which is set up to perform a comparison between the data in the memory section 6 stored identification information of the first vehicle willand the one through the recording section 4 captured identification information of the third vehicle Vc carries out, and the second vehicle BB as the platoon vehicle candidate among the surrounding vehicles based on a result of the comparison and the location information of the second vehicle BB with regard to the third vehicle Vc determined, whereby the location information of the second vehicle BB through the recording section 4 is recorded. In this way, the vehicle's own position information is transmitted to the second vehicle. BB to the first vehicle will transferred, thus avoiding a situation in which the first vehicle will incorrectly the position of the second vehicle BB recorded, and the accuracy of the determination of the second vehicle BB as a platoon vehicle candidate can be increased.
[0033] Additionally, the second vehicle transmits BB the vehicle's own position information (the position information of the second vehicle) BB with regard to the third vehicle Vc ) to the first vehicle will , and thus the determination section can 5 of the first vehicle will the second vehicle BB distinguishing a platoon vehicle candidate even in a location such as a tunnel, where the vehicle position cannot be determined using a global positioning system (GPS).
[0034] Note that the position (distance and orientation) of the second vehicle BB with regard to the third vehicle VcIn the present embodiment, the value is determined based on the detection result of the radar device, but the present disclosure is not limited to this. For example, it can be specified based on image data of the display section (license plate) acquired by image capture with the camera.
[0035] Additionally, in the present embodiment, the display section can show a two-dimensional code that is a converted identification information, such as a Quick Response Code (QR code) (registered trademark). The information contained in the two-dimensional code can be a marking identifier (ID), a unique vehicle ID, a common vehicle ID, a vehicle group ID, the destination, the password (signal), and a combination of this information. The QR code is, for example, affixed to the vehicle body.
[0036] Furthermore, the display section can 2 For example, it could be a liquid crystal display. In the case that the first vehicle will when the start switch of the first vehicle is turned on will A random ID is assigned, the display section 2 Display the random ID.
[0037] Note that the first vehicle will practically the same configuration as the second vehicle BB can have, and the second vehicle BB can have the same configuration as the first vehicle will have such a configuration, the second vehicle BB even in the case where the vehicle in front of two vehicles is the first vehicle will and the vehicle at the rear, the second vehicle BB is the first vehicle will identify as a platoon vehicle candidate among the surrounding vehicles.
[0038] The embodiments mentioned above are merely examples of the present disclosure, and the technical scope of the present disclosure should not be considered limited by them. In other words, various modifications of the present disclosure may be made, provided they are within the spirit and scope of the present disclosure.
[0039] This application claims to the Japanese patent application No. 2018-163384, which was filed on August 31, 2018, the disclosure of which is comprehensively contained herein by reference in their entirety, including the description, the drawings and the summary. Industrial applicability
[0040] The present disclosure is advantageously used for a vehicle comprising a vehicle identification device that requires higher identification accuracy for platooning vehicles. Reference symbol list First vehicle Vb Second vehicle Vc Third Vehicle 1 Device for determining a platoon vessel 2 Display section 3 Control section 4. Recording section 5. Determination section 7 Object Recognition Section 6 Storage section 8 Control section 9 Reading section 10 Cross-vehicle communication section 11. Cross-vehicle communication section QUOTES INCLUDED IN THE DESCRIPTION
[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature
[0000] JP 2018163384
[0039]
Claims
[1] Device for determining a platoon vehicle, configured to determine a platoon vehicle candidate to be organized in a platoon with a first vehicle from the surrounding vehicles located in an area around the first vehicle, the device for determining platoon vehicles comprising a memory section configured to store identification information of the first vehicle; a detection section configured to detect from the second vehicle, which is one of the surrounding vehicles, identification information of a third vehicle located in an area around the second vehicle, and location information of the second vehicle in relation to the third vehicle, wherein the identification information of the third vehicle is read by the second vehicle and the location information of the second vehicle is provided by the second vehicle; and a determination section configured to perform a comparison between the identification information of the first vehicle stored in the memory section and the identification information of the third vehicle acquired by the acquisition section, and to distinguish the second vehicle as the platoon vehicle candidate among the surrounding vehicles based on a result of the comparison and the location information of the second vehicle in relation to the third vehicle, wherein the location information of the second vehicle is acquired by the acquisition section. [2] Device for determining a platoon vehicle according to claim 1, wherein the detection section detects the identification information of the third vehicle and the location information of the second vehicle in relation to the third vehicle by means of communication between the vehicles. [3] Device for identifying a platoon vehicle according to claim 1 or 2, wherein the identification information of the third vehicle is displayed on a display section provided in the third vehicle. [4] Device for determining a platoon vehicle according to claim 3, wherein the identification information of the third vehicle, which is read by the second vehicle, is identification information which is read based on captured image data of the display section, which is generated by image capture from the second side of the vehicle. [5] Device for determining a platoon vehicle according to claim 3 or 4, wherein the location information of the second vehicle with respect to the third vehicle is location information that is specified on the basis of the image data acquired from the display section. [6] A vehicle comprising the device for determining a platoon vehicle according to any one of claims 1 to 5.