Vehicle

Abstract

To smoothly pass through an intersection.SOLUTION: A first vehicle that is located on a front side in a travel direction with respect to a second vehicle and travels in formation with the second vehicle includes; a communication device communicable with the second vehicle; a position acquisition device configured to acquire a position of the first vehicle; a position specification device configured to specify a position of a front vehicle located on the front side in the travel direction of the first vehicle; and a control device having one or more processors and one or more memories connected to the processor. The processor executes processing including the steps of: determining whether or not the first vehicle can pass through an intersection based on position information of the front vehicle when the intersection is present in front of the first vehicle; and transmitting the position information of the first vehicle at the intersection to the second vehicle when determining that the first vehicle can pass through the intersection.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a vehicle.

Background Art

[0002] Patent Document 1 discloses determining whether there is a space where the host vehicle can enter ahead of an intersection when the host vehicle enters the intersection. In the invention according to Patent Document 1, when it is determined that there is no space for the host vehicle to enter ahead of the intersection, it is described that a warning is given to the driver and the vehicle operation is assisted.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, when a plurality of vehicles forming a queue enter an intersection, the traffic signal color may change from blue to yellow, so it is necessary to confirm the safety of entering the intersection. Here, if each of the plurality of vehicles forming a queue stops one by one at the stop line in front of the intersection and confirms the safety of entering the intersection, there is a problem that the confirmation process takes time and it is difficult to smoothly pass through the intersection.

[0005] In view of such problems, an object of the present invention is to provide a vehicle that can smoothly pass through an intersection.

Means for Solving the Problems

[0006] In order to solve the above problems, the vehicle of the present invention is a first vehicle that is located on the front side in the traveling direction with respect to a second vehicle and travels in a queue with the second vehicle, a communication device capable of communicating with the second vehicle, A position acquisition device that acquires the position of the first vehicle, A position identification device that identifies the position of a preceding vehicle located ahead of the first vehicle in the traveling direction, A control device having one or more processors and one or more memories connected to the processor, and is provided with, The processor, when there is an intersection ahead of the first vehicle in the traveling direction, determines whether the first vehicle can pass through the intersection based on the position information of the preceding vehicle, when it is determined that the first vehicle can pass through the intersection, transmits the position information of the first vehicle at the intersection to the second vehicle, and executes a process including this.

Advantages of the Invention

[0007] According to the present invention, it becomes possible to smoothly pass through an intersection.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Modes for Carrying Out the Invention

[0009] Hereinafter, with reference to the accompanying drawings, preferred embodiments of the present invention will be described in detail. The dimensions, materials, and other specific numerical values shown in such embodiments are merely examples for facilitating the understanding of the invention, and do not limit the present invention unless otherwise specified. In the present specification and drawings, elements having substantially the same functions and configurations are denoted by the same reference numerals to omit redundant descriptions, and elements not directly related to the present invention are not shown.

[0010] FIG. 1 is a schematic configuration diagram showing the configuration of the platoon vehicle system 100 according to the present embodiment. As shown in FIG. 1, the platoon vehicle system 100 is composed of a plurality of vehicles 200 forming a platoon. Here, the plurality of vehicles 200 are configured to be communicable with each other. In addition, each of the plurality of vehicles 200 is configured to be able to execute automatic driving control for automatically driving the own vehicle. In the present embodiment, an example in which a plurality of vehicles 200 form a platoon and automatically drive on the first road 300A will be described. In the example shown in FIG. 1, in addition to the plurality of vehicles 200 forming a platoon, other vehicles 500 are also running on the first road 300A.

[0011] In the example shown in FIG. 1, the plurality of vehicles 200 forming a platoon include the first vehicle 200A, the second vehicle 200B, the third vehicle 200C, and the fourth vehicle 200D. However, the plurality of vehicles 200 forming a platoon may be composed of two or more vehicles 200. For example, it may be composed of only the first vehicle 200A and the second vehicle 200B. Further, the plurality of vehicles 200 forming a platoon may be composed of five or more vehicles 200.

[0012] In the example shown in FIG. 1, a plurality of vehicles 200 forming a queue are traveling on the first road 300A. Separately from the first road 300A, a second road 300B that intersects the first road 300A at 90° is provided. An intersection 400 is provided at the intersection of the first road 300A and the second road 300B. In the present embodiment, the first road 300A and the second road 300B are roads that are orthogonal to each other. However, the present invention is not limited to this, and the first road 300A and the second road 300B may be roads that intersect at an angle greater than 0° and less than 90° with respect to each other. Hereinafter, an example in which the first road 300A and the second road 300B are orthogonal will be described.

[0013] A center line 310 drawn with a solid white line is provided on the first road 300A. On one side of the center line 310 in the first road 300A, a first-direction road 302 for causing the vehicles 200 and 500 to travel in the first direction R1 is provided. Also, on the other side of the center line 310 in the first road 300A, a second-direction road 304 for causing the vehicles 200 and 500 to travel in the second direction R2 opposite to the first direction R1 is provided.

[0014] A center line 310 drawn with a solid white line is provided on the second road 300B. On one side of the center line 310 in the second road 300B, a third-direction road 306 for causing the vehicles 200 and 500 to travel in the third direction R3 orthogonal to the first direction R1 and the second direction R2 is provided. Also, on the other side of the center line 310 in the second road 300B, a fourth-direction road 308 for causing the vehicles 200 and 500 to travel in the fourth direction R4 opposite to the third direction R3 is provided.

[0015] In the example shown in FIG. 1, a plurality of vehicles 200 forming a queue and other vehicles 500 are traveling in the first direction R1 on the first-direction road 302 in the first road 300A.

[0016] On the first-direction road 302, a first traffic signal 410A is provided to indicate signals such as the permission for vehicles 200 and 500 to proceed and stop instructions for ensuring traffic safety on the first-direction road 302. And on the first-direction road 302, a stop line 320 drawn with a solid white line is provided on the second-direction R2 side with respect to the first traffic signal 410A. The stop line 320 is a line indicating the position where the vehicles 200 and 500 stop. The first traffic signal 410A is provided at a position higher than the vehicle heights of the vehicles 200 and 500 from the ground of the first-direction road 302 to improve the visibility for the drivers of the vehicles 200 and 500. On the first-direction road 302, a first crosswalk 420A is provided on the first-direction R1 side of the stop line 320. The first crosswalk 420A is an area indicated on the first road 300A for pedestrians to safely cross the first road 300A.

[0017] On the second-direction road 304, a second traffic signal 410B is provided to indicate signals such as the permission for vehicles 200 and 500 to proceed and stop instructions for ensuring traffic safety on the second-direction road 304. And on the second-direction road 304, a stop line 320 drawn with a solid white line is provided on the first-direction R1 side with respect to the second traffic signal 410B. The second traffic signal 410B is provided at a position higher than the vehicle heights of the vehicles 200 and 500 from the ground of the second-direction road 304 to improve the visibility for the drivers of the vehicles 200 and 500. On the second-direction road 304, a second crosswalk 420B is provided on the second-direction R2 side of the stop line 320. The second crosswalk 420B is an area indicated on the first road 300A for pedestrians to safely cross the first road 300A. The second crosswalk 420B is provided on the first-direction R1 side of the first crosswalk 420A. Also, a second road 300B is provided between the first crosswalk 420A and the second crosswalk 420B. That is, the first crosswalk 420A is on the first-direction R1 side of the stop line 320 on the first-direction road 302 and on the second-direction R2 side with respect to the second road 300B. Also, the second crosswalk 420B is on the second-direction R2 side of the stop line 320 on the second-direction road 304 and on the first-direction R1 side with respect to the second road 300B.

[0018] On the third-direction road 306, a third traffic signal 410C is provided to indicate signals such as the permission for vehicles 200 and 500 to proceed and stop instructions for ensuring traffic safety on the third-direction road 306. And on the third-direction road 306, a stop line 320 drawn with a solid white line is provided on the side of the fourth direction R4 with respect to the third traffic signal 410C. On the third-direction road 306, a third crosswalk 420C is provided on the side of the third direction R3 from the stop line 320. The third crosswalk 420C is an area indicated on the second road 300B for pedestrians to safely cross the second road 300B.

[0019] On the fourth-direction road 308, a fourth traffic signal 410D is provided to indicate signals such as the permission for vehicles 200 and 500 to proceed and stop instructions for ensuring traffic safety on the fourth-direction road 308. And on the fourth-direction road 308, a stop line 320 drawn with a solid white line is provided on the side of the third direction R3 with respect to the fourth traffic signal 410D. On the fourth-direction road 308, a fourth crosswalk 420D is provided on the side of the fourth direction R4 from the stop line 320. The fourth crosswalk 420D is an area indicated on the second road 300B for pedestrians to safely cross the second road 300B. The fourth crosswalk 420D is provided on the side of the third direction R3 from the third crosswalk 420C. Also, a first road 300A is provided between the third crosswalk 420C and the fourth crosswalk 420D. That is, the third crosswalk 420C is on the side of the third direction R3 from the stop line 320 of the third-direction road 306 and on the side of the fourth direction R4 with respect to the first road 300A. Also, the fourth crosswalk 420D is on the side of the fourth direction R4 from the stop line 320 of the fourth-direction road 308 and on the side of the third direction R3 with respect to the first road 300A.

[0020] The intersection 400 includes the part where the first road 300A and the second road 300B intersect. In this embodiment, in the first road 300A and the second road 300B, it is the area surrounded by the dashed line in FIG. 1 and enclosed by four stop lines 320. In other words, on the first road 300A and the second road 300B, stop lines 320 are provided immediately before entering the intersection 400. However, it is not limited to this, and the area of the intersection 400 may be the area surrounded by the first crosswalk 420A, the second crosswalk 420B, the third crosswalk 420C, and the fourth crosswalk 420D. Specifically, the intersection 400 may be the area surrounded by the side surface on the second road 300B side of the first crosswalk 420A and the second crosswalk 420B, and the side surface on the first road 300A side of the third crosswalk 420C and the fourth crosswalk 420D.

[0021] In the example shown in FIG. 1, the area of the intersection 400 includes the first traffic signal 410A, the second traffic signal 410B, the third traffic signal 410C, the fourth traffic signal 410D, the first crosswalk 420A, the second crosswalk 420B, the third crosswalk 420C, and the fourth crosswalk 420D. In this embodiment, the area of the intersection 400 is the area on the first direction R1 side of the stop line 320 in the first direction road 302 and the area on the second direction R2 side of the stop line 320 in the second direction road 304. Also, the area of the intersection 400 is the area on the third direction R3 side of the stop line 320 in the third direction road 306 and the area on the fourth direction R4 side of the stop line 320 in the fourth direction road 308.

[0022] FIG. 2 is a block diagram showing an example of the configuration of the first vehicle 200A according to this embodiment. Note that the configurations of the second vehicle 200B, the third vehicle 200C, and the fourth vehicle 200D are the same as that of the first vehicle 200A. Therefore, hereinafter, the configuration of the first vehicle 200A will be described in detail, and the descriptions of the configurations of the second vehicle 200B, the third vehicle 200C, and the fourth vehicle 200D will be omitted.

[0023] As shown in FIG. 2, the first vehicle 200A includes a communication device 210, a position specifying device 220, a position acquisition device 230, a speed sensor 240, a driving device 250, and a control device 260.

[0024] Based on the control commands of the control device 260, the communication device 210 establishes communication with the communication devices 210 of the second vehicle 200B, the third vehicle 200C, and the fourth vehicle 200D, and performs data transmission and reception. Specifically, the communication device 210 wirelessly transmits the data sent from the control device 260 to the communication devices 210 of the second vehicle 200B, the third vehicle 200C, and the fourth vehicle 200D. Also, the communication device 210 receives the data wirelessly transmitted from the communication devices 210 of the second vehicle 200B, the third vehicle 200C, and the fourth vehicle 200D, and transmits the received data to the control device 260.

[0025] The position identification device 220 identifies the objects in the surrounding environment of the first vehicle 200A. The position identification device 220 identifies the objects around the first vehicle 200A, for example, by performing image processing on the captured images captured by a plurality of imaging devices. The objects around the first vehicle 200A include other vehicles 500 located in front of the traveling direction of the first vehicle 200A, and four stop lines 320 provided on the first road 300A and the second road 300B. Then, the position identification device 220 identifies the intersection 400 based on the four stop lines 320 provided on the first road 300A and the second road 300B. Also, the objects around the first vehicle 200A include the first crosswalk 420A, the second crosswalk 420B, the third crosswalk 420C, and the fourth crosswalk 420D. Note that the present invention is not limited thereto. For example, the position identification device 220 may identify other vehicles 500 located in front of the traveling direction of the first vehicle 200A by using a laser. Also, the position identification device 220 may identify the stop line 320, the intersection 400, and the first crosswalk 420A, the second crosswalk 420B, the third crosswalk 420C, and the fourth crosswalk 420D based on the current position information of the first vehicle 200A and the map information.

[0026] The position acquisition device 230 acquires position information regarding the position of the first vehicle 200A. The position acquisition device 230 is, for example, a GPS (Global Positioning System). Specifically, the position acquisition device 230 acquires position information of latitude and longitude indicating the current position of the first vehicle 200A.

[0027] The speed sensor 240 measures the vehicle speed and acceleration of the first vehicle 200A, and transmits information indicating the measured vehicle speed and acceleration to the control device 260.

[0028] The driving device 250 is a device for performing an accelerator operation, a brake operation, and a steering operation of the first vehicle 200A. During automatic driving control for automatically driving the first vehicle 200A regardless of the driver's operation, the driving device 250 automatically performs an accelerator operation, a brake operation, and a steering operation based on a control command transmitted from the control device 260. By the automatic control of the driving device 250, automatic driving for automatically driving the first vehicle 200A is performed.

[0029] The control device 260 controls the entire first vehicle 200A. The control device 260 includes an I / F 261, a storage device 262, a system bus 263, one or more processors 264, and one or more memories 265. The I / F 261 is an interface for communicating with the communication device 210, the position specifying device 220, the position acquisition device 230, the speed sensor 240, and the driving device 250.

[0030] The storage device 262 is composed of a RAM, a flash memory, an HDD, etc., and holds various information necessary for the processing of the processor 264 shown below. The system bus 263 is a transmission path that electrically connects the I / F 261, the storage device 262, the processor 264, and the memory 265, and transmits data between them.

[0031] The processor 264 includes, for example, a CPU (Central Processing Unit). The memory 265 includes, for example, a ROM (Read Only Memory) and a RAM (Random Access Memory). The ROM is a storage element that stores programs and arithmetic parameters used by the CPU. The RAM is a storage element that temporarily stores data such as variables and parameters used in the processes executed by the CPU.

[0032] FIG. 3 is a block diagram showing an example of the functional configuration of the control device 260 according to the present embodiment. For example, as shown in FIG. 3, the control device 260 includes a communication unit 260a, a determination unit 260b, an automatic driving control unit 260c, and an estimation unit 260d.

[0033] The processor 264 shown in FIG. 2 cooperates with the program included in the memory 265 and executes the program included in the memory 265, thereby realizing various processes including the processes described below performed by the communication unit 260a, the determination unit 260b, the automatic driving control unit 260c, and the estimation unit 260d.

[0034] The communication unit 260a exchanges data among a plurality of vehicles 200 traveling in a formation via the communication device 210. The communication unit 260a acquires information about the vehicles from the plurality of vehicles 200 traveling in a formation. The information about the vehicles includes, for example, identification information for identifying the vehicle 200, position information, etc. The identification information is, for example, Vehicle Identification Number (VIN) information. The VIN information includes a serial number used to identify each vehicle 200. The position information is information indicating the latitude and longitude of the vehicle 200 detected by a position acquisition device 230 mounted on the vehicle 200, for example. Further, the communication unit 260a communicates with the communication device 210, the position specifying device 220, the position acquisition device 230, the speed sensor 240, and the driving device 250.

[0035] The determination unit 260b determines whether the vehicle 200 can safely pass through the intersection 400. The automatic driving control unit 260c executes automatic driving control to automatically drive the vehicle 200 without being affected by the driver's operation by controlling the driving device 250. The estimation unit 260d estimates the position of the rear end of the vehicle 200 when the vehicle stops based on the braking distance during braking in the braking operation of the vehicle 200. Details of the processing of the communication unit 260a, the determination unit 260b, the automatic driving control unit 260c, and the estimation unit 260d will be described later.

[0036] Incidentally, as shown in FIG. 1, when a plurality of vehicles 200 forming a queue enter the intersection 400, the traffic signal color of the first traffic signal 410A may change from blue to yellow. Therefore, it is necessary to confirm the safety of entering the intersection 400. Here, if a plurality of vehicles 200 forming a queue each stop one by one at the stop line 320 in front of the intersection 400 and confirm the safety of entering the intersection 400, there is a problem that the confirmation process takes time and it is difficult to smoothly pass through the intersection 400.

[0037] Therefore, in the present embodiment, when the leading vehicle determines that it can pass through the intersection, information regarding the estimated rear end position of the leading vehicle at the time of stopping is transmitted to the following vehicle, and based on this information, it is determined whether the following vehicle can pass through the intersection, thereby shortening the time for the safety confirmation process. Specifically, among a plurality of vehicles 200 forming a queue, when the first vehicle 200A, which is the leading vehicle, determines that it can safely pass through the intersection 400, position information of the first vehicle 200A at the intersection 400 is transmitted to the second vehicle 200B, which is the following vehicle. Then, the second vehicle 200B determines whether the second vehicle 200B can safely pass through the intersection 400 based on the position information of the first vehicle 200A transmitted from the first vehicle 200A. Hereinafter, the processing of the first vehicle 200A and the second vehicle 200B according to the present embodiment will be described in detail. Note that the processing of the third vehicle 200C and the fourth vehicle 200D is the same as that of the second vehicle 200B, and thus detailed description thereof will be omitted. First, the processing of the first vehicle 200A will be described in detail with reference to FIG. 4, and then the processing of the second vehicle 200B will be described in detail with reference to FIG. 6.

[0038] FIG. 4 is a flowchart showing the intersection entry control process of the control device 260 of the first vehicle 200A according to the present embodiment. First, the position identification device 220 of the first vehicle 200A identifies an object in the surrounding environment of the first vehicle 200A (S100). The position identification device 220 identifies other vehicles 500, a stop line 320, a first crosswalk 420A, a second crosswalk 420B, a third crosswalk 420C, and a fourth crosswalk 420D located in front of the traveling direction of the first vehicle 200A. Then, the position identification device 220 identifies the intersection 400 based on the four stop lines 320 provided on the first road 300A and the second road 300B.

[0039] Information about the object identified by the position identification device 220 is transmitted to the control device 260. The communication unit 260a of the control device 260 acquires information about the object from the position identification device 220. Further, the determination unit 260b calculates the position of the rear end of the other vehicle 500, which is the vehicle in front of the first vehicle 200A, the stop line 320, the intersection 400, the first crosswalk 420A, the second crosswalk 420B, the third crosswalk 420C, and the fourth crosswalk 420D based on the information about the object.

[0040] At this time, the determination unit 260b may acquire the position information of the latitude and longitude indicating the current position of the first vehicle 200A from the position acquisition device 230. Further, the determination unit 260b may perform vehicle-to-vehicle communication with the other vehicle 500, which is the vehicle in front, via the communication device 210, and acquire the position information of the latitude and longitude indicating the current position of the other vehicle 500. Then, the determination unit 260b may calculate the position of the rear end of the other vehicle 500 based on the position information acquired from the position acquisition device 230 and the other vehicle 500.

[0041] The determination unit 260b determines whether there is an intersection 400 within a predetermined distance in front of the traveling direction of the first vehicle 200A based on the information about the object acquired from the position specifying device 220 (S110). If it is determined that there is no intersection 400 within the predetermined distance in front of the traveling direction of the first vehicle 200A (NO in S110), the intersection entry control process ends. On the other hand, if it is determined that there is an intersection 400 within the predetermined distance in front of the traveling direction of the first vehicle 200A (YES in S110), the process proceeds to the processing after S120.

[0042] The communication unit 260a receives the time information on the change of the traffic light colors of the first traffic signal 410A, the second traffic signal 410B, the third traffic signal 410C, and the fourth traffic signal 410D of the intersection 400 from a server (not shown) (S120). Here, the server (not shown) holds the time information on the change of the traffic light colors of the first traffic signal 410A, the second traffic signal 410B, the third traffic signal 410C, and the fourth traffic signal 410D of the intersection 400. The time information includes, for example, the information indicating the time when the traffic light color of the first traffic signal 410A changes from blue to yellow, from yellow to red, and from red to blue. At this time, the communication unit 260a specifies the first traffic signal 410A provided corresponding to the first direction road 302 on which the first vehicle 200A is traveling based on the current position information of the first vehicle 200A and the map information. Then, the communication unit 260a acquires the time information on the change of the traffic light color of the specified first traffic signal 410A from the server (not shown).

[0043] Also, the communication unit 260a acquires speed information regarding the vehicle speed and acceleration of the first vehicle 200A from the speed sensor 240 (S130).

[0044] Then, based on the stop line 320 specified in S100, the time information when the traffic light color of the first traffic signal 410A received in S120 changes, and the speed information acquired in S130, the determination unit 260b determines whether the first vehicle 200A can safely pass through the intersection 400 (S140). Specifically, first, the determination unit 260b determines whether the traffic light color of the first traffic signal 410A changes to a color that restricts the movement of the vehicle 200 before the first vehicle 200A reaches the stop line 320 on the first-direction road 302. Changing to a color that restricts the movement of the vehicle 200 means, for example, that the traffic light color of the first traffic signal 410A changes from blue to yellow, or from yellow to red. Hereinafter, an example in which the determination unit 260b determines whether the traffic light color of the first traffic signal 410A changes from blue to yellow before the first vehicle 200A reaches the stop line 320 on the first-direction road 302 will be described.

[0045] Next, the determination unit 260b determines whether there is a parking space S for the first vehicle 200A after the first vehicle 200A passes through the intersection 400. Specifically, as shown in FIG. 1, it is determined whether the length between the rear end position of another vehicle 500, which is the vehicle in front of the first vehicle 200A, and the intersection 400 is equal to or greater than the length corresponding to the total length of the first vehicle 200A. When the length between the rear end position of the other vehicle 500 and the intersection 400 is equal to or greater than the length corresponding to the total length of the first vehicle 200A, it is determined that there is a parking space S for the first vehicle 200A. On the other hand, when the length between the rear end position of the other vehicle 500 and the intersection 400 is less than the length corresponding to the total length of the first vehicle 200A, it is determined that there is no parking space S for the first vehicle 200A.

[0046] When the traffic light color of the first traffic signal 410A changes from blue to yellow before the first vehicle 200A reaches the stop line 320, the determination unit 260b determines that the first vehicle 200A cannot safely pass through the intersection 400. Also, when there is no parking space S for the first vehicle 200A after the first vehicle 200A passes through the intersection 400, the determination unit 260b determines that the first vehicle 200A cannot safely pass through the intersection 400.

[0047] On the other hand, when the traffic signal color of the first traffic signal 410A changes from blue to yellow after the first vehicle 200A has passed the stop line 320 and there is a parking space S for the first vehicle 200A, the determination unit 260b determines that the first vehicle 200A can safely pass through the intersection 400.

[0048] When it is determined that the first vehicle 200A can safely pass through the intersection 400 (YES in S140), the automatic driving control unit 260c executes automatic driving control so that the first vehicle 200A enters the intersection 400 beyond the stop line 320 (S150).

[0049] When the estimation unit 260d determines that the first vehicle 200A can safely pass through the intersection 400, the estimation unit 260d calculates the braking distance when the first vehicle 200A brakes. Then, based on the braking distance, vehicle speed, and acceleration, the estimation unit 260d estimates the rear end position of the first vehicle 200A when the first vehicle 200A stops at a predetermined interval from the rear end position of another vehicle 500, which is the vehicle ahead, or in the parking space S (S160). Then, the communication unit 260a transmits information regarding the estimated rear end position of the first vehicle 200A to the communication device 210 of the second vehicle 200B, which is the following vehicle.

[0050] On the other hand, when it is determined that the first vehicle 200A cannot safely pass through the intersection 400 (NO in S140), the automatic driving control unit 260c executes stop control so that the first vehicle 200A automatically stops in front of the stop line 320 (S170).

[0051] FIG. 5 is a schematic configuration diagram showing the state of the platoon vehicle system 100 when the first vehicle 200A enters the intersection 400. As shown in FIG. 5, when it is determined that the first vehicle 200A can safely pass through the intersection 400, the first vehicle 200A enters the intersection 400. Further, information regarding the rear end position of the first vehicle 200A estimated by the estimation unit 260d is transmitted to the communication device 210 of the second vehicle 200B, which is the following vehicle, and it is determined whether the second vehicle 200B can safely pass through the intersection 400.

[0052] FIG. 6 is a flowchart showing the intersection entry control process of the control device 260 of the second vehicle 200B according to the present embodiment. First, the communication unit 260a acquires information regarding the rear end position of the first vehicle 200A from the communication device 210 of the first vehicle 200A (S200).

[0053] Next, the position identification device 220 of the second vehicle 200B identifies an object in the surrounding environment of the second vehicle 200B (S210). The position identification device 220 identifies the stop line 320 located in front of the traveling direction of the second vehicle 200B, the first crosswalk 420A, the second crosswalk 420B, the third crosswalk 420C, and the fourth crosswalk 420D. Then, the position identification device 220 identifies the intersection 400 based on the four stop lines 320 provided on the first road 300A and the second road 300B.

[0054] Information regarding the object identified by the position identification device 220 is transmitted to the control device 260. The communication unit 260a of the control device 260 acquires information regarding the object from the position identification device 220. Further, the determination unit 260b calculates the positions of the stop line 320, the intersection 400, the first crosswalk 420A, the second crosswalk 420B, the third crosswalk 420C, and the fourth crosswalk 420D located in front of the traveling direction of the second vehicle 200B based on the information regarding the object.

[0055] The determination unit 260b determines whether there is an intersection 400 within a predetermined distance in front of the traveling direction of the second vehicle 200B based on the information regarding the object acquired from the position identification device 220 (S220). If it is determined that there is no intersection 400 within a predetermined distance in front of the traveling direction of the second vehicle 200B (NO in S220), the intersection entry control process ends. On the other hand, if it is determined that there is an intersection 400 within a predetermined distance in front of the traveling direction of the second vehicle 200B (YES in S220), the process proceeds to S230 and subsequent processes.

[0056] The communication unit 260a communicates with a server (not shown) and receives time information on the change of the traffic light colors of the first traffic signal 410A, the second traffic signal 410B, the third traffic signal 410C, and the fourth traffic signal 410D at the intersection 400 from the server (S230). Here too, the communication unit 260a identifies the first traffic signal 410A provided corresponding to the first-direction road 302 on which the second vehicle 200B is traveling, based on the current position information of the second vehicle 200B and the map information. Then, the communication unit 260a acquires from the server (not shown) the time information on the change of the traffic light color of the identified first traffic signal 410A.

[0057] Also, the communication unit 260a acquires speed information regarding the vehicle speed and acceleration of the second vehicle 200B from the speed sensor 240 (S240).

[0058] Then, the determination unit 260b determines whether the second vehicle 200B can safely pass through the intersection 400, based on the stop line 320 identified in S210, the time information on the change of the traffic light color of the first traffic signal 410A received in S230, and the speed information acquired in S240 (S250). Specifically, first, the determination unit 260b determines whether the traffic light color of the first traffic signal 410A changes from blue to yellow before the second vehicle 200B reaches the stop line 320 on the first-direction road 302.

[0059] Next, the determination unit 260b determines whether there is a parking space S for the second vehicle 200B after the second vehicle 200B passes through the intersection 400, based on the information regarding the rear-end position of the first vehicle 200A received in S200. Specifically, it is determined whether the length between the estimated rear-end position of the first vehicle 200A when stopped and the intersection 400 is equal to or greater than the length corresponding to the total length of the second vehicle 200B. If the length between the estimated rear-end position of the first vehicle 200A when stopped and the intersection 400 is equal to or greater than the length corresponding to the total length of the second vehicle 200B, it is determined that there is a parking space S for the second vehicle 200B. On the other hand, if the length between the estimated rear-end position of the first vehicle 200A when stopped and the intersection 400 is less than the length corresponding to the total length of the second vehicle 200B, it is determined that there is no parking space S for the second vehicle 200B.

[0060] Then, when the traffic signal color of the first traffic signal 410A changes from blue to yellow before the second vehicle 200B reaches the stop line 320, the determination unit 260b determines that the second vehicle 200B cannot safely pass through the intersection 400. Further, when there is no parking space S for the second vehicle 200B after the second vehicle 200B passes through the intersection 400, the determination unit 260b determines that the second vehicle 200B cannot safely pass through the intersection 400.

[0061] On the other hand, when the traffic signal color of the first traffic signal 410A changes from blue to yellow after the second vehicle 200B passes through the stop line 320 and there is a parking space S for the second vehicle 200B, the determination unit 260b determines that the second vehicle 200B can safely pass through the intersection 400.

[0062] When it is determined that the second vehicle 200B can safely pass through the intersection 400 (YES in S250), the automatic driving control unit 260c executes automatic driving control so that the second vehicle 200B enters the intersection 400 beyond the stop line 320 (S260).

[0063] When the estimation unit 260d determines that the second vehicle 200B can safely pass through the intersection 400, the estimation unit 260d calculates the braking distance when the second vehicle 200B brakes. Then, based on the braking distance, vehicle speed, and acceleration, the estimation unit 260d estimates the rear end position of the second vehicle 200B at a predetermined interval from the rear end position of the first vehicle 200A, which is the preceding vehicle, or the rear end position of the second vehicle 200B when the second vehicle 200B stops in the parking space S (S270). Then, the communication unit 260a transmits information regarding the estimated rear end position of the second vehicle 200B to the communication device 210 of the third vehicle 200C, which is the subsequent vehicle. Note that, for the third vehicle 200C and the fourth vehicle 200D, the same processing as that for the second vehicle 200B is executed.

[0064] On the other hand, when it is determined that the second vehicle 200B cannot safely pass through the intersection 400 (NO in S250), the automatic driving control unit 260c executes stop control so that the second vehicle 200B automatically stops in front of the stop line 320 (S280).

[0065] As described above, the platoon vehicle system 100 of the present embodiment includes a first vehicle 200A that is located on the front side in the traveling direction with respect to the second vehicle 200B and travels in a platoon with the second vehicle 200B. When there is an intersection 400 in front of the first vehicle 200A in the traveling direction, the determination unit 260b of the first vehicle 200A performs a process of determining whether the first vehicle 200A can pass through the intersection 400 based on the position information of another vehicle 500 that is a preceding vehicle. When the communication unit 260a of the first vehicle 200A determines that the first vehicle 200A can pass through the intersection 400, the communication unit 260a performs a process of transmitting the position information of the first vehicle 200A at the intersection 400 to the second vehicle 200B. Thereby, before the first vehicle 200A stops in the parking space S, the second vehicle 200B can determine whether the second vehicle 200B can safely pass through the intersection 400 based on the position information of the first vehicle 200A that has entered the intersection 400. Therefore, the time required to confirm the safety of entering the intersection 400 can be shortened, and the intersection 400 can be passed smoothly.

[0066] Further, in the present embodiment, the communication unit 260a acquires time information regarding the time when the light color of the first traffic signal 410A, which is a traffic signal of the first-direction road 302, changes. The communication unit 260a also acquires speed information regarding the vehicle speed and acceleration of the first vehicle 200A from the speed sensor 240. The determination unit 260b determines whether the first vehicle 200A can enter the intersection 400 before the light color of the first traffic signal 410A changes from blue to yellow based on the time information and the speed information. The determination unit 260b also determines whether there is a parking space S for the first vehicle 200A after the first vehicle 200A passes through the intersection 400 based on the position information of another vehicle 500 that is a preceding vehicle. When the first vehicle 200A can enter the intersection 400 before the light color of the first traffic signal 410A changes and there is a parking space S, the determination unit 260b determines that the first vehicle 200A can pass through the intersection 400 and advances the first vehicle 200A within the intersection 400. Therefore, it is possible to suppress the first vehicle 200A from being located within the intersection 400 when the light color of the first traffic signal 410A changes to red, and it is possible to reduce the risk of vehicle collision within the intersection 400.

[0067] Also, in the present embodiment, the estimation unit 260d estimates the rear end position of the first vehicle 200A based on the braking distance of the first vehicle 200A during braking. Further, the communication unit 260a transmits the position information of the estimated rear end position of the first vehicle 200A to the second vehicle 200B. Therefore, the second vehicle 200B can acquire the position information of the estimated rear end position when the first vehicle 200A stops in the parking space S before the first vehicle 200A stops in the parking space S.

[0068] Moreover, the platoon vehicle system 100 of the present embodiment includes a second vehicle 200B that is located on the rear side in the traveling direction relative to the first vehicle 200A and travels in a platoon with the first vehicle 200A. When there is an intersection 400 in front of the second vehicle 200B in the traveling direction, the communication unit 260a of the second vehicle 200B performs a process of acquiring the position information of the first vehicle 200A. Further, the determination unit 260b performs a process of determining whether or not the second vehicle 200B can pass through the intersection 400 based on the acquired position information of the first vehicle 200A. Thereby, the second vehicle 200B can determine whether or not the second vehicle 200B can safely pass through the intersection 400 based on the position information of the first vehicle 200A that has entered the intersection 400 before the first vehicle 200A stops in the parking space S. Therefore, the time required to confirm the safety of entering the intersection 400 can be shortened, and the intersection 400 can be passed smoothly.

[0069] Also, in the present embodiment, the communication unit 260a of the second vehicle 200B acquires time information regarding the time when the traffic signal color of the first traffic signal 410A at the intersection 400 changes. Further, the communication unit 260a acquires speed information regarding the vehicle speed and acceleration of the second vehicle 200B. Further, the determination unit 260b determines whether the second vehicle 200B can enter the intersection 400 before the traffic signal color of the first traffic signal 410A changes from blue to yellow based on the time information and the speed information. Further, the determination unit 260b determines whether there is a parking space S for the second vehicle 200B after the second vehicle 200B passes through the intersection 400 based on the position information of the first vehicle 200A. Further, when the second vehicle 200B can enter the intersection 400 before the traffic signal color of the first traffic signal 410A changes and there is a parking space S, the determination unit 260b determines that the second vehicle 200B can pass through the intersection 400 and causes the second vehicle 200B to proceed within the intersection 400. Therefore, it is possible to suppress the second vehicle 200B from being located within the intersection 400 when the traffic signal color of the first traffic signal 410A changes to red, and it is possible to reduce the risk of vehicle collisions within the intersection 400.

[0070] As described above, the preferred embodiments of the present invention have been described with reference to the accompanying drawings. Needless to say, the present invention is not limited to such embodiments. It is obvious that those skilled in the art can conceive of various modification examples or correction examples within the scope described in the claims, and it is naturally understood that they also belong to the technical scope of the present invention.

[0071] Note that the series of processes by the control device 260 according to the above-described embodiment may be realized using any of software, hardware, or a combination of software and hardware. The program constituting the software is stored in advance in a non-transitory storage medium provided, for example, inside or outside each device. Then, the program is read from a non-transitory storage medium (for example, ROM) into a temporary storage medium (for example, RAM) and executed by a processor such as a CPU.

[0072] It is possible to create a program for realizing each function of each of the above devices and install it in the computers of each of the above devices. By a processor executing the program stored in the memory, the processing of each of the above functions is executed. At this time, the program may be executed by sharing it among a plurality of processors, or the program may be executed by one processor. Also, each function of each of the above devices may be realized by cloud computing using a plurality of computers interconnected by a communication network. Note that the program may be provided to and installed in the computers of each device by distribution from an external device through a communication network.

Explanation of Signs

[0073] 100 Train Vehicle System 200 Vehicles 200A First Vehicle 200B Second Vehicle 200C Third Vehicle 200D Fourth Vehicle 210 Communication Device 220 Position Identification Device 230 Position Acquisition Device 240 Speed Sensor 250 Driving Device 260 Control Device 260a Communication Unit 260b Judgment Unit 260c Automatic Driving Control Unit 260d Estimation Unit 264 Processor 265 Memory

Claims

1. A vehicle that is a first vehicle positioned ahead of a second vehicle in the traveling direction and travels in a platoon with the second vehicle, a communication device capable of communicating with the second vehicle; a position acquisition device that acquires the position of the first vehicle; a position identification device that identifies the position of a vehicle ahead located ahead of the first vehicle in the traveling direction; a control device having one or more processors and one or more memories connected to the processor; comprising: The processor: when there is an intersection ahead of the first vehicle in the traveling direction, determines whether the first vehicle can pass through the intersection based on the position information of the vehicle ahead; when it is determined that the first vehicle can pass through the intersection, transmits the position information of the first vehicle at the intersection to the second vehicle; executes a process including: a vehicle.

2. The processor: acquires time information regarding the time when the traffic signal color at the intersection changes; acquires speed information regarding the vehicle speed and acceleration of the first vehicle; based on the time information and the speed information, determines whether the first vehicle can enter the intersection before the traffic signal color changes to a color that restricts the movement of the vehicle; based on the position information of the vehicle ahead, determines whether there is a stopping space for the first vehicle after the first vehicle passes through the intersection; when the first vehicle can enter the intersection before the traffic signal color changes to a color that restricts the movement of the vehicle and there is a stopping space, determines that the first vehicle can pass through the intersection and moves the first vehicle into the intersection; executes a process including: The vehicle according to Claim 1.

3. The processor: estimates the rear end position of the first vehicle based on the braking distance when the first vehicle brakes; transmits the position information of the estimated rear end position of the first vehicle to the second vehicle; executes a process including: The vehicle according to Claim 1 or 2.

4. A vehicle that is a second vehicle positioned behind the first vehicle in the traveling direction and travels in a platoon with the first vehicle, a communication device capable of communicating with the first vehicle; a position acquisition device that acquires the position of the second vehicle; a control device having one or more processors and one or more memories connected to the processor; comprising: The processor: When there is an intersection in front of the second vehicle in the traveling direction, obtaining the position information of the first vehicle; Based on the obtained position information of the first vehicle, determining whether the second vehicle can pass through the intersection; Executing a process including: A vehicle.

5. The processor: Obtaining time information regarding the time when the traffic signal color of the intersection changes; Obtaining speed information regarding the vehicle speed and acceleration of the second vehicle; Based on the time information and the speed information, determining whether the second vehicle can enter the intersection before the traffic signal color changes to a color that restricts the movement of the vehicle; Based on the position information of the first vehicle, determining whether there is a parking space for the second vehicle after the second vehicle passes through the intersection; When the second vehicle can enter the intersection before the traffic signal color changes to a color that restricts the movement of the vehicle and there is a parking space, determining that the second vehicle can pass through the intersection and causing the second vehicle to travel within the intersection; Executing a process including: The vehicle according to claim 4.

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