Electronic traction control system

Abstract

To provide an electronic traction control system capable of improving travel safety.SOLUTION: An electronic traction control system is an electronic traction control system in which a leading vehicle uses vehicle-to-vehicle communication to electronically towing the following vehicle. The leading vehicle includes: an autonomous driving control system: and a following vehicle control system that controls the following vehicle based on the control values from the autonomous driving control system. The following vehicle includes: an automatic parking control system capable of receiving traveling control signals from the following vehicle control system; and sensors for the automatic parking control system. The following vehicle travels while being determined by the automatic parking control system if the following vehicle has crossed the lane boundary using the sensors for the automatic parking control system.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an electronic traction system. [Background technology]

[0002] Patent Document 1 discloses an electronic towing and traveling system in which a leading vehicle electronically tows a following vehicle using vehicle-to-vehicle communication, and the leading vehicle and the following vehicle travel based on a route planned through communication between them. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-144609 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the electronic traction system disclosed in Patent Document 1 does not have sufficient functionality to monitor whether the following vehicle is properly following the lead vehicle, so there is room for improvement in terms of driving safety.

[0005] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide an electronic traction traveling system that can improve traveling safety. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the objectives, the electronic towing system of the present invention is an electronic towing system in which a lead vehicle electronically tows a following vehicle using vehicle-to-vehicle communication, wherein the lead vehicle is equipped with an automatic driving control system and a following vehicle control system that controls the following vehicle based on a control value from the automatic driving control system, the following vehicle is equipped with an automatic parking control system that can receive driving control signals from the following vehicle control system and a sensor for the automatic parking control system, and the following vehicle drives while the automatic parking control system determines whether the following vehicle has deviated from its lane using the sensor for the automatic parking control system.

[0007] This allows the following vehicle to appropriately follow the leading vehicle by making lane departure judgments while driving, thereby improving driving safety.

[0008] In addition, the electronic towing system of the present invention is an electronic towing system in which a lead vehicle electronically tows a following vehicle using vehicle-to-vehicle communication, wherein the lead vehicle is equipped with an automatic driving control system and a following vehicle control system that controls the following vehicle based on a control value from the automatic driving control system, and the following vehicle is equipped with an automatic parking control system that can receive driving control signals from the following vehicle control system, an automatic braking system, and a sensor for the automatic braking system, and the following vehicle drives while monitoring the relative distance between the lead vehicle and the following vehicle, with the automatic braking system determining whether the following vehicle has deviated from its lane using the sensor for the automatic braking system, and if the relative distance is smaller than a predetermined value, performing brake control using the automatic braking system.

[0009] This allows the following vehicle to properly follow the leading vehicle by not only determining whether to depart from the lane but also driving in a way that maintains the relative distance between the leading vehicle and the following vehicle, thereby improving driving safety. [Effects of the Invention]

[0010] The electronic traction system according to the present invention has the effect of improving driving safety by allowing the following vehicle to properly follow the leading vehicle. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram showing a schematic configuration of an electronic traction traveling system according to the first embodiment. [Figure 2] FIG. 2 is a flowchart showing an example of monitoring control of electronic traction performed by the electronic traction traveling system according to the first embodiment. [Figure 3] FIG. 3 is a block diagram showing a schematic configuration of an electronic traction traveling system according to the second embodiment. [Figure 4] FIG. 4 is a flowchart showing an example of monitoring control of electronic traction performed in the electronic traction traveling system according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] (Embodiment 1) A first embodiment of the electronic traction system according to the present invention will be described below, although the present invention is not limited to this embodiment.

[0013] FIG. 1 is a block diagram showing a schematic configuration of an electronic traction and traveling system 100 according to the first embodiment.

[0014] In the electronic towing traveling system 100 according to the embodiment, the leading vehicle 1, which is a small mobility vehicle, and the following vehicle 2, which is a passenger car, are not physically connected, and the leading vehicle 1 electronically tows the following vehicle 2 using vehicle-to-vehicle communication.

[0015] The leading vehicle 1 includes an automatic driving control system 11, a cruise control system 12, and a following vehicle control system 13. The automatic driving control system 11 includes an automatic driving ECU 110 and an automatic driving control system sensor 111. The automatic driving control system sensor 111 may be, for example, a LiDAR (Light Detection And Ranging) sensor. In the automatic driving control system 11, the automatic driving ECU (Electronic Control Unit) 110 outputs cruise control signals, such as an acceleration command signal and a steering angle command signal, for automatically driving the host vehicle (leading vehicle 1) to the cruise control system 12 based on detection signals from the automatic driving control system sensor 111.

[0016] The driving control system 12 has a VCU (Vehicle Control Unit) 120 and the like. Based on a driving control signal from the automatic driving control system 11 and the like, the VCU 120 controls driving systems related to the driving of the host vehicle (lead vehicle 1), such as a power train having a drive source (motor, etc.) of the host vehicle (lead vehicle 1) and a steering device, so that the host vehicle (lead vehicle 1) drives along a target trajectory and avoids collisions with obstacles.

[0017] The following vehicle control system 13 has a following vehicle control system sensor 131 and the like. For example, a LiDAR or the like can be used as the following vehicle control system sensor 131. The following vehicle control system 13 controls the traveling of the following vehicle 2 so as to follow the leading vehicle 1 based on the detection signal of the following vehicle control system sensor 131 and control values ​​such as acceleration and steering angle from the automatic driving control system 11.

[0018] The following vehicle 2 is equipped with an automatic parking control system 21, an HV-ECU 22, an electric power steering ECU 23, and the like, which are capable of receiving driving control signals such as an acceleration command signal and a steering angle command signal via vehicle-to-vehicle communication from the following vehicle control system 13 equipped in the leading vehicle 1. The automatic parking control system 21 also includes an automatic parking ECU 210 and an automatic parking control system sensor 211. The automatic parking control system sensor 221 may be, for example, a rear camera or a sonar.

[0019] Here, the purpose of the following vehicle 2 using the rear camera that captures images behind the following vehicle 2 as the automatic parking control system sensor 221 is basically to recognize the white lines of parking spaces. In the electronic towing travel system 100 according to the first embodiment, the following vehicle 2 receives a signal from the leading vehicle 1 that electronic towing is in progress, and executes a monitoring mode that monitors electronic towing, thereby making it possible to switch the use of the rear camera as the automatic parking control system sensor 221 from recognizing the white lines of parking spaces to recognizing the white lines beside the lane.

[0020] Fig. 2 is a flowchart showing an example of the monitoring control of electronic towing performed by the electronic towing traveling system 100 according to the embodiment 1. The monitoring control of electronic towing shown in Fig. 2 is performed, for example, by using the automatic parking ECU 210 of the following vehicle 2 as a monitoring microcomputer.

[0021] First, the electronic towing system 100 determines whether the following vehicle control system 13 is running (step S1). If it is determined that the following vehicle control system 13 is not running (No in step S1), the electronic towing system 100 ends the series of controls. On the other hand, if it is determined that the following vehicle control system 13 is running (Yes in step S1), the electronic towing system 100 determines whether the automatic driving control system 11 is running (step S2). If it is determined that the automatic driving control system 11 is not running (No in step S2), the electronic towing system 100 ends the series of controls. On the other hand, if it is determined that the automatic driving control system 11 is running (Yes in step S2), the electronic towing system 100 determines whether the lead vehicle 1 is connecting (starting) or disconnecting (ending) electronic towing of the following vehicle 2 (step S3). If it is determined that the connection (start) or disconnection (end) of electronic towing is in progress (Yes in step S3), the electronic towing travel system 100 ends the series of control operations. On the other hand, if it is determined that the connection (start) or disconnection (end) of electronic towing is not in progress (No in step S3), the electronic towing travel system 100 determines that electronic towing is in progress, and the leading vehicle 1 notifies the automatic parking ECU 210 of the electronic towing status and transitions to monitoring mode (step S4). Next, the automatic parking ECU 210 monitors the lane departure of the following vehicle 2 using the automatic parking control system sensor 211 (rear camera) (step S5). Next, the automatic parking ECU 210 determines whether the relative angle between the following vehicle 2 and the white lines on the road is within a predetermined range based on the detection signal of the automatic parking control system sensor 211 (rear camera) (step S6). If it is determined that the relative angle between the following vehicle 2 and the white lines on the road is within the predetermined range (Yes in step S6), the electronic towing travel system 100 ends the series of control operations. On the other hand, if it is determined that the relative angle between the following vehicle 2 and the white lines on the road is not within a predetermined range (No in step S6), the automatic parking ECU 210 causes the automatic driving ECU 110 to cut off the driving command signal from the following vehicle control system 13 to the automatic parking control system 21 (step S7). Thereafter, the electronic towing and traveling system 100 ends the series of controls.

[0022] In the electronic towing and traveling system 100 according to the first embodiment, the automatic parking ECU 210 and the automatic parking control system sensor 211 are utilized to monitor electronic towing while traveling without performing automatic parking. This allows the following vehicle 2 to appropriately follow the leading vehicle 1 by traveling while making lane departure determinations, thereby improving traveling safety.

[0023] Furthermore, in the electronic traction traveling system 100 according to embodiment 1, it is possible to shorten the communication time required for abnormality notification compared to monitoring the following vehicle 2 from the leading vehicle 1 and notifying the following vehicle 2 of an abnormality from the leading vehicle 1.

[0024] (Embodiment 2) Hereinafter, a second embodiment of the electronic traction traveling system according to the present invention will be described. Note that in the second embodiment, the same content as in the first embodiment will be omitted as appropriate.

[0025] FIG. 3 is a block diagram showing a schematic configuration of an electronic traction traveling system 100 according to the second embodiment.

[0026] In the electronic towing system 100 according to the second embodiment, the following vehicle 2 is equipped with an automatic braking system 24. The automatic braking system 24 has an automatic braking ECU 240 and an automatic braking system sensor 241. The automatic braking system sensor 241 may be, for example, a millimeter wave radar for detecting obstacles ahead of the following vehicle 2, or a forward camera for capturing images ahead of the following vehicle 2. The automatic braking ECU 240 and the automatic braking system sensor 241 are connected so as to be able to communicate with each other. The automatic braking ECU 240 executes brake control using the braking device of the following vehicle 2 based on a detection signal from the automatic braking system sensor 241.

[0027] In the electronic towing system 100 according to the second embodiment, electronic towing is not monitored and controlled using the automatic parking control system sensor 211 of the following vehicle 2 as in the electronic towing system 100 according to the first embodiment, but is monitored and controlled using the automatic braking system sensor 241 of the following vehicle 2. Therefore, although the automatic parking control system sensor 211 is not shown in Fig. 3, the following vehicle 2 may be equipped with the automatic parking control system sensor 211.

[0028] Here, the original purpose of the automatic braking system 24 using the front camera as the automatic braking system sensor 241 is to recognize white lines on the road and to warn occupants such as the driver of lane departure by the following vehicle 2. In the electronic towing travel system 100 according to the second embodiment, the following vehicle 2 receives a signal from the lead vehicle 1 that electronic towing is in progress, and thereby executes a monitoring mode for monitoring the electronic towing, thereby making it possible to divert the front camera as the automatic braking system sensor 241 to detect lane departure by the following vehicle 2 due to an abnormality in the electronic towing. Furthermore, the original purpose of the automatic braking system 24 using the millimeter-wave radar as the automatic braking system sensor 241 is to detect approaching obstacles to the following vehicle 2, and to use it to warn occupants such as the driver of approaching obstacles to the following vehicle 2 and to execute emergency braking of the following vehicle 2. In the electronic towing travel system 100 according to the second embodiment, the following vehicle 2 receives a signal from the leading vehicle 1 indicating that electronic towing is in progress, and thereby executes a monitoring mode for monitoring electronic towing, thereby enabling the millimeter wave radar serving as the automatic braking system sensor 241 to be diverted to detecting the distance (relative distance) between the leading vehicle 1 and the following vehicle 2 due to an abnormality in electronic towing. If the distance (relative distance) between the leading vehicle 1 and the following vehicle 2 is smaller than a predetermined value, the automatic braking system 24 (automatic braking ECU 240) executes braking control using the braking device of the following vehicle 2.

[0029] Fig. 4 is a flowchart showing an example of the monitoring control of electronic traction performed by the electronic traction traveling system 100 according to embodiment 2. The monitoring control of electronic traction shown in Fig. 4 is performed, for example, by using the automatic brake ECU 240 of the following vehicle 2 as a monitoring microcomputer.

[0030] First, the electronic towing system 100 determines whether the following vehicle control system 13 is running (step S11). If it is determined that the following vehicle control system 13 is not running (No in step S11), the electronic towing system 100 ends the series of controls. On the other hand, if it is determined that the following vehicle control system 13 is running (Yes in step S11), the electronic towing system 100 determines whether the automatic driving control system 11 is running (step S12). If it is determined that the automatic driving control system 11 is not running (No in step S12), the electronic towing system 100 ends the series of controls. On the other hand, if it is determined that the automatic driving control system 11 is running (Yes in step S12), the electronic towing system 100 determines whether the lead vehicle 1 is connecting (starting) or disconnecting (ending) electronic towing of the following vehicle 2 (step S13). If it is determined that the connection (start) or disconnection (end) of electronic towing is in progress (Yes in step S13), the electronic towing travel system 100 ends the series of control. On the other hand, if it is determined that the connection (start) or disconnection (end) of electronic towing is not in progress (No in step S13), the electronic towing travel system 100 determines that electronic towing is in progress, and the leading vehicle 1 notifies the automatic brake ECU 240 of the electronic towing status, and transitions to monitoring mode (step S14). Next, the automatic brake ECU 240 monitors the following vehicle 2 for a following abnormality using the automatic brake system sensor 241 (millimeter-wave radar and forward camera) (step S15). Next, the automatic brake ECU 240 determines whether the distance (relative distance) and angle (relative angle) between the leading vehicle 1 and the following vehicle 2 are within a predetermined range based on the detection signal of the automatic brake system sensor 241 (millimeter-wave radar and forward camera) (step S16). If it is determined that the distance (relative distance) and angle (relative angle) between the leading vehicle 1 and the following vehicle 2 are within the predetermined range (Yes in step S16), the electronic traction and traveling system 100 ends the series of controls.On the other hand, if it is determined that the distance (relative distance) and angle (relative angle) between the leading vehicle 1 and the following vehicle 2 are not within a predetermined range (No in step S16), the automatic brake ECU 240 determines whether the relative angle between the following vehicle 2 and the white lines on the road is within a predetermined range based on the detection signal of the automatic brake system sensor 241 (forward camera) (step S17). If it is determined that the relative angle between the following vehicle 2 and the white lines on the road is within the predetermined range (Yes in step S17), the electronic towing and traveling system 100 ends the series of controls. On the other hand, if it is determined that the relative angle between the following vehicle 2 and the white lines on the road is not within the predetermined range (No in step S17), the automatic brake ECU 240 causes the automatic driving ECU 110 to cut off the traveling command signal from the following vehicle control system 13 to the automatic parking control system 21 (step S18). Thereafter, the electronic towing and traveling system 100 ends the series of controls.

[0031] In the electronic towing travel system 100 according to the second embodiment, the automatic brake ECU 240 and the automatic brake system sensor 241 (millimeter-wave radar and forward camera) are utilized to monitor electronic towing. As a result, in addition to determining whether the following vehicle 2 has departed from the lane, the following vehicle 2 travels so as to maintain the distance (relative distance) between the leading vehicle 1 and the following vehicle 2 within a predetermined range, and if the distance (relative distance) between the leading vehicle 1 and the following vehicle 2 is smaller than a predetermined value, the automatic brake system 24 (automatic brake ECU 240) executes brake control using the braking device of the following vehicle 2, thereby enabling the following vehicle 2 to appropriately follow the leading vehicle 1, thereby improving traveling safety.

[0032] Furthermore, in the electronic traction traveling system 100 according to the second embodiment, it is possible to shorten the communication time required for abnormality notification compared to monitoring the following vehicle 2 from the leading vehicle 1 and notifying the following vehicle 2 of an abnormality from the leading vehicle 1. [Explanation of symbols]

[0033] 1 Lead vehicle 2 Following vehicles 11 Autonomous Driving Control System 12 Driving control system 13. Following vehicle control system 21 Automatic Parking Control System 22 HV-ECU 23 Electric power steering ECU 24 Automatic Braking System 100 Electronic Traction and Driving System 111 Sensors for Autonomous Driving Control Systems 131 Sensor for following vehicle control system 210 Automatic Parking ECU 211 Sensors for Automatic Parking Control Systems 241 Automatic Brake System Sensor

Claims

1. An electronic towing system in which a leading vehicle electronically tows a following vehicle using vehicle-to-vehicle communication, the leading vehicle is equipped with an automatic driving control system and a following vehicle control system that controls the following vehicle based on a control value from the automatic driving control system; the following vehicle is equipped with an automatic parking control system capable of receiving a driving control signal from the following vehicle control system, and a sensor for the automatic parking control system; The following vehicle travels while the automatic parking control system determines whether the following vehicle is deviating from its lane using the automatic parking control system sensor. An electronic traction system characterized by:

2. An electronic towing system in which a leading vehicle electronically tows a following vehicle using vehicle-to-vehicle communication, the leading vehicle is equipped with an automatic driving control system and a following vehicle control system that controls the following vehicle based on a control value from the automatic driving control system; the following vehicle is equipped with an automatic parking control system capable of receiving a driving control signal from the following vehicle control system, an automatic braking system, and a sensor for the automatic braking system; The following vehicle travels while the automatic braking system determines whether the following vehicle is deviating from its lane using the automatic braking system sensor and monitors the relative distance between the leading vehicle and the following vehicle, When the relative distance is smaller than a predetermined value, the automatic braking system executes brake control. An electronic traction system characterized by:

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