Electronic traction control system

Abstract

To provide an electronic traction control system capable of improving travel safety while monitoring whether the following vehicle is following normally.SOLUTION: An electronic traction control system is an electronic traction control system for electronically towing a following vehicle while a leading vehicle uses vehicle-to-vehicle communication. The leading vehicle includes: an autonomous driving control system; a following vehicle control system that controls the following vehicle based on the control values from the autonomous driving control system; and safety sensors. The following vehicle includes an automatic parking control system capable of receiving traveling control signals from the following vehicle control system. The leading vehicle travels while monitoring the relative distance to the following vehicle with the safety sensors.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 for monitoring whether the following vehicle is following normally, and therefore there is room for improvement in terms of driving safety.

[0005] The present invention has been made in consideration of the above-mentioned problems, and its purpose is to provide an electronic traction system that can monitor whether a following vehicle is following normally, thereby improving driving 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, a following vehicle control system that controls the following vehicle based on a control value from the automatic driving control system, and a safety sensor, the following vehicle is equipped with an automatic parking control system that can receive driving control signals from the following vehicle control system, and the lead vehicle drives while monitoring the relative distance to the following vehicle using the safety sensor.

[0007] This allows the leading vehicle to drive while monitoring the relative distance to the following vehicle using a safety sensor, allowing it to determine whether the following vehicle is following normally, 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, a following vehicle control system that controls the following vehicle based on a control value from the automatic driving control system, and a sensor for the following vehicle 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, and the lead vehicle drives while monitoring the relative distance to the following vehicle using the sensor for the following vehicle control system.

[0009] This allows the leading vehicle to drive while monitoring the relative distance to the following vehicle using a sensor for the following vehicle control system, allowing it to determine whether the following vehicle is following normally, thereby improving driving safety. [Effects of the Invention]

[0010] The electronic traction system of the present invention has the effect of improving driving safety by having the leading vehicle drive while monitoring the relative distance between it and the following vehicle, thereby being able to determine whether the following vehicle is following normally. [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 is equipped with an automatic driving control system 11, a cruise control system 12, and a following vehicle control system 13. The automatic driving control system 11 has an automatic driving control system sensor 111 and the like. As the automatic driving control system sensor 111, for example, a LiDAR (Light Detection And Ranging) can be used. The automatic driving control system 11 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 the detection signal of the automatic driving control system sensor 111 and the like.

[0016] The driving control system 12 has a VCU (Vehicle Control Unit) 120, a safety sensor 121, and the like. As the safety sensor 121, for example, a laser scanner can be used. The VCU 120 is communicably connected to the automatic driving control system 11, the safety sensor 121, and the like. Based on a driving control signal from the automatic driving control system 11 and a detection signal from the safety sensor 121, 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 (such as a motor) 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 (Electronic Control Unit) 22, an electric power steering ECU 23, and the like. The automatic parking control system 21 is capable of receiving driving control signals such as an acceleration command signal and a steering angle command signal from the following vehicle control system 13 equipped in the leading vehicle 1 via vehicle-to-vehicle communication. The automatic parking control system 21 also has an automatic parking ECU 210 and the like. The automatic parking ECU 210 is connected to be able to communicate with the HV-ECU 22, the electric power steering ECU 23, and the like. The automatic parking ECU 210 outputs the acceleration command signal to the HV-ECU 22 and outputs the steering angle command signal to the electric power steering ECU 23. As a result, the HV-ECU 22 and the electric power steering ECU 23 control the driving systems related to the driving of the vehicle (following vehicle 2), such as the power train having a drive source (motor, etc.) of the vehicle (following vehicle 2) and the steering device having electric power steering, so that the vehicle (following vehicle 2) drives in accordance with the lead vehicle 1.

[0019] In this way, in the electronic towing system 100 according to the first embodiment, the leading vehicle 1 can electronically tow the following vehicle 2 using vehicle-to-vehicle communication without physically connecting the leading vehicle 1 and the following vehicle 2. In the electronic towing system 100 according to the first embodiment, the leading vehicle 1 drives while monitoring the relative distance to the following vehicle 2 using the safety sensor 121. This makes it possible to determine whether the following vehicle 2 is following normally, thereby improving driving safety.

[0020] Here, in the electronic traction and traveling system 100 according to the first embodiment, the safety sensor 121, unlike in normal use, determines that the following vehicle 2 (obstacle) is normal if it is within a certain distance range behind the leading vehicle 1. If the safety sensor 121 detects that the following vehicle 2 has approached or moved away from the leading vehicle 1 beyond the certain distance, it determines that an abnormality has occurred. Furthermore, if the safety sensor 121 detects that an obstacle has entered between the leading vehicle 1 and the following vehicle 2, it determines that an abnormality has occurred, as in normal use of the safety sensor 121. This makes it possible to seamlessly monitor whether the following vehicle 2 is normally following the leading vehicle 1, for example, using a highly reliable laser scanner as the safety sensor 121. Note that normal use of the safety sensor 121 involves, for example, decelerating the vehicle when an obstacle is detected behind the leading vehicle 1 within a warning area (e.g., a distance of 20 m), and making an emergency stop when an obstacle is detected within a protection area (e.g., a distance of 5 m).

[0021] 2 is a flowchart showing an example of the monitoring control of electronic traction performed by the electronic traction traveling system 100 according to the embodiment 1. The monitoring control of electronic traction shown in FIG. 2 is performed, for example, by using the VCU 120 of the leading vehicle 1 as a monitoring microcomputer.

[0022] First, the VCU 120 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 VCU 120 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 VCU 120 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 VCU 120 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 VCU 120 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 electronic towing is connecting (starting) or disconnecting (ending) electronic towing (Yes in step S3), the VCU 120 ends the series of controls. 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 VCU 120 determines whether the safety sensor 121 has detected the following vehicle 2 within a predetermined area (step S4). If it is determined that the safety sensor 121 has detected the following vehicle 2 within the predetermined area (Yes in step S4), the VCU 120 ends the series of controls. On the other hand, if it is determined that the safety sensor 121 has not detected the following vehicle 2 within the predetermined area (No in step S4), the VCU 120 cuts off the travel command signal from the following vehicle control system 13 to the automatic parking control system 21 (step S5). Thereafter, the VCU 120 ends the series of controls.

[0023] In the electronic towing and traveling system 100 according to the first embodiment, the leading vehicle 1 uses the safety sensor 121 to determine whether the following vehicle 2 has been detected within a predetermined area, and travels while monitoring the relative distance between the leading vehicle 1 and the following vehicle 2. As a result, if the following vehicle 2 is not following the leading vehicle 1 normally due to unintended acceleration / deceleration or deviation from the trajectory caused by an abnormality in at least one of the following vehicle control system 13 of the leading vehicle 1 and the automatic parking control system 21 of the following vehicle 2, the leading vehicle 1 is stopped. At the same time, by interrupting the traveling command signal from the following vehicle control system 13 to the automatic parking control system 21, the following vehicle 2 is prevented from traveling off the target trajectory, thereby improving traveling safety.

[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 traction system 100 according to the second embodiment, monitoring and control of electronic traction is not performed using the safety sensor 121 of the leading vehicle 1 as in the electronic traction system 100 according to the first embodiment, but rather using a sensor 131 for the following vehicle control system of the leading vehicle 1. Therefore, although the safety sensor 121 is not shown in Fig. 3, the leading vehicle 1 may also be equipped with the safety sensor 121.

[0027] In the leading vehicle 1 according to the second embodiment, the following vehicle control system 13 has a monitoring microcomputer 130. The monitoring microcomputer 130 is communicably connected to a sensor 131 for the following vehicle control system. The monitoring microcomputer 130 monitors the relative distance between the leading vehicle 1 and the following vehicle 2 based on the detection signal of the sensor 131 for the following vehicle control system, and determines whether the following vehicle 2 is following normally.

[0028] As a result, in the electronic towing system 100 of embodiment 2, the leading vehicle 1 and the following vehicle 2 are not physically connected, and the leading vehicle 1 can electronically tow the following vehicle 2 using vehicle-to-vehicle communication while monitoring the relative distance between the leading vehicle 1 and the following vehicle 2 using the sensor 131 for the following vehicle control system.

[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 by, for example, the monitoring microcomputer 130 of the leading vehicle 1.

[0030] First, the monitoring microcomputer 130 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 monitoring microcomputer 130 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 monitoring microcomputer 130 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 monitoring microcomputer 130 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 monitoring microcomputer 130 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 monitoring microcomputer 130 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 S13), the monitoring microcomputer 130 notifies the monitoring microcomputer 130 of the electronic towing status and transitions to monitoring mode (step S14). Next, the monitoring microcomputer 130 monitors the relative distance and angle of the following vehicle 2 using the following vehicle control system sensor 131 (step S15). Next, based on the detection signal of the following vehicle control system sensor 131, the monitoring microcomputer 130 determines whether the relative distance and angle of the following vehicle 2 with respect to the lead vehicle 1 are within a predetermined range (step S16). If it is determined that the relative distance and angle are within the predetermined range (Yes in step S16), the monitoring microcomputer 130 ends the series of control operations. On the other hand, if it is determined that the relative distance and angle are not within the predetermined range (No in step S16), the monitoring microcomputer 130 cuts off the travel command signal from the following vehicle control system 13 to the automatic parking control system 21 (step S17). The monitoring microcomputer 130 ends the series of controls.

[0031] In the electronic traction traveling system 100 according to the second embodiment, when the following vehicle 2 is not within a predetermined range behind the leading vehicle 1, it is possible to detect, for example, unintended acceleration / deceleration or deviation from the trajectory of the following vehicle 2 due to an abnormality occurring in at least one of the following vehicle control system 13 of the leading vehicle 1 and the automatic parking control system 21 of the following vehicle 2. As a result, when the following vehicle 2 is not following the leading vehicle 1 normally, the leading vehicle 1 is stopped and the traveling command signal from the following vehicle control system 13 to the automatic parking control system 21 is cut off, thereby preventing the following vehicle 2 from traveling off the target trajectory and improving traveling safety.

[0032] Here, making a microcomputer ASIL (Automotive Safety Integrity Level) compliant requires a dual lockstep CPU (Central Processing Unit) and ECC (Error Checking and Correcting) for memory, bus, and communication, allocating computing power to safety measures. This significantly reduces the computing power available for signal processing, such as LiDAR. In contrast, in the electronic traction and driving system 100 according to the second embodiment, for example, the ASIL-compliant monitoring microcomputer 130 identifies the following vehicle 2 using a minimum number of sensors 131 (such as LiDAR) for the following vehicle control system, and detects its relative distance and angle. Meanwhile, the microcomputer that processes information from multiple LiDARs and cameras to realize the functions of the autonomous driving control system 11 and the driving control system 12 can be made non-ASIL compliant, allowing all of its computing power to be used for its intended purpose. [Explanation of symbols]

[0033] 1 Lead vehicle 2. Following vehicle 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 100 Electronic Traction and Driving System 111 Sensors for Autonomous Driving Control Systems 120 VCU 121 Safety Sensors 130 Monitoring microcomputer 131 Sensor for following vehicle control system 210 Automatic Parking ECU

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, a following vehicle control system that controls the following vehicle based on a control value from the automatic driving control system, and a safety sensor; the following vehicle is equipped with an automatic parking control system capable of receiving a driving control signal from the following vehicle control system, The leading vehicle travels while monitoring the relative distance between the leading vehicle and the following vehicle using the safety 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, a following vehicle control system that controls the following vehicle based on a control value from the automatic driving control system, and a sensor for the following vehicle 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, The leading vehicle travels while monitoring the relative distance between the leading vehicle and the following vehicle using the following vehicle control system sensor. An electronic traction system characterized by:

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