Vehicle Control System

Abstract

To enhance safety when allowing a non-controlled vehicle to merge into a line of platooning vehicles.SOLUTION: A vehicle control system controls a plurality of vehicles which perform platooning. When a non-controlled vehicle different from the plurality of platooning vehicles tries to overtake a platoon and an obstacle exists ahead of the non-controlled vehicle, the vehicle control system adjusts an inter-vehicle distance of the plurality of platooning vehicles so as to allow the non-controlled vehicle to cut in a line of the platooning vehicles. Therefore, the vehicle control system allows the non-controlled vehicle to easily cut in the line of platooning vehicles and can enhance safety when the non-controlled vehicle cuts in the line of the platooning vehicles.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a vehicle control system. [Background technology]

[0002] Conventionally, as a vehicle control system of this type, a system that performs platooning control to control multiple vehicles to travel in a convoy has been proposed (see, for example, Patent Document 1). In this system, when it detects that a non-controlled vehicle that is not subject to platooning control and traveling in a merging lane is attempting to cut into a convoy of multiple vehicles traveling in the driving lane, the system adjusts the inter-vehicle distances between the multiple vehicles in the convoy depending on the traveling state of the non-controlled vehicle. This is said to enable appropriate handling of the non-controlled vehicle cutting into the convoy. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-189032 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the above-mentioned vehicle control system does not disclose how to control multiple vehicles in a platoon when an uncontrolled vehicle is attempting to overtake the platoon and there is an obstacle such as road construction or an oncoming vehicle ahead of the uncontrolled vehicle. When an uncontrolled vehicle is attempting to overtake the platoon and there is an obstacle ahead of the uncontrolled vehicle, it is thought that the uncontrolled vehicle will attempt to cut into the platoon to avoid the obstacle. In this case, it is desirable to allow the uncontrolled vehicle to cut into the platoon more safely.

[0005] The main object of the vehicle control system of the present invention is to improve safety when an uncontrolled vehicle is allowed to cut into a platoon. [Means for solving the problem]

[0006] The vehicle control system of the present invention comprises: A vehicle control system that performs platooning control to control a plurality of vehicles to travel in a platoon, When a non-controlled vehicle that is not subject to the platoon driving control is about to overtake the platoon and there is an obstacle ahead of the non-controlled vehicle, the inter-vehicle distance between the plurality of vehicles is adjusted so that the non-controlled vehicle can cut into the platoon. The gist of this is as follows.

[0007] In the vehicle control system of the present invention, when a vehicle different from the plurality of vehicles attempts to overtake the platoon and there is an obstacle ahead of the non-controlled vehicle, the inter-vehicle distance between the plurality of vehicles is adjusted so that the non-controlled vehicle can cut into the platoon. As a result, safety can be improved when the non-controlled vehicle is allowed to cut into the platoon.

[0008] In the vehicle control system of the present invention, when the non-controlled vehicle attempts to move toward the oncoming lane to leave the platoon after cutting in, the platoon may be moved in a direction away from the oncoming lane. This ensures forward visibility for the non-controlled vehicle and improves safety when the non-controlled vehicle leaves the platoon. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a diagram showing an outline of the configuration of a vehicle control system 10. FIG. [Figure 2] 1 is an explanatory diagram showing an example of a situation in which a plurality of vehicles 20, 40 and an uncontrolled vehicle 30 are traveling on a road with one lane in each direction. [Figure 3] 10 is a flowchart showing an example of a vehicle distance adjustment routine. DETAILED DESCRIPTION OF THE INVENTION

[0010] Next, a mode for carrying out the present invention will be described using examples. [Example]

[0011] 1 is a diagram showing an outline of the configuration of a vehicle control system 10 according to one embodiment of the present invention. The vehicle control system 10 is configured as a control device that controls a plurality of vehicles 20. Each vehicle 20 includes a drive unit 200, a navigation device 210, an inter-vehicle communication device 220, and an electronic control unit (hereinafter referred to as "ECU") 230. In addition to these, the vehicle 20 also includes a braking device such as a brake that applies braking force, a steering device that performs steering, and the like, although not shown.

[0012] The drive unit 200 includes a power source that outputs power for traveling, a transmission, and the like, and outputs the power to a drive shaft (the axle and drive shaft are not shown) connected to the axle.

[0013] The navigation device 210 sets a planned driving route from the current location of the vehicle (vehicle 20) to the destination based on stored map information, the current location of the vehicle from the GPS antenna, and the destination set by the user, and displays the set planned driving route on a display (not shown) to provide route guidance.

[0014] The inter-vehicle communication device 220 performs wireless communication with another vehicle 20 different from the own vehicle.

[0015] Although not shown, the ECU 230 is configured as a microprocessor centered around a CPU. In addition to the CPU, the ECU 230 includes a ROM for storing processing programs, a RAM for temporarily storing data, and input / output ports. Signals from various sensors required for controlling the drive unit 200, braking system, steering system, four hazard lamps (emergency flashers) 240 attached to the left and right front and rear sides of the vehicle body, and backlights are input to the ECU 230 via the input ports. Examples of signals input to the ECU 230 include vehicle speed Vf from a vehicle speed sensor that detects the speed of the vehicle 20, and information about the host vehicle and its surroundings from a periphery recognition device 250 (e.g., inter-vehicle distances D1 and D2 between the host vehicle and other vehicles ahead and behind the host vehicle, the host vehicle's position on the lane, and images of the host vehicle's surroundings). The periphery recognition device 250 is configured with a camera, millimeter-wave radar, quasi-millimeter-wave radar, infrared laser radar, sonar, and the like. The ECU 230 exchanges data with the ECU 230 of another vehicle 20 via the inter-vehicle communication device 220 by wireless communication.

[0016] In each vehicle 20 configured in this manner, the ECU 230 performs automatic driving, causing the vehicle 20 to travel without operation by the driver. In automatic driving, a target vehicle speed V* is set based on the planned travel route, the current location of the vehicle, and map information (e.g., legal speed limit) from the navigation device 210, and inter-vehicle distances D1, D2 (if other vehicles are present around the vehicle) from the surroundings recognition device 250 to other vehicles ahead of and behind the vehicle, a target torque Td* is set so that the vehicle speed V becomes the target vehicle speed V*, and platooning control is executed to control the drive device 200 and a steering device (not shown) so that the vehicle follows the preceding vehicle at the target torque Td*.

[0017] Next, the operation of the vehicle control system 10 configured in this manner will be described, particularly the operation when a non-controlled vehicle 30 that is not subject to platooning control attempts to overtake multiple vehicles 20 traveling in a platoon. Figure 2 is an explanatory diagram showing an example of multiple vehicles 20, vehicle 40, and non-controlled vehicle 30 traveling on a one-lane road. In the figure, vehicle 40 is an oncoming vehicle traveling in the lane adjacent to the lane in which the multiple vehicles 20 are traveling, and the thick arrow indicates the direction of travel.

[0018] Before describing the operation of the vehicle control system 10, the configuration of the non-controlled vehicle 30 will be described. The non-controlled vehicle 30 is configured as an automobile that runs on a drive unit 300 such as an engine or a motor, and in addition to the drive unit 300, is equipped with a turn signal (direction indicator) 310 that lights up to indicate the direction to those around it when turning right or left or changing course. The non-controlled vehicle 30 does not communicate with each vehicle 20, and is not subject to platooning control.

[0019] Next, the operation of the vehicle control system 10 will be described. Fig. 3 is a flowchart showing an example of an inter-vehicle distance adjustment routine executed by the ECU 230 of a lateral vehicle 20A traveling beside a non-controlled vehicle 30 among the multiple vehicles 20 constituting the platoon. This routine is executed when the surroundings recognition device 250 of the lateral vehicle 20A detects that the blinker 310 of the non-controlled vehicle 30 indicates a lane change toward the platoon and also detects that there is some kind of obstacle, such as road construction or an oncoming vehicle, ahead of the non-controlled vehicle 30. Note that the inter-vehicle distance adjustment routine of Fig. 3 may be executed by a vehicle other than the lateral vehicle 20A of the multiple vehicles 20.

[0020] When this routine is executed, the ECU 230 of the lateral vehicle 20A determines whether or not a vehicle is present behind the non-controlled vehicle 30 based on information from the periphery recognition device 250 of the lateral vehicle 20A (step S100). When no vehicle is present behind the non-controlled vehicle 30, the ECU 230 determines whether or not the distance D1o between the non-controlled vehicle 30 and an obstacle in front of the non-controlled vehicle 30 is equal to or greater than a predetermined distance D1oref, that is, whether or not a sufficient distance is maintained between the non-controlled vehicle 30 and an obstacle in front of the non-controlled vehicle 30, based on information from the periphery recognition device 250 (step S110).

[0021] If the distance between the non-controlled vehicle 30 and the obstacle ahead is sufficient in step S110, the system sets the position in front of or behind the lateral vehicle 20A, whichever is closer to the non-controlled vehicle 30, as the division position Pd of the platoon based on information from the periphery recognition device 250 (step S120), and transmits an adjustment instruction to each vehicle 20 in the platoon to adjust the inter-vehicle distance so that the platoon splits at the division position Pd (step S170). Of the vehicles 20 that have received the adjustment instruction, those behind the platoon division position Pd lower their target vehicle speed V* and travel in platoon while decelerating. This increases the inter-vehicle distance between vehicle 20B immediately ahead of division position Pd and vehicle 20C immediately behind it. In addition, each vehicle 20 that receives the adjustment instruction may increase the inter-vehicle distance between vehicle 20B immediately in front of the division position Pd and vehicle 20C immediately behind it, shorten the inter-vehicle distance between vehicles 20 ahead of the division position Pd of the platoon, and shorten the inter-vehicle distance between vehicles 20 behind the division position Pd of the platoon.

[0022] Next, an instruction to turn on the rear hazard lights 240 is transmitted to the vehicle 20B immediately ahead of the platoon division position Pd (step S180), and this routine ends. Vehicle 20B, which has received the instruction to turn on the rear hazard lights 240, turns on the left and right rear hazard lights 240. This allows vehicle 20B to indicate the cut-in position to the driver of the non-controlled vehicle 30. It is considered that the driver of the non-controlled vehicle 30, having visually recognized the cut-in position, will operate the non-controlled vehicle 30 so as to cut in between vehicle 20B and vehicle 20C. The inter-vehicle distance between vehicle 20B and vehicle 20C has increased. RTherefore, the non-controlled vehicle 30 can easily cut into the platoon, which improves safety when the non-controlled vehicle 30 cuts into the platoon.

[0023] If the distance between the non-controlled vehicle 30 and the vehicle ahead is not secured in step S110, the rear of the lateral vehicle 20A is set as the division position Pd of the platoon (step S130), an adjustment instruction is sent to each vehicle 20 in the platoon to adjust the inter-vehicle distance so that the platoon will divide at the division position Pd (step S170), an instruction to turn on the rear hazard lights 240 is sent to the vehicle 20B immediately ahead of the division position Pd of the platoon (step S180), and this routine is terminated.

[0024] Since the rear of the lateral vehicle 20A is set as the division point Pd of the platoon, the distance between the lateral vehicle 20A and the vehicle 20C immediately behind the lateral vehicle 20A becomes large, and the hazard lights 240 of the vehicle immediately in front of the division point Pd of the platoon, i.e., the vehicle immediately behind the lateral vehicle 20A, turn on. It is thought that the driver of the non-controlled vehicle 30 who sees the hazard lights 240 turn on will operate the brake pedal or steering device to slow down the non-controlled vehicle 30 and drive the non-controlled vehicle 30 so as to cut in just behind the lateral vehicle 20A. The distance between the lateral vehicle 20A and the vehicle 20C becomes large. R Therefore, the non-controlled vehicle 30 can easily cut into the platoon. This improves safety when the non-controlled vehicle 30 cuts into the platoon. At this time, the non-controlled vehicle 30 decelerates, which prevents the distance between the non-controlled vehicle 30 and an obstacle ahead of the non-controlled vehicle 30 from becoming even shorter.

[0025] If step S100 determines that another vehicle is present behind the non-controlled vehicle 30, the process proceeds to step S140, similar to step S110, to determine whether a sufficient distance is available from the vehicle ahead. If the sufficient distance is available, the process proceeds to step S150, where it is determined whether the vehicle speed V2o of the vehicle behind the non-controlled vehicle 30, detected by the periphery recognition device 250, is higher than the vehicle speed Vo of the non-controlled vehicle 30. If the vehicle speed V2o of the rear vehicle is higher than the vehicle speed Vo of the non-controlled vehicle 30, the process sets the division point Pd of the platoon in front of the lateral vehicle 20A (step S160), transmits an adjustment instruction to each vehicle 20 in the platoon to adjust the inter-vehicle distance so that the platoon will split at the division point Pd (step S170), and transmits an instruction to turn on the rear hazard lights 240 to the vehicle 20B immediately ahead of the platoon division point Pd (step S180), after which the routine ends.

[0026] Since the area in front of the lateral vehicle 20A is set as the division position Pd of the platoon, the distance between the lateral vehicle 20A and the vehicle 20B immediately ahead increases, and the hazard lights 240 on the left and right behind the vehicle 20B immediately ahead of the lateral vehicle 20A are turned on. It is thought that the driver of the non-controlled vehicle 30 who sees this display will accelerate the non-controlled vehicle 30 by operating the accelerator pedal or steering device, and drive the non-controlled vehicle 30 so as to cut in just in front of the lateral vehicle 20A. R Therefore, the non-controlled vehicle 30 can easily cut into the platoon. This improves safety when the non-controlled vehicle 30 cuts into the platoon. At this time, the non-controlled vehicle 30 accelerates, which prevents the inter-vehicle distance between the non-controlled vehicle 30 and another vehicle behind the non-controlled vehicle 30 from becoming even shorter.

[0027] If the distance between the non-controlled vehicle 30 and the obstacle ahead is not sufficient in step S140, or if the distance ahead is sufficient in step S140 but the vehicle speed V2o of the rear vehicle is equal to or less than the vehicle speed Vo of the non-controlled vehicle 30 in step S150, the process proceeds to step S120, where the shorter distance, either ahead or behind the lateral vehicle 20A, is set as the division point Pd of the platoon (step S120). An adjustment instruction to adjust the inter-vehicle distance is sent to each vehicle 20 in the platoon so that the platoon splits at the division point Pd (step S170). An instruction to turn on the rear hazard lights 240 is sent to the vehicle 20B immediately ahead of the division point Pd of the platoon (step S180), and the routine ends. This allows the driver of the non-controlled vehicle 30 to be informed of the cut-in position. It is likely that the driver of the non-controlled vehicle 30, having recognized the cut-in position, will operate the non-controlled vehicle 30 to cut in between the vehicle 20B immediately ahead of the division point Pd and the vehicle 20C immediately behind the division point Pd. The distance between the vehicle 20B immediately in front of the dividing position Pd and the vehicle 20C immediately behind the dividing position Pd is large. R This allows the non-controlled vehicle 30 to easily and quickly cut into the platoon, thereby improving safety when the non-controlled vehicle 30 cuts into the platoon.

[0028] After the non-controlled vehicle 30 has cut into the platoon of multiple vehicles 20 in this way, it is considered that the non-controlled vehicle 30 will travel together with the platoon of multiple vehicles 20. When such a non-controlled vehicle 30 is traveling with the multiple vehicles 20, if the surroundings recognition device 250 of a vehicle 20 in front of or behind the non-controlled vehicle 30 detects that the turn signal 32 of the non-controlled vehicle 30 is indicating a change of course into the oncoming lane, it determines that the non-controlled vehicle 30 is attempting to move into the oncoming lane to leave the platoon, and transmits a command signal to each of the other vehicles 20 to move away from the oncoming lane without straying from the lane in which the multiple vehicles 20 are traveling. The ECU 230 of each vehicle 20 that has received the command signal and the vehicle 20 that transmitted the command signal controls the steering device to move away from the oncoming lane. As a result, the entire convoy of multiple vehicles 20 moves in a direction away from the oncoming lane, so that the visibility of the non-controlled vehicle 30 on the oncoming lane side can be secured, and safety can be improved when the non-controlled vehicle 30 leaves the convoy of multiple vehicles 20.

[0029] According to the vehicle control system 10 of the embodiment described above, when a non-controlled vehicle 30 different from the multiple vehicles 20 is overtaking the platoon and there is an obstacle ahead of the non-controlled vehicle 30, the inter-vehicle distance between the multiple vehicles 20 is adjusted so that the non-controlled vehicle 30 can cut into the platoon, thereby improving safety when the non-controlled vehicle 30 cuts into the platoon.

[0030] Furthermore, after an uncontrolled vehicle 30 has been incorporated into a platoon, when the uncontrolled vehicle 30 attempts to move toward the oncoming lane to leave the platoon, the platoon is moved in a direction away from the oncoming lane, thereby improving safety when the uncontrolled vehicle 30 leaves the platoon.

[0031] The correspondence between the main elements of the embodiment and the main elements of the invention described in the "Means for Solving the Problem" section will be explained. In the embodiment, the ECU 230 of each vehicle 20 corresponds to the "vehicle control system."

[0032] The correspondence between the main elements of the Examples and the main elements of the invention described in the "Means for Solving the Problem" section does not limit the elements of the invention described in the "Means for Solving the Problem" section, since the Examples are examples for specifically explaining the mode for implementing the invention described in the "Means for Solving the Problem" section. In other words, the interpretation of the invention described in the "Means for Solving the Problem" section should be based on the description in that section, and the Examples are merely specific examples of the invention described in the "Means for Solving the Problem" section.

[0033] The above describes the form for carrying out the present invention using examples, but the present invention is not limited to these examples in any way, and it goes without saying that the present invention can be carried out in various forms within the scope that does not deviate from the gist of the present invention. [Industrial Applicability]

[0034] The present invention can be used in the manufacturing industry of vehicle control systems, etc. [Explanation of symbols]

[0035] 10 vehicle control system, 20, 40 vehicle, 30 non-controlled vehicle, 220 vehicle-to-vehicle communication device, 230 electronic control unit (ECU), 240 hazard lamp (emergency flasher), 250 surrounding recognition device, 310 turn signal (direction indicator).

Claims

1. A vehicle control system that performs platooning control to control a plurality of vehicles to travel in a platoon, When a non-controlled vehicle that is not subject to the platoon driving control is about to overtake the platoon and there is an obstacle ahead of the non-controlled vehicle, a division position of the platoon is set, the inter-vehicle distances between the plurality of vehicles are adjusted so that the platoon is divided at the division position, and the hazard lamps of the rear lights of the vehicle immediately ahead of the division position are turned on. Vehicle control system.

2. 2. The vehicle control system according to claim 1, When the uncontrolled vehicle tries to move toward an oncoming lane to leave the platoon after cutting into the platoon, the platoon is moved in a direction away from the oncoming lane. Vehicle control system.

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