JP2003168199A - Collision avoiding system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a collision avoiding system which is easy to use for operation by dispensing with setting of characteristic ID to respective vehicles. <P>SOLUTION: A track 3 within a traveling management area 1 for managing traveling of the vehicles 5A and 5B is divided into a plurality of blocks and position IDs #1 to #55 are set to them. The positions of the vehicles themselves are detected by a GPS system 22 mounted on the vehicles 5A and 5B, and the detected pieces of position data are converted to the positional IDs #38 and #49 where the vehicles themselves exist. In the case of communication between ground equipment 10 and the vehicles, these positional IDs #38 and #49 are used as identification IDs of information which the vehicles themselves transmit and receive and information which the other vehicles transmit and receive. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a collision avoidance system for communicating mobile body information between a plurality of mobile bodies and ground devices to avoid a collision between the mobile bodies.

[0002]

2. Description of the Related Art For example, at a physical distribution base where containers are piled up in a predetermined place, the visibility of an intersection is poor, and collisions between mobile units easily occur. As a method of avoiding such a collision of encounters between moving bodies,
Provided on the ground side is a management device that manages the running state of the moving body,
By mounting a position detection unit (for example, a GPS device) for detecting the position of each mobile unit on each mobile unit and transmitting mobile unit information such as the mobile unit position from each mobile unit to the ground side management device,
A collision avoidance system is conceivable in which the management device grasps the position of each mobile body to determine whether there is a possibility of a collision, and transmits this determination information to each mobile body.

[0003]

By the way, in the system as described above, the management device on the ground side communicates with a plurality of mobile units, so that it is possible to identify from which mobile unit the information received on the management unit side is the information. There is a need to. For this reason, conventionally, it is general to set a unique ID for information identification to each mobile unit, and to add the ID to the transmission information for transmission to identify which mobile unit the transmission information is from. Target.

However, in such an identification method, it is necessary to set a unique ID for all moving bodies when operating this kind of collision avoidance system. Also, when the mounted device is replaced due to a failure, the ID initial setting work is required every time the replacement is performed, which is troublesome. Furthermore, in the ground-side management device, the position of the moving body is replaced with the position on the map data of the traveling path based on the position information (for example, position coordinate data) transmitted from each moving body, and there is a possibility of collision. There is a problem that data processing for identifying a mobile unit is required, and the load of data processing on the ground side management device increases as the number of mobile units to be managed increases.

As a technique for avoiding collisions between mobile units at the intersection, information communication is performed between mobile units approaching an intersection using electromagnetic wave diffraction, and each mobile unit mutually confirms the existence of other mobile units. By doing so, a technique for avoiding a collision has been proposed (see "Traffic accident prevention system using inter-vehicle communication", EMC, No. 146, June 2000 issue). However, the above technique is inefficient in terms of energy consumption because of large attenuation due to diffraction. In addition, there is a problem that there is no method for managing the mobile unit when the communication means mounted on the mobile unit fails to communicate.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a collision avoidance system which is easy to operate and does not need to set a unique ID for a moving body. To do.

[0007]

Therefore, the invention of claim 1 is a collision avoidance system for avoiding a collision between mobile bodies by communicating mobile body information between a plurality of mobile bodies and ground devices. A position where the mobile unit transmits / receives information, a position detection unit that detects the position of itself, and a position ID that converts the detected position data into a position ID that is pre-assigned to the traveling area to which the position data belongs. An ID converter is provided, and the position ID is used as a mobile body information identification ID to communicate the mobile body information between a plurality of mobile bodies and a ground device.

In such a structure, the moving body detects its own position by the position detecting section, and converts the detected position data into the position ID of the traveling area in which it is located by the position ID converting section. When transmitting / receiving mobile body information between the mobile body and the ground apparatus, this position ID is used as an ID for information identification, and the position ID is added to the mobile body information to be transmitted / received to transmit / receive information. The position ID of the moving body changes as the moving body moves, and this position ID indicates the position of the moving body. This allows the position ID to be set without setting a unique ID for each mobile unit.
This makes it possible to identify which mobile unit has the mobile unit information.

When the ground device transmits all position IDs assigned to the traveling management area of the mobile unit and receives the mobile unit information from the responding mobile unit,
All the position IDs and mobile unit information thereof are transmitted to all the mobile units. When the mobile unit receives the position ID indicating the traveling area in which the mobile unit is located, the mobile unit adds its own position ID to the mobile unit. After transmitting the information, the mobile unit information added to the own position ID is received from all the mobile unit information transmitted from the ground device, and the own transmission mobile unit information and the reception mobile unit information do not match. It is advisable to adopt a configuration in which it is sometimes determined that communication is abnormal.

As described above, the ground device returns the mobile body information transmitted from the mobile body to the mobile body side, so that the mobile body side can determine whether the communication function is normal or abnormal. As in claim 3, the moving body has map data indicating a positional relationship of all position IDs assigned to the travel management area, and identifies a position ID that may cause a collision based on the map data. However, the specified position I is determined from all the mobile body information transmitted from the ground device.
It may be configured to receive the mobile body information of D and determine whether to collide based on the received mobile body information of the specific position ID.

In such a configuration, each mobile body side determines the possibility of collision with another mobile body based on the map data, so that the data processing load of the ground equipment can be reduced. According to a fourth aspect of the present invention, the mobile body information may include information on the speed and the traveling direction of the mobile body, and it may be configured to determine whether to collide or not based on the speed and the traveling direction.

In this case, the risk of collision is different depending on, for example, whether the other moving body is in a stopped state or a traveling state, and whether the moving body is heading to the intersection or not, and the risk of collision is low. If the vehicle is in the state, the vehicle can travel as it is, and the traveling of the moving body can be efficiently managed. In the invention of claim 5, the ground device has map data indicating a positional relationship of all position IDs assigned to the travel management area, and one of the traveling paths intersecting each other based on the map data. The traveling instruction information is added to the position ID assigned to the traveling path of No. 1 and transmitted, and the stop instruction information is added to the position ID assigned to the other traveling path to be transmitted.

With this structure, it is possible to reliably avoid a collision of the moving body at the intersection of the traveling paths that intersect each other. As in claim 6, when the communication from the mobile body is stopped, the ground device is based on the mobile body information received before the communication is stopped, and at least an intersection of a traveling area where the mobile body may exist. It is preferable to add the warning information to the position ID assigned to the area and transmit the warning information.

With such a configuration, it becomes possible to ensure the safety of the mobile body when the communication function between the mobile body and the ground device is stopped. As in claim 7, the ground device is
If the configuration is such that the warning information is added to all the position IDs assigned to the traveling areas existing between the areas including the front intersection area, the movement when the communication function between the mobile body and the ground device is stopped The safety of the body can be further improved.

According to the eighth aspect, it is preferable that the position ID is divided into a plurality of blocks of the traveling management area of the moving body and is assigned to each block so as to be different from each other.

[0016]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is an overall configuration diagram showing an embodiment of a collision avoidance system according to the present invention, which is applied to a logistics base where containers are piled up in a predetermined place and a moving body travels on a predetermined traveling path. Here is an example.

In FIG. 1, a travel management area 1 for managing the travel of a moving body is set in the distribution base so as to be separated from the surrounding area as shown in the figure. A travel path 3 is provided so as to surround the container placement location 2 in the travel management area 1. The traveling path 3 is subdivided into a plurality of blocks as shown by the broken lines in the figure, and position IDs # 1 to # 55 are pre-assigned to the blocks as shown in the figure.

Near the entrance / exit 4 of the travel management area 1, a ground device 10 for managing the travel of the moving bodies 5A and 5B traveling in the travel management area 1 is installed. On the other hand, the moving body 5A,
5B includes an in-vehicle device 20 for communicating with the ground device 1.
(See FIG. 3) is mounted. The ground device 10 is shown in FIG.
As shown in, a transmitter / receiver 11 for transmitting and receiving information
And a map data storage unit 12 that stores the map data indicating the positional relationship between the blocks on the traveling path 3, in other words, the positional relationship between the position IDs, and the movement that stores the moving body information transmitted from the moving bodies 5A and 5B. The body information storage unit 13 and a processing device 14 that performs data processing for managing traveling of the mobile bodies 5A and 5B based on the storage data of the map data storage unit 12 and the mobile body information storage unit 13 are provided.

As shown in FIG. 3, the in-vehicle device 20 has
A transmitter / receiver 21 which is a transmitter / receiver for transmitting and receiving information
A GPS device 22, which is a position detection unit that detects the position of the moving body itself, and a vehicle speed sensor 23 that detects the vehicle speed.
And the position data of each block on the runway 3 with its position ID
A data storage unit 24 that stores the conversion table corresponding to the above and map data similar to that on the side of the ground device 10, and the detected position data input from the GPS device 22 is converted into a position ID using the conversion table, and at the same time, the ground device. The processing device 25 performs an abnormality determination of the communication function, a determination process of presence / absence of a collision possibility, and the like based on the information obtained by the communication with 10. Here, the data storage unit 24 and the processing device 25 constitute a position ID conversion unit.

When information is communicated between the ground device 10 and the on-vehicle device 20, the position ID indicating each block is added to the transmission information as an information identification ID for communication. Next, the travel management operation of the mobile unit according to the present embodiment will be described. The terrestrial device 10 is, for example, a time division communication system (TD).
(MA) sends a reply request signal a to each of the position IDs # 1 to # 55.
Is added and sequentially transmitted in the order of numbers to call each mobile unit. In this case, the position ID is intermittently transmitted at a time interval for information reception so that the mobile body information returned from the mobile body side can be received. In the case of FIG. 1, the position ID
Since the mobile units 5A and 5B are present in the blocks # 38 and # 49, the response information from the mobile unit side to the call from the ground device 10 to the position IDs # 1 to # 55 is:
As shown in FIG. 4, mobile unit information is added to the position IDs # 38 and # 49, and the reply is returned. The broken line in the figure indicates that there is no mobile body that responds and there is no reply data from the mobile body.

Further, after the transmission of the position IDs # 1 to # 55 for calling the mobile unit is completed and the reply information from the mobile unit side as shown in FIG. The reception information of the position IDs # 1 to # 55 is broadcast to the mobile side. At the time of this broadcast, if there is mobile body information transmitted from the mobile body side as shown in FIG. 4 in response to the reply request signal, the mobile body information is added to the position ID and transmitted. If there is no reception information, for example, information indicating that there is no mobile body information is added to the position ID and transmitted. When the reply information from the mobile unit is as shown in FIG. 4, the ground device 10 broadcasts it with the mobile unit information added to the position IDs # 38 and # 49 as shown in FIG. Further, when broadcasting the reception information, the progress permission command information is added to the position ID of each block on one of the traveling paths that intersect with each other,
A stop command is added to the position ID of each block on the other traveling path. For example, in FIG. 1, the blocks on one of the roads that intersect at the intersection block with position ID # 40 are position ID # 37-
# 39 and position IDs # 41 to # 43, and blocks on the other road are position IDs # 48 to # 49 and position IDs # 50 to # 5.
It is 1. In this case, for example, the position IDs # 37 to # 39 and the position IDs # 41 to # 43 are added with the progress command information that allows the position ID # 40 to enter the intersection block, and the position I
Position IDs in D # 48 to # 49 and position IDs # 50 to # 51
Stop command information for prohibiting entry into the # 40 intersection block is added and transmitted.

The ground device 10 alternately repeats the above-described reply request signal transmitting operation and the received mobile body information transmitting operation. On the other hand, the moving body operates as follows. As shown in the flowchart of FIG. 6, the processing device 25 of each vehicle-mounted device 20 of the moving bodies 5A and 5B traveling on the traveling path 3 in the traveling management area 1 reads the position coordinate data detected by the GPS device 22 ( The position coordinate data read by using the conversion table stored in the data storage unit 24 is converted into a position ID (step 2). Further, based on the map data, the position ID of the block having a possibility of collision with the block where the self is currently located is specified to create a list (step 3).

For example, as shown in FIG. 1, there are mobile units 5A and 5B at position IDs # 38 and # 49, respectively.
It is assumed that the vehicle is traveling in the direction of the # 40 intersection block. In this case, the moving body 5A of the block with the position ID # 38 has the position IDs # 49 and # 50 of the traveling path that intersects with its own traveling path.
There is a possibility of colliding with the moving body of the block. On the contrary, the moving body 5B of the block with the position ID # 49 may collide with the moving bodies of the blocks with the position IDs # 39 and # 41 on the traveling road that intersects the traveling road of itself. Therefore, the moving body 5A
Then, as position IDs with a possibility of collision, # 49 and # 5
Since 0 is specified, the mobile unit 5B specifies # 39 and # 41 as position IDs that have a possibility of collision.

The processing device 25 of each mobile unit repeatedly executes the operation of FIG. 6 at the position data detection cycle of the GPS device 22. The processing device 25 executes the operation shown in the flowchart of FIG. 7 based on the information communication with the ground device 10.
In the following, the operation of the processing device 25 of the mobile unit 5A existing at the position ID # 38 in FIG. 1 will be described as an example.

At step 11, it is judged whether or not the reply request signal a added with the position ID # 38 of its own converted at step 2 is received, and if received, the process proceeds to step 12. In step 12, each data of the current speed and the traveling direction is added to the position ID # 38 as the mobile body information and transmitted. In step 13, based on the transmission information of FIG.
D # 38, position ID # 4 of the list created in step 3
It is determined whether 9 or # 50 has been received, and the position ID # 38
If the location IDs # 49, #
If 50 is received, the process proceeds to step 17.

In step 14, the received position ID # 3
It is determined whether or not the data relating to the mobile body information added to 8 and the data relating to the mobile body information transmitted by itself in step 12 match. If they match, the process proceeds to step 15 to output a communication function normality determination output, and if they do not match, to step 16 to output a communication function abnormality determination output. When the communication function abnormality determination output is output, the traveling stop control is executed by the control device (not shown) based on this output. As a result, it is possible to check whether the communication state with the ground device 10 is normal / abnormal on the mobile body side, and improve the safety when the communication state is abnormal.

When the position IDs # 49 and # 50 are received and the process proceeds to step 17, the data added to the position IDs # 49 and # 50 is read. In step 18, it is determined whether or not there is a moving body in each block based on whether or not moving body information is added to each of the read position IDs # 49 and # 50. In the case of FIG. 1, since the moving body 5B exists in the block with the position ID # 49, the moving body information from the moving body 5B is added to the position ID # 49. Therefore, in step 18, it is determined that there is a collision target, and the process proceeds to step 19.

In step 19, the intersection approach control command of the own block is issued according to whether the roadside to which the block where the own block belongs belongs to the intersection block having the position ID # 40 is permitted or prohibited. Occur. If the progress command information is transmitted to the position IDs # 37 to # 39 and the position IDs # 41 to # 43, and the stop command information is transmitted to the position IDs # 48 to # 49 and the position IDs # 50 to # 51. , The moving body 5A side issues a slowing command, and the moving body 5B
On the side, a stop command for traveling is generated. If the command information is reversed, a travel stop command is generated on the side of the mobile unit 5A,
On the B side, a slow drive command is generated. As a result, the moving body 5A
It is possible to avoid the collision of the 5B and the head.

Further, the ground device 10 determines that the communication function of the mobile unit 5A has failed when it has been unable to communicate with the mobile unit 5A, for example, which has been receiving the mobile unit information until then, and the mobile unit information storage unit. Based on the speed and traveling direction information of the mobile unit 5A before communication failure stored in 13,
Estimate the blocks in which A may exist. In this case, the position IDs # 39 and # 40 are estimated as blocks in which the moving body 5A may exist. Then, as shown in FIG. 5, when broadcasting the reception information to the mobile body side, information indicating a warning is added to the position IDs # 39 and # 40 of both blocks. As a result, the moving body 5B in the block with the position ID # 49 receives the warning information of the position IDs # 39 and # 40, and becomes unable to communicate with the block with the position ID # 39 or the position ID # 40. Can be known before entering the intersection block with the position ID # 40, and a collision can be avoided in advance. Note that the warning information may be added only to the position ID # 40 of the intersection block where the encounter collision occurs.

As described above, the traveling path on which the moving body travels is subdivided into a plurality of blocks, each block is assigned a position ID, and the position ID of the block in which each moving body exists is used as an ID for information identification. By communicating information between the mobile body and the ground, the information can be identified without setting a unique ID for each mobile body. Therefore, even if the mobile device is replaced, it is not necessary to perform the ID initial setting work, which is convenient for operating the system. Further, since it is possible for each mobile body side to perform a judgment process such as the presence / absence of a collision possibility, the data processing work on the ground device 10 side can be simplified,
The load on the ground device 10 can be reduced.

When the traveling management area of the moving body is limited as in this embodiment, the traveling management area is partitioned from the surrounding area as in this embodiment to provide an entrance and exit so that the moving body is within the traveling management area. It is advisable to check the transmission / reception function of the mobile body before entering the vehicle and permit only the mobile body having a normal transmission / reception function to enter the travel management area. It goes without saying that the system of the present invention can be applied not only to the traveling of the moving body in the physical distribution base, but also to the management of the traveling of the moving body in the factory, the traveling of the railway vehicle, the traveling of the moving body on the ordinary road, and the like.

[0032]

As described above, according to the present invention, the position of each moving body can be specified by the position ID.
It is possible to identify the mobile body information by communicating with the ground side by using as a mobile body information identification ID. Therefore, it is not necessary to set a unique ID for the on-board device of each mobile body, and the trouble of ID setting can be saved.

Further, the load of data processing on the side of the ground device can be reduced by judging whether the communication function is normal / abnormal or judging the possibility of collision on the side of the mobile unit.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram showing an embodiment of the present invention.

FIG. 2 is a configuration diagram of a ground device of the same embodiment.

FIG. 3 is a configuration diagram of an in-vehicle device according to the above embodiment.

FIG. 4 is a diagram showing an example of a form of information transmission from a mobile body side.

FIG. 5 is a diagram showing an example of a form of information transmission from the ground device side.

FIG. 6 is a flowchart illustrating the operation of a mobile processing device.

FIG. 7 is a flowchart illustrating an operation of a mobile processing device based on communication with a ground device.

[Explanation of symbols]

1 Driving management area 3 roads 5A, 5B mobile 10 Ground equipment 20 In-vehicle device 21 transceiver 22 GPS device 24 Data storage 25 processor # 1 to W55 Position ID

Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) G05D 1/02 H04B 7/26 106A (72) Inventor Minato Shirai 1836-1 Otani Otani, Kuki-shi, Saitama Nihonhon Signals K-Facility in Kuki Plant (reference) 3F022 AA15 EE09 JJ11 LL05 MM07 MM52 MM68 MM69 MM70 NN38 NN41 5H180 AA01 AA27 BB04 CC12 FF05 FF27 LL04 LL06 LL09 LL08 LL07 LL14 DD07 DD15 DD07 CC15 DD07 CC15 BB05 CC03 BB05 CC03 BB05 CC03 LL15 MM05 5K067 AA34 BB36 CC04 CC14 DD17 EE02 EE10 HH22 HH23 JJ52 JJ56

Claims (8)

[Claims] 1. A collision avoidance system for communicating mobile body information between a plurality of mobile bodies and a ground device to avoid a collision between mobile bodies, the mobile body including a transceiver for transmitting and receiving information. , A position detection unit that detects the position of itself, and a position ID conversion unit that converts the detected position data into a position ID pre-assigned to the traveling area to which the position data belongs, the position ID being the mobile body information. A collision avoidance system characterized in that the mobile body information is communicated between a plurality of mobile bodies and ground devices by using it as an identification ID. 2. The ground device transmits all the position IDs assigned to the travel management area of the mobile unit, and when the mobile unit information from the mobile unit that responds is received, all the position IDs and the mobile unit information thereof. Is transmitted to all moving bodies, and the moving body has a position ID indicating a traveling area in which the moving body is located.
When the mobile unit information is received, the mobile unit information is added with its own position ID, and then the mobile unit information added to its own position ID is received from all the mobile unit information transmitted from the ground device, The collision avoidance system according to claim 1, wherein it is determined that the communication abnormality occurs when the transmission mobile body information and the reception mobile body information of (1) do not match. 3. A mobile body has map data showing a positional relationship of all position IDs assigned to the travel management area, and identifies a position ID having a possibility of collision based on the map data. The mobile unit information of the specified position ID is received from all the mobile unit information transmitted from the ground device, and it is configured to determine whether to collide based on the received mobile unit information of the specific position ID. The collision avoidance system according to claim 2. 4. The collision avoidance system according to claim 3, wherein the mobile body information includes information on a speed and a traveling direction of the mobile body, and is configured to determine whether to collide or not based on the speed and the traveling direction. . 5. The ground device has map data showing a positional relationship of all position IDs assigned to the travel management area, and travels on one of traveling paths intersecting each other based on the map data. 5. The configuration is such that the travel command information is added to the position ID assigned to the road and transmitted, and the stop command information is added to the position ID assigned to the other traveling road and transmitted. Collision avoidance system as described in 3. 6. The ground device, when communication from a mobile unit is stopped, is based on mobile unit information received before the communication is stopped, and at least an intersection region of a traveling region in which the mobile unit may exist. 6. A configuration in which warning information is added to the assigned position ID and transmitted, and the information is transmitted.
Collision avoidance system as described in 3. 7. The collision according to claim 6, wherein the ground device is configured to add warning information to all position IDs assigned to traveling areas existing between and including a front intersection area and to transmit the warning information. Evasion system. 8. The collision avoidance system according to claim 1, wherein the position ID divides the travel management area of the moving body into a plurality of blocks and assigns the blocks so as to be different from each other.