JP2018169790A - Vehicle control system - Google Patents

Abstract

Provided is a vehicle control system for safely controlling a vehicle when a roadside device and an in-vehicle device cannot communicate with each other. When the road-to-vehicle communication between the roadside device and the vehicle-mounted device is not possible, S24 No, the server is based on the reception information up to the previous time point N (t-1), and the current time point N (t) of the vehicle incapable of communication. Subsequent travel trajectories are predicted, S25, vehicles approaching the predicted travel trajectory are identified, and for these vehicles, the value of the travel speed command at the current time point N (t) is set to the previous time point N (t-1). The traveling speed command at the current time N (t) is transmitted S26, which is lower than the traveling speed command value by a predetermined value ΔS. The in-vehicle device holds the travel route command at the previous time point N (t-1), and sets the value of the travel speed command at the current time point N (t) as the travel speed command at the previous time point N (t-1). S7 which lowers the value by a predetermined value and generates a traveling speed command at the current time point N (t). [Selection] Figure 4

Description

  The present invention relates to a vehicle control system in which a server controls a vehicle via road-to-vehicle communication.

  2. Description of the Related Art Conventionally, automatic driving technology for automobiles has been actively developed. For example, Patent Document 1 includes a vehicle-side configuration (= in-vehicle device) mounted on a vehicle and a control-side configuration (= road-side device and server) installed at an intersection or the like and capable of communicating between the vehicle-side configuration and road-to-vehicle. A vehicle control system is disclosed. According to the vehicle control system described in Patent Literature 1, smooth traffic control at an intersection is realized.

Japanese Patent No. 4692091

  However, in the conventional techniques including Patent Document 1, a problem solving method when the roadside device and the in-vehicle device cannot communicate has not been established.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a vehicle control system that can safely control a vehicle when a roadside device and an in-vehicle device cannot communicate with each other. Etc. is to provide.

  The present invention for achieving the above-described object includes an in-vehicle device mounted on a vehicle, a road-side device connected to the in-vehicle device via wireless communication, and a server connected to the road-side device via a network. The server includes a storage unit that stores map information of a road on which only the vehicle can travel, and a destination of the vehicle from the in-vehicle device via the roadside device. A receiving means for receiving vehicle information, a command means for generating a travel route command and a travel speed command for the vehicle based on the destination and the vehicle information with reference to the map information, and via the roadside device Transmitting means for transmitting the travel route command and the travel speed command to the in-vehicle device, and the receiving means, the command means, and the transmission means are arranged at predetermined time intervals. The command means predicts a travel trajectory of the vehicle that cannot communicate with the roadside device, and sets the value of the travel speed command at the current time for the vehicle approaching the travel trajectory as of the previous time. The in-vehicle device of the vehicle, which is lowered by a predetermined value from the value of the travel speed command and cannot communicate with the roadside device, sets the value of the travel speed command at the current time point to the value of the travel speed command at the previous time point. Is a vehicle control system characterized by lowering the predetermined value. According to the present invention, the vehicle can be safely controlled when the roadside device and the in-vehicle device cannot communicate with each other.

  The command means in the present invention may generate the travel route command and the travel speed command after receiving the destination via the roadside device. Accordingly, since the server recognizes the destinations of all the vehicles, it is possible to generate appropriate travel route commands and travel speed commands, and to avoid collision between vehicles.

  Further, the in-vehicle device according to the present invention may control the speed and steering of the vehicle based on the travel route command and the travel speed command. Thus, the present invention can be applied to a vehicle that can be automatically driven.

  According to the present invention, it is possible to provide a vehicle control system or the like that can safely control a vehicle when the roadside device and the vehicle-mounted device cannot communicate with each other.

Diagram showing the outline of the vehicle control system The figure which shows the structure of a server, a roadside apparatus, and a vehicle-mounted apparatus Diagram explaining the situation where road-to-vehicle communication cannot Flow chart showing the flow of processing of the vehicle control system

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the embodiment of the present invention, vehicles capable of automatic driving and dedicated roads on which only these vehicles travel are targeted.

  FIG. 1 is a diagram showing an outline of a vehicle control system. As shown in FIG. 1, the vehicle control system 1 includes an in-vehicle device 5 mounted on a vehicle 4, a road-side device 3 connected to the in-vehicle device 5 through wireless communication, and a road-side device 3 and a network 6. And a server 2 to be connected. The network 6 is the Internet, for example.

  The server 2 is, for example, a server computer disposed in a cloud data center, and may be realized by a single casing or may be realized by a plurality of casings.

  A plurality of roadside devices 3 are installed at the side of a road on which the vehicle 4 travels, an intersection, or the like, and plays a role of relaying communication between the server 2 and the in-vehicle device 5. The roadside devices 3 each have a communicable range 7, and exchange data with only the in-vehicle device 5 located in the communicable range 7. Therefore, as the vehicle 4 moves, the roadside device 3 with which the in-vehicle device 5 can communicate also changes. Depending on the position of the vehicle 4, the in-vehicle device 5 may not be able to communicate with all the roadside devices 3.

  The server 2, the roadside device 3, and the in-vehicle device 5 include a CPU (abbreviation of “Central Processing Unit”) as a control device, a memory as a main storage device, an HDD (abbreviation of “Hard Disk Drive”) as an auxiliary storage device, It has flash memory and communication equipment. The auxiliary storage device stores an OS (abbreviation of “Operating System”), application programs, data necessary for processing, and the like. The control device reads the OS and application programs from the auxiliary storage device, stores them in the main storage device, controls other devices while accessing the main storage device, and executes processing to be described later.

  FIG. 2 is a diagram illustrating configurations of a server, a roadside device, and an in-vehicle device. As shown in FIG. 2, the server 2 includes a communication unit 21 that communicates with the roadside device 3 via the network 6, a control unit 22 that controls various devices of the server 2, and a map information database 23 that stores map information. And comprising.

  The control unit 22 controls the communication unit 21 to receive the destination of the vehicle 4 and vehicle information from the in-vehicle device 5. The vehicle information is the position, speed, acceleration, etc. of the vehicle 4. In addition, the control unit 22 controls the communication unit 21 to transmit a travel route command and a travel speed command to the in-vehicle device 5. The travel route command is a command for a route on which the vehicle 4 should travel, and the travel speed command is a command for the speed on which the vehicle 4 should travel.

  The control unit 22 refers to the map information database 23 and calculates a travel route command and a travel speed command for the vehicle 4 based on the destination of the vehicle 4 and the vehicle information. The map information database 23 stores map information of roads on which the vehicles 4 travel and accumulates movement data of each vehicle 4.

  The roadside device 3 includes a server communication unit 31 that communicates with the server 2 via the network 6, a control unit 32 that controls various devices of the roadside device 3, a vehicle communication unit 33 that performs wireless communication with the in-vehicle device 5, Is provided.

  The in-vehicle device 5 includes a communication unit 51 that performs wireless communication with the roadside device 3, a control unit 52 that controls various devices of the in-vehicle device 5, and a vehicle information acquisition unit 53 that acquires vehicle information.

  The wireless communication between the vehicle communication unit 33 of the roadside device 3 and the communication unit 51 of the in-vehicle device 5 is, for example, an IEEE802.11 standard wireless LAN, LTE (Long Term Evolution), or the like. Send and receive data directly.

  The control unit 52 transmits control information on the accelerator (acceleration), brake (braking), and steering wheel (steering) of the vehicle 4 to each ECU (Electronic Control Unit) of the vehicle 4. The vehicle information acquisition unit 53 acquires vehicle information such as the position and speed of the vehicle 4 via the ECU of the vehicle 4.

  FIG. 3 is a diagram illustrating a situation where road-to-vehicle communication is not possible. FIG. 3 illustrates a situation where the in-vehicle device 5 of the vehicle 4a cannot communicate with all the roadside devices 3a to 3d. Since the vehicle 4a passes through the communicable range 7a of the roadside device 3a and does not reach the communicable range 7b of the roadside device 3b, the in-vehicle device 5 of the vehicle 4a cannot communicate with the roadside devices 3a and 3b. In addition, the situation where road-to-vehicle communication cannot be performed includes a case where the in-vehicle device 5 takes time to connect to a new road-side device 3 or a case where the in-vehicle device 5 or the road-side device 3 breaks down.

  On the other hand, since the vehicles 4b and 4c are included in the communicable range 7b of the roadside device 3b, the in-vehicle device 5 of the vehicles 4b and 4c can communicate with the roadside device 3b. Similarly, the vehicle-mounted device 5 of the vehicle 4d can communicate with the roadside device 3a, and the vehicle-mounted device 5 of the vehicle 4e can communicate with the roadside device 3d.

  Thus, in the situation where some in-vehicle devices 5 cannot communicate with the roadside device 3, the vehicle control system 1 according to the embodiment of the present invention controls all the vehicles 4 safely by the process described later.

  FIG. 4 is a flowchart showing a process flow of the vehicle control system. The process of the in-vehicle device 5 shown in FIG.

  As shown in FIG. 4, the control unit 52 of the in-vehicle device 5 receives an input of a destination desired by the occupant (step S1), and tries to transmit the destination to the server 2 via the roadside device 3 (step S2). .

  In step S2, when the road-to-vehicle communication between the roadside device 3 and the vehicle-mounted device 5 cannot be performed (No in step S3), the control unit 52 of the vehicle-mounted device 5 repeats from step S1.

  In step S2, when the road-to-vehicle communication between the roadside device 3 and the vehicle-mounted device 5 is possible (Yes in step S3), the control unit 52 of the vehicle-mounted device 5 transmits the destination to the server 2 and then the current time point N (t ), The travel route command and the travel speed command are initialized (step S4).

  On the other hand, the control unit 22 of the server 2 receives the destinations of all the vehicles 4 on the track and stores them in the memory (step S21).

  Next, the control part 52 of the vehicle-mounted apparatus 5 tries transmission of vehicle information to the server 2 via the roadside apparatus 3 at predetermined time intervals (step S5). The vehicle information is, for example, the position, speed, acceleration, and time of the vehicle 4.

  In step S5, when the road-to-vehicle communication between the roadside device 3 and the vehicle-mounted device 5 is possible (Yes in step S6), the control unit 52 of the vehicle-mounted device 5 transmits the vehicle information of the vehicle 4 to the server 2 and controls the server 2 The unit 22 receives the vehicle information of all the vehicles 4 on the track and stores it in the memory (step S22). Moreover, the control part 22 of the server 2 memorize | stores the driving | running locus | trajectory of each vehicle 4 in the map information database 23 based on vehicle information.

  Next, the control unit 22 of the server 2 refers to the map information database 23, generates a travel route command and a travel speed command so as to avoid a collision between the vehicles 4, and the in-vehicle device 5 via the roadside device 3. Attempts to transmit a travel route command and a travel speed command (step S23).

  In step S1 to step S3, the traveling of the vehicle 4 is not started until the destination of the vehicle 4 is transmitted to the server. Moreover, the control part 22 of the server 2 produces | generates the travel route command and travel speed command of the vehicle 4 after receiving the destination of all the vehicles 4 via the roadside apparatus 3 by step S23 and step S23. Therefore, since the control unit 22 of the server 2 recognizes the destinations of all the vehicles 4, it can generate appropriate travel route commands and travel speed commands and avoid collisions between the vehicles 4. It becomes possible.

  In step S23, when the road-to-vehicle communication between the roadside device 3 and the vehicle-mounted device 5 is possible (Yes in step S24), the control unit 52 of the vehicle-mounted device 5 receives the travel route command and the travel speed command from the server 2 (step S8). ), Go to step S9.

  In step S23, when the road-to-vehicle communication between the roadside device 3 and the vehicle-mounted device 5 cannot be performed (No in step S24), the control unit 22 of the server 2 is based on the reception information up to the previous time point N (t−1). A travel locus after the current time N (t) of the vehicle 4 incapable of communication is predicted and stored in the map information database 23 (step S25). Next, the control unit 22 of the server 2 identifies the vehicle 4 that approaches the vehicle 4 that cannot communicate, that is, the vehicle 4 that approaches the travel locus predicted in step S25 (= predicted travel locus). The value of the traveling speed command at the current time point N (t) is reduced by a predetermined value ΔS from the value of the traveling speed command at the previous time point N (t−1), and the traveling speed command at the current time point N (t) is Transmit (step S26). On the other hand, the control unit 52 of the in-vehicle device 5 receives the travel route command and the travel speed command from the server 2 (step S8), and proceeds to step S9.

  In the example of FIG. 3, the vehicle 4a cannot communicate. Since the vehicles 4b, 4c, and 4d are approaching the vehicle 4a that cannot communicate, they are subject to processing in step S26. On the other hand, since the vehicle 4e moves away from the vehicle 4a incapable of communication, it is not a processing target in step S26.

  In step S26, the control unit 22 of the server 2 decreases the value of the traveling speed command at the current time point N (t) according to the distance between the predicted traveling locus of the vehicle 4 incapable of communication and the other vehicle 4. The predetermined value to be changed may be changed. In the example of FIG. 3, the vehicles 4b and 4c are close in distance to the predicted travel locus of the vehicle 4a, so that the predetermined value for decreasing the value of the travel speed command at the current time point N (t) is increased. On the other hand, since the vehicle 4d is far from the predicted traveling locus of the vehicle 4a, the vehicle 4d reduces the predetermined value that decreases the value of the traveling speed command at the current time point N (t).

  Returning to the description of FIG. In step S5, when the road-to-vehicle communication between the roadside device 3 and the vehicle-mounted device 5 cannot be performed (No in step S6), the control unit 52 of the vehicle-mounted device 5 holds the travel route command at the previous time point N (t-1). The travel speed command value at the current time point N (t) is lowered by a predetermined value ΔS ′ from the travel speed command value at the previous time point N (t−1), and the travel speed at the current time point N (t). A command is generated (step S7), and the process proceeds to step S9. In the example of FIG. 3, the processing target of step S <b> 7 is only the vehicle 4 a that cannot perform road-vehicle communication with the roadside device 3.

  In step S9, the control part 52 of the vehicle-mounted apparatus 5 acquires the external environment information of the vehicle 4 with various sensors. Next, the control unit 52 of the in-vehicle device 5 determines a target track line in accordance with the travel route command (step S10). Next, the control part 52 of the vehicle-mounted apparatus 5 performs speed control along the target track line in accordance with the travel speed command (step S11). The speed control is executed by transmitting accelerator (acceleration) and brake (braking) control information of the vehicle 4 to the ECU of the vehicle 4. Next, the control part 52 of the vehicle-mounted apparatus 5 performs steering control along a target track line (step S12). The steering control is executed by transmitting control information on the steering wheel (steering) to the ECU of the vehicle 4. And the control part 52 of the vehicle-mounted apparatus 5 repeats a process from step S5.

  As described above, the vehicle control system 1 can safely control the vehicle when the in-vehicle device 5 and the roadside device 3 cannot perform road-to-vehicle communication. According to the vehicle control system 1, the vehicle 4 that cannot communicate and the vehicle 4 that approaches the vehicle 4 that cannot communicate can be controlled to reduce the traveling speed, so that collision between the vehicles 4 can be avoided.

  The preferred embodiments of the vehicle control system and the like according to the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to such examples. It will be apparent to those skilled in the art that various changes or modifications can be conceived within the scope of the technical idea disclosed in the present application, and these naturally belong to the technical scope of the present invention. Understood.

DESCRIPTION OF SYMBOLS 1 ......... Vehicle control system 2 ......... Server 3 ......... Roadside device 4 ......... Vehicle 5 ......... In-vehicle device 6 ......... Network 7 ... …… Communication range

Claims (3)

A vehicle control system comprising an in-vehicle device mounted on a vehicle, a roadside device connected to the in-vehicle device via wireless communication, and a server connected to the roadside device via a network,
The server
Storage means for storing map information of a road on which only the vehicle can travel;
Receiving means for receiving the destination and vehicle information of the vehicle from the in-vehicle device via the roadside device;
Command means for referring to the map information and generating a travel route command and a travel speed command for the vehicle based on the destination and the vehicle information;
Transmitting means for transmitting the travel route command and the travel speed command to the in-vehicle device via the roadside device;
With
The receiving means, the command means, and the transmitting means execute processing for each vehicle at predetermined time intervals,
The command means predicts a travel trajectory of the vehicle that cannot communicate with the roadside device, and the value of the travel speed command at the current time for the vehicle approaching the travel trajectory is the value of the travel speed command at the previous time. Lower than the predetermined value,
The vehicle-mounted device of the vehicle that cannot communicate with the roadside device reduces a value of the traveling speed command at a current time point by a predetermined value from a value of the traveling speed command at a previous time point. . The vehicle control system according to claim 1, wherein the command means generates the travel route command and the travel speed command after receiving the destination via the roadside device. The vehicle control system according to claim 1, wherein the in-vehicle device controls the speed and steering of the vehicle based on the travel route command and the travel speed command.

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