JP6478027B2 - Convoy travel management device and convoy travel management program - Google Patents

Description

  The present invention relates to a row running management device and a row running management program, and more particularly to a device that manages the order and inter-vehicle distance within a row of vehicles performing row running.

A technology has been researched in which a plurality of vehicles follow a preceding vehicle to perform row travel.
By running in a row, various benefits can be obtained, such as improved fuel consumption, reduced congestion, and reduced operating costs.
There exists "the row running system" of patent document 1 as a technique which performs such a row running.
This system forms a formation by arranging from the top in order of vehicles with high air resistance called Cd (Constant Drag) value.
If the Cd value of the leading side vehicle is large, the leading side vehicle will be a windbreak, and the air resistance of the following vehicle can be reduced.

  However, in general, a vehicle having a large Cd value is a large vehicle and has a large acceleration resistance. The leading vehicle is susceptible to the road shape ahead, the presence or absence of the preceding vehicle immediately before, and the speed change, and if such a large acceleration resistance vehicle is placed at the leading edge and exposed to these disturbance elements There is a problem that the fuel consumption as a whole becomes worse.

JP, 2014-211715, A

  The present invention is to improve the fuel efficiency of a row traveling group.

(1) In the first aspect of the invention, when the vehicle is mounted on a vehicle that performs row travel using vehicle-to-vehicle communication, and mounted on a leading vehicle, the travel information is transmitted to the following vehicles that make up the row And, when mounted on the subsequent vehicle, a vehicle travel management device that controls travel based on travel information from the leading vehicle, and vehicle identification means for identifying the vehicles that make up the convoy; Acceleration resistance acquisition means for acquiring the acceleration resistance of the specified vehicle, formation formation means for arranging the vehicle from the front in the ascending order of the obtained acceleration resistance, and traveling, existing in front of the formation A detection means for detecting a disturbance element, a division command transmission means for transmitting a division command to the subsequent vehicle, a division command reception means for receiving a division instruction from the leading vehicle, a lane change means for changing a lane , For example, when it is mounted on the top of the vehicle, it said sensing said disturbance element by the detection means, when the road on which the vehicle is currently traveling is a multi-lane, and transmits the split command in the split command transmitting means After that, when the lane changing means changes the lane to the next lane and the vehicle is mounted on the subsequent vehicle, the division instruction receiving means receives the division instruction and the odd-numbered vehicle from the leading vehicle According to another aspect of the present invention, there is provided a row running management apparatus , wherein the lane changing means changes lanes to the next lane .
(2) In the invention according to claim 2, the division command transmission means mounted on the leading vehicle includes: margin judgment means for judging whether or not there is a space for taking an inter-vehicle distance ahead. 2. The row running management system according to claim 1, wherein the division command is transmitted when the disturbance element is detected by the detection means and it is determined by the margin determination means that there is no margin for taking the inter-vehicle distance. I will provide a.
(3) In the invention described in claim 3, prior Symbol subsequent and extended instruction transmitting means for transmitting each extended instruction of the inter-vehicle distance to the vehicle, includes a mounted on said extended instruction transmitting means to the head of the vehicle 3. The convoy travel according to claim 2, wherein the expansion instruction is transmitted when the disturbance detection unit detects the disturbance element and the margin determination unit determines that there is an allowance for the inter-vehicle distance. Provide a management device.
( 4 ) In the invention according to claim 4, when the detection means detects the disturbance element, the apparatus further comprises determination means for determining an inter-vehicle distance according to an acceleration resistance of the subsequent vehicle for each of the subsequent vehicles. 4. The row running management system according to claim 3 , wherein the extension instruction transmission unit transmits the determined inter-vehicle distance as the extension instruction for each of the subsequent vehicles.
( 5 ) In the invention according to claim 5 , the system further comprises determination means for determining the inter-vehicle distance based on the content of the detected disturbance element when the disturbance element is detected by the detection means, and the extension instruction transmission The group running management system according to claim 3 , wherein the means transmits the determined inter-vehicle distance as the extension instruction.
( 6 ) In the invention according to claim 6 , the detection means is characterized in that it detects at least one of the speed change of the immediately preceding vehicle or the road condition ahead as the content of the disturbance element. A convoy travel management device according to claim 5 is provided.
( 7 ) In the invention according to claim 7, when the extension instruction transmission means designates the inter-vehicle distance by the transmission of the extension instruction, the vehicle is accelerated in order from the vehicle in front of the train to the vehicle behind it. 4. The method according to claim 3 , further comprising: instructing an order of acceleration / deceleration whether to increase the distance, or to decelerate in order from the vehicle behind the train to the vehicle ahead to increase the inter-vehicle distance. The row running management device according to any one of the first to the sixth aspects is provided.
( 8 ) In the invention according to claim 8, when the disturbance element is detected by the detection means, the expansion instruction transmission means transmits the content of the detected disturbance element as the expansion instruction. The row running management device according to claim 3 is provided.
( 9 ) In the invention according to claim 9 , the extension instruction receiving means for receiving the inter-vehicle distance as the inter-vehicle distance extension instruction from the leading vehicle, and changing the inter-vehicle distance with the immediately preceding vehicle to the inter-vehicle distance An inter-vehicle distance changing means, and when mounted on the subsequent vehicle, the inter-vehicle distance changing means changes the inter-vehicle distance from the immediately preceding vehicle when the inter-vehicle distance is received by the extension instruction receiving means The row running management apparatus according to claim 3 is provided.
( 10 ) In the invention according to claim 10 , the expansion instruction reception means for receiving the content of the disturbance element as the expansion instruction of the inter-vehicle distance from the leading vehicle, and the inter-vehicle distance with the immediately preceding vehicle are the contents of the disturbance element. An inter-vehicle distance changing means for changing to an inter-vehicle distance based on the inter-vehicle distance, and when mounted on the subsequent vehicle, the inter-vehicle distance changing means when the expansion instruction receiving means receives the disturbance element The formation control system according to claim 3 , wherein the inter-vehicle distance to the immediately preceding vehicle is changed.
( 11 ) According to the invention as set forth in claim 11, when the vehicle is mounted on a vehicle that performs row travel using vehicle-to-vehicle communication, and mounted on a leading vehicle, the travel information is transmitted to the following vehicles that make up the row Is a program that causes a computer to function as a row running management device that controls the running based on the running information from the leading vehicle when it is mounted on the subsequent vehicle, and identifies the vehicles that make up the row Vehicle identification function, acceleration resistance acquisition function for acquiring acceleration resistance of the specified vehicle, formation configuration function for arranging the vehicle from the front in the ascending order of the acquired acceleration resistance, and formation of the formation A detection function for detecting a disturbance element of traveling ahead, a division command transmission function for transmitting a division command to the following vehicle, and a division finger for receiving a division command from the leading vehicle And receiving function, a row running management program for realizing the lane change function of changing the lane, with the computer, when it is mounted on the head of the vehicle detects the disturbance element in the detection function When the road on which the vehicle is currently traveling is a plurality of lanes, after the division instruction transmission function transmits the division instruction, the lane change function changes the lane to the next lane, and is mounted on the subsequent vehicle The group traveling management program is characterized in that the division instruction reception function receives the division instruction, and when the vehicle is an odd-numbered vehicle from the lead vehicle, the lane change function changes the lane to the next lane. provide.

  According to the present invention, since the vehicles are allocated from the top in ascending order of acceleration resistance, the fuel efficiency of the row traveling group can be improved.

It is a figure showing composition of a vehicle control device. It is a figure for demonstrating the structure of a formation, and the distance between vehicles in a formation. It is a figure for demonstrating the expansion system of distance between vehicles. It is a flowchart for demonstrating the procedure of an inter-vehicle distance expansion method determination process. It is a flowchart for demonstrating the procedure which extends an inter-vehicle distance. It is a flowchart for demonstrating an example of a formation formation procedure.

(1) Outline of the Embodiment The train of teams 10 (FIG. 2) is configured such that the leading vehicle 2a and the following vehicles 2b and 2c are allocated in ascending order of acceleration resistance from the leading end.
The lead vehicle 2a monitors whether there is a disturbance element such as a road shape or a change in speed of the leading vehicle 4 that causes a change in speed in the row 10, and if there is a disturbance element, the follow-on vehicle Instructs 2b and 2c to extend the inter-vehicle distance.

In order to extend the inter-vehicle distance within the formation in this manner when the formation 10 encounters a disturbance element, even if the leading vehicle 2a causes a rapid change in speed due to the generation of the disturbance element, the change in speed goes to the rear of the formation 10 It becomes loose according to
Then, in the row 10, the vehicle 2 with small acceleration resistance is allocated to the forward traveling position where the speed change is rapid, and the vehicle 2 with large acceleration resistance is allocated to the slow traveling position behind the speed change. The overall fuel efficiency can be improved.
As described above, in the row 10, the degree of the speed change propagating to the rear of the row can be alleviated by arranging the vehicles 2 in ascending order of acceleration resistance, but the effect is further enhanced by increasing the distance between the vehicles. There is.

(2) Details of the Embodiment FIG. 1 is a view showing a configuration of a vehicle control device according to the present embodiment.
The vehicle control device 1 is mounted on each vehicle that runs in a row, and the control unit 110, the storage unit 120, the car information detection unit 130, the display unit 140, the input unit 150, the communication unit 160, the surrounding information collection unit 170, The actuator control unit 180 and the like are communicably connected via a bus line.

The control unit 110 includes a central processing unit (CPU) 111, a read only memory (ROM) 112, a random access memory (RAM) 113, and the like.
The CPU 111 performs various information processing and control in accordance with a program stored in the storage unit 120 or the like.

  In the present embodiment, the navigation device performs normal navigation processing such as route search from the current position to the destination and route guidance, and as the row running management device, communication between vehicles and vehicles forming a row (vehicle Inter-vehicle communication) is also performed to manage (control) corps travel.

When the vehicle control device 1 functions as a navigation device, the vehicle control device 1 also has an automatic driving function, and the map information 121 of the storage unit 120 described later, the detection value of the vehicle information detection unit 130, and the peripheral information collection unit 170. It comprehensively grasps each information such as own vehicle, surroundings, the front etc. from the contents of collection etc., decides the start / interruption / interruption continuation of automatic driving, decides the driving contents of the car and decides various operation systems of the actuator control section 180 ( Control the actuator).
The driver may be configured to drive manually or travel semiautomatically with assistance from the driver.

The ROM 112 is a read only memory, and stores a basic program, parameters, and the like for the vehicle control device 1 to operate.
The RAM 113 is a readable and writable memory, and provides a working memory when the CPU 111 operates.
In the present embodiment, the RAM 113 is, for example, route information to the destination (traveling route defining a route from the current location to the destination), a road shape as a disturbance element existing on the traveling route and its position , Other vehicle information etc. are stored, and the information processing of the CPU 111 is supported.

Here, the other vehicle information is information obtained by inter-vehicle communication about information about another vehicle that forms a formation with the own vehicle, and for example, a vehicle ID (identification code) for identifying the other vehicle, a vehicle length ( Information on the other vehicle such as the total length of the vehicle, acceleration resistance, destination, etc., and current travel information (current position, speed, acceleration, travel lane, steering amount, brake amount, throttle amount, etc.) of the other vehicle is there. The travel information is continuously received from other vehicles and updated every moment.
The vehicle control device 1 not only receives other vehicle information of other vehicles, but also provides its own information as other vehicle information to other vehicles.

  In the present embodiment, all information processing and control are performed by control unit 110 as an example, but a plurality of ECUs (Engine Control Units) may be combined.

  For example, the storage unit 120 is configured using a storage medium such as a hard disk or an EEPROM (Electrically Erasable Programmable Read-Only Memory), and the map information 121, the high precision road map information 122, the vehicle information 123, and the navigation program 124. , And data and programs such as a row running program 125 are stored.

  The map information 121 is information on nodes that define the road network, links, and attributes of roads such as expressways, general roads, and one-way roads, etc. Perform route search to the ground and route the vehicle.

The high precision road map information 122 is, for example, the position of the disturbance point such as the slope, the curve, the entrance of the tunnel, and more detailed information of these degrees (the slope angle, the curvature of the curve, etc.) By using these pieces of information, it is possible to detect the approach of a disturbance point due to the road shape, and to set the expanded inter-vehicle distance accordingly.
The host vehicle information 123 is information related to physical data, a destination, and the like related to the host vehicle, such as a vehicle ID, acceleration resistance, vehicle length, vehicle width, number of kilometers traveled, displacement and weight. These pieces of information are transmitted to other vehicles that form a formation by inter-vehicle communication, and stored as other-vehicle information. Among the other vehicle information, the acceleration resistance is used when the formation is organized in the ascending order of the acceleration resistance.

The navigation program 124 is a program that causes the CPU 111 to exhibit the above navigation function.
The row running program 125 is a program for causing the CPU 111 to exhibit the above-described row running management function. This function will be described in detail later.

  The car information detection unit 130 is a functional unit that detects various control values of the host vehicle, and includes a current position detection unit 131, a vehicle speed sensor 132, an acceleration sensor 133, a steering sensor 134, a brake sensor 135, a throttle sensor 136, and the like. There is.

  The current position detection unit 131 detects the current position of the vehicle using, for example, a GPS (Global Positioning System). If the road currently being traveled is multiple lanes, it is also possible to detect the traveling lane.

The vehicle speed sensor 132 detects the current vehicle speed (traveling speed), and the acceleration sensor 133 detects the current acceleration.
The steering sensor 134, the brake sensor 135, and the throttle sensor 136 detect the amount of steering operation, the amount of brake operation, and the amount of throttle operation, respectively.
These pieces of information are transmitted as traveling information to a subsequent vehicle when the vehicle control device 1 operates in a leading mode described later.

The display unit 140 includes, for example, a display device such as a liquid crystal screen, and displays various information such as a navigation operation screen and a row travel management screen.
In the navigation operation screen, it is possible to set the destination and the route, and in the row running management screen, a setting screen for making settings necessary for formation and cancellation of the row, and other vehicles forming the row running Information about the is displayed.

  The input unit 150 is installed on, for example, the surface of the display unit 140 and is configured of a touch panel, a button device, a microphone, etc., and touches a button displayed on the display unit 140, presses the button device, or instructs The information can be input to the vehicle control device 1 by voice input of the selection or the like, and the navigation function or the row running management function can be set.

The communication unit 160 performs inter-vehicle communication with other vehicles forming a formation or communicates with a server via a network.
The inter-vehicle communication may be performed directly using a wireless device or may be performed via a server via a network.
The vehicle control device 1 communicates with the server through the communication unit 160 to correct the GPS function, and receives traffic information.

The peripheral information collection unit 170 is a functional unit that collects information on the periphery of the host vehicle, and includes a distance sensor 171, a camera 172, and the like.
The distance sensor 171 is installed in front of and behind the host vehicle, and measures the distance between the front vehicle and the following vehicle using, for example, a laser or a millimeter wave. This distance is used, for example, to maintain or extend the distance between vehicles.

Further, when the vehicle control device 1 is mounted on the leading vehicle, the vehicle control device 1 changes the vehicle speed of the leading vehicle by measuring the inter-vehicle distance with the leading vehicle traveling immediately before with the distance sensor 171 Measure
It is to be noted that the inter-vehicle distance to the leading vehicle may cut forward not only to the leading vehicle traveling on the same lane but also to a leading vehicle traveling on another lane such as an adjacent lane. The inter-vehicle distance with this is also measured.
Thus, the vehicle control device 1 detects a case where the preceding vehicle in the lane currently being traveled or the preceding vehicle in the next lane accelerates or decelerates.

  The camera 172 is installed in front of and behind the host vehicle, and takes images of the front and rear. In this image, for example, image recognition of forward vehicles and following vehicles, image recognition of road shapes such as uphill lanes, downhill lanes, curves, tunnel entrances and the like, image recognition of lanes of running roads, etc. Used to The CPU 111 recognizes a road shape, a lane currently being traveled, an adjacent lane, a vehicle, etc. using image recognition of lanes in addition to the distance sensor 171 and the GPS signal.

In addition to this, the peripheral information collection unit 170 includes a wind direction sensor, a wind speed sensor, a wind pressure sensor, a road surface state detection device (mu sensor, slip sensor) and the like. It can also be used to make corrections.
Furthermore, the surrounding information collection unit 170 can also acquire information from a beacon installed on a road.

The actuator control unit 180 is a functional unit that controls each of the actuators mounted on the vehicle, and includes a steering actuator 181, a brake actuator 182, a throttle actuator 183, and the like.
These actuators operate the steering, the brake, and the throttle, respectively.
When the vehicle control device 1 automatically drives, the CPU 111 controls these operation timings and amounts of operation, and when the driver operates, the driver operates.

Here, in the vehicle control device 1 configured as described above, an operation will be described in which the CPU 111 executes the row running program 125 and functions as a row running management device.
When the vehicle control device 1 functions as a row running management device, the host vehicle becomes the leading vehicle of the row, transmits the running information to the following vehicles constituting the row, and runs the row, and the own vehicle is the leading vehicle There is a subsequent mode in which traveling information is received from the vehicle and the vehicle travels as a following vehicle.

  As described above, the vehicle control device 1 is mounted on a vehicle that performs row travel using inter-vehicle communication, and when mounted on a leading vehicle, transmits the travel information to the following vehicles that form the row, and the subsequent vehicle When it is mounted on the vehicle, it functions as a row running management device that controls the running based on the running information from the leading vehicle.

Hereinafter, the operation of the vehicle control device 1 mounted on the leading vehicle and functioning in the leading mode is described as the operation of the leading vehicle, and the operation of the vehicle control device 1 mounted on the following vehicle and functioning in the subsequent mode is The description will be simplified by describing it as the operation of the following vehicle.
For example, “the leading vehicle has issued a division instruction” means that the vehicle control device 1 mounted on the leading vehicle and functioning in the leading mode has issued a division instruction.

The lead vehicle acquires and recognizes other vehicle information (following vehicle's vehicle ID, position in the formation, acceleration resistance, etc.) of the following vehicles constituting the formation by inter-vehicle communication, and also provides the following information of the own vehicle Send to the vehicle.
As described above, the travel information is the travel of the leading vehicle such as the current position, vehicle speed, acceleration, steering operation amount, brake operation amount, throttle operation amount, etc. It is information to prescribe.

The lead vehicle (that is, when the vehicle control device 1 is mounted on the lead vehicle) transmits travel information, detects a disturbance element in front, and instructs the following vehicle on the inter-vehicle distance according to the disturbance element Do.
As described above, the vehicle control device 1 includes detection means for detecting a disturbance component of traveling existing in front of a formation, and transmission means for transmitting an inter-vehicle distance extension instruction to each of the following vehicles, When mounted on a vehicle, when a disturbance element is detected, an instruction to expand the inter-vehicle distance is transmitted.
Further, as described later, the vehicle control device 1 detects at least one of the speed change of the immediately preceding vehicle (preceding vehicle) or the road condition ahead as the content of the disturbance element.

Although the details will be described later, the leading vehicle monitors a disturbance element which needs to accelerate and decelerate the vehicle speed by an external factor.
The disturbance elements include those due to the road shape and those due to the preceding vehicle traveling in front of the host vehicle.
When the leading vehicle detects a disturbance element, it transmits an instruction to expand the inter-vehicle distance to the following vehicle so as to extend the inter-vehicle distance according to the content, or transmits an expansion cancellation instruction to restore the expanded inter-vehicle distance.
Further, there are also cases where the formation is divided to adjust the inter-vehicle distance, in which case the lead vehicle also gives a division instruction to the following vehicles.

On the other hand, the following vehicle follows the traveling of the leading vehicle based on the traveling information transmitted from the leading vehicle while detecting the distance between the immediately preceding vehicle and the distance sensor 171 by the distance sensor 171 and keeping the distance between the vehicles within a certain range. Run your own vehicle.
Simply following the preceding vehicle and traveling in a row, the reaction of the following vehicle may be delayed, or the shift of the vehicle may be accumulated, and the row may be easily disturbed. Thus, each following vehicle is the leading vehicle By controlling the traveling position and speed of the leading vehicle on the basis of the information, it is possible to arrange a formation and perform stable formation traveling.

The following vehicle travels following the immediately preceding vehicle and receives an instruction to expand or reduce the inter-vehicle distance from the leading vehicle, and accordingly expands or reduces the inter-vehicle distance.
In addition, when the following vehicle receives a division instruction from the leading vehicle, the following vehicle leaves the formation based on the instruction to form a new formation.

The present embodiment is premised on the formation of a formation, but an example of the procedure for forming a formation is as follows.
In addition, the vehicle which organizes a formation below assumes that the vehicle control apparatus 1 is mounted in all.
Vehicle control device 1 of the vehicle which is going to form formation (hereinafter referred to as formation formation vehicle) is vehicle control device 1 (hereinafter referred to as candidate vehicle) mounted on vehicles which are candidates for formation of formation. The inter-communication or the server of the control center is inquired and searched, and the vehicle information of the searched candidate vehicle is acquired.

Here, the vehicle information of the candidate vehicle is vehicle information (vehicle ID, acceleration resistance, etc.), current position, direction with respect to formation of formation vehicles, traveling route information, surrounding information, vehicle attribute information, etc. of the candidate vehicle.
As described above, the vehicle control device 1 includes the vehicle identification unit that identifies the vehicles that form a formation, and the acceleration resistance acquisition unit that acquires the acceleration resistance of the identified vehicle.

  Next, the formation vehicle is a preset range (for example, a straight line distance, a distance on a route, etc.) around the vehicle position based on the vehicle position, the vehicle direction, the position of the candidate vehicle, and the direction. Whether or not there is a vehicle capable of forming a formation of each candidate vehicle is determined depending on whether or not the angle of the orientation of the candidate vehicle with respect to the host vehicle orientation falls within a predetermined range.

Next, when there is a candidate vehicle that can form a formation, the formation vehicle determines whether or not there is one of these candidate vehicles that has transmitted a formation permission signal.
Then, when there is a candidate vehicle transmitting a formation formation permission signal, the formation formation vehicle reads the destination and the traveling schedule of the candidate vehicle and performs the formation traveling, whether the destination and the traveling schedule are suitable or not To judge.

If there is a candidate vehicle for which the destination and the traveling schedule conform, the formation vehicle compares the acceleration resistance obtained from the candidate vehicle and the magnitude relationship of its own acceleration resistance, and selects candidate vehicles from the top in ascending order of acceleration resistance, And dispatch the own vehicle and decide formation of formation.
As described above, the vehicle control device 1 includes formation formation means that arranges the vehicles from the front in the ascending order of the acceleration resistance to form a formation.

When the formation formation is determined, the formation train instructs the leading vehicle to operate in the leading mode, and notifies the vehicle ID of the following vehicle. When the formation vehicle is the leading vehicle, the self becomes the leading mode.
On the other hand, the follow-on vehicle is instructed to operate in the follow-up mode, and the vehicle ID of the follow-on vehicle and the vehicle ID of the lead vehicle are notified. That is, the vehicle ID of the n-1st vehicle is notified to the nth candidate vehicle as the vehicle ID of the following vehicle.

As described above, when the formation vehicle gives the candidate vehicles information necessary for formation of the formation, it instructs them to form a formation.
When the instruction is received, the vehicles assigned to the respective following vehicles move so as to follow immediately after the vehicle having the vehicle ID of the vehicle immediately before them, whereby the formations in which the vehicles are arranged in the acceleration resistance order from the top It is formed.

After formation of the formation, the leading vehicle sets its own vehicle control device 1 to the leading mode and becomes the leading vehicle, and the subsequent vehicles set its own vehicle control device 1 to the subsequent mode and become the succeeding vehicle.
The leading vehicle travels while transmitting its own travel information to each subsequent vehicle, and each subsequent vehicle transmits from the leading vehicle while adjusting the inter-vehicle distance such that the distance between the vehicle and the immediately preceding vehicle is equal to a predetermined distance. It travels based on the travel information that has been received.
According to the above-described procedure, a formation is formed by the leading vehicle traveling in the leading mode and the following vehicle traveling in the subsequent mode.

In addition, after formation of a formation, all the vehicles which form a formation share information regarding the vehicle ID of other vehicles, acceleration resistance, and the order in formation, respectively, and when formation is divided, the formation after division is promptly Make it possible to form.
The above-mentioned formation method is an example, and various modifications are possible.
For example, in the above example, the formation vehicle collects the acceleration resistances of the candidate vehicles and determines formation of the formation, but the group of vehicles that make up the formation have acceleration resistances of other vehicles, Each of them can determine the order of his own formation and move independently to form formation.

Each figure of FIG. 2 is a figure for demonstrating the structure of a formation, and the inter-vehicle distance in a formation.
As shown in FIG. 2 (a), the convoy 10 is configured by vehicles 2a to 2c.
The vehicle 2a is a leading vehicle, to which the vehicles 2b and 2c follow in this order.
In the following, when the vehicles 2a to 2c are not particularly distinguished, the vehicle 2 is described and the distinction by the lower case letters is not performed. The same applies to other components.
Further, when the vehicle 2a is a leading vehicle, it is described as a leading vehicle 2a, and in the case of a succeeding vehicle, it is described as a succeeding vehicle 2a, and the leading and succeeding prefixes are attached as necessary.

The lead vehicle 2a stores the ID of the following vehicles 2b to 2c and the traveling order in the formation, and transmits traveling information of the own vehicle to the following vehicles 2b to 2c.
On the other hand, the following vehicles 2b to 2c follow the traveling of the leading vehicle 2a based on the traveling information transmitted from the leading vehicle 2a while managing the inter-vehicle distance to the immediately preceding vehicle 2 (ie, Drive according to the travel route and acceleration / deceleration.

The respective vehicles 2 in the row 10 are arranged in the ascending order of the acceleration resistance, and the magnitude relationship is vehicle 2c> vehicle 2b> vehicle 2a.
Incidentally, the magnitude relationship of the Cd value is vehicle 2 b> vehicle 2 c> vehicle 2 a. If vehicles 2 are allocated in descending order of Cd value, it becomes convoy 10 (leading vehicle 2b, succeeding vehicle 2c, succeeding vehicle 2a), but in this embodiment, it is the ascending order of acceleration resistance, so convoy 10 (leading vehicle 2a, a following vehicle 2b, and a following vehicle 2c).
Hereinafter, the vehicles 2 constituting the formation will be described in parentheses as described above as necessary.

Here, the acceleration resistance is the sum of the inertial resistance caused by the linear acceleration of the vehicle body and the inertial resistance caused by the angular acceleration of the rotation system, which occurs when the vehicle is linearly accelerated, and Ra = (m + Δm) × A It is expressed as
Here, m is the mass of the vehicle, A is the acceleration of the vehicle, and m × A is the inertial resistance due to the linear acceleration of the vehicle body.
Δm × A is an inertial resistance due to rotational movement of an engine, a transmission, a drive shaft, a tire, etc., and Δm is an amount obtained by converting an amount corresponding to m of linear movement in rotational movement into mass.

When performing normal traveling without a disturbance element ahead of the formation 10, for example, the following vehicle 2 of the formation 10 provides an inter-vehicle distance L1 and follows the vehicle 2 immediately before.
Here, although the inter-vehicle distance is uniformly set to L1 in order to simplify the description, each vehicle 2 may be set to a value suitable for each succeeding vehicle 2 because the traveling characteristics such as acceleration resistance are different from each other. .
Further, the inter-vehicle distance of each following vehicle 2 may be specified by the leading vehicle 2a, and the following vehicle 2 may apply the inter-vehicle distance, or each following vehicle 2 may be set independently.

On the other hand, the vehicle 2a travels the traveling route toward the destination while monitoring whether there is a disturbance element that affects the traveling of the host vehicle ahead.
The disturbance element is an element that hinders the maintenance of traveling at a constant speed of the row 10, and is a factor that causes a change in the speed of the row.
As described above, there are those according to the road shape and those according to the leading vehicle 4.

The leading vehicle 2 a detects a change in the inter-vehicle distance from the leading vehicle 4 by the distance sensor 171, and thereby monitors the change in speed of the leading vehicle 4.
It should be noted that the leading vehicle 4 is monitored because there is a possibility that the leading vehicle 4 traveling in another lane, such as the next lane, may be interrupted in addition to the one traveling in the lane where the convoy 10 is currently traveling. It is targeted.

  Then, the leading vehicle 2a determines that the speed change of the leading vehicle 4 is a disturbance element when the speed change of the leading vehicle 4 exceeds the specified threshold, and as shown in FIG. 2B, instructs the vehicles 2b and 2c to extend the inter-vehicle distance Transmit to increase the distance between vehicles to L2 (> L1).

In addition, the lead vehicle 2a confirms the traveling route by the map information 121 or the high precision road map information 122 by the navigation function, and stores in advance a point corresponding to a disturbance element such as a gradient.
Then, as the leading vehicle 2a approaches the point, as shown in FIG. 2C, the leading vehicle 2a transmits an instruction to expand the inter-vehicle distance to the vehicles 2b and 2c, and extends the inter-vehicle distance to L3 (> L1).

As described above, when the vehicle control device 1 is mounted on the leading vehicle, when a disturbance element is detected, the inter-vehicle distance corresponding to the acceleration resistance of the subsequent vehicle for each subsequent vehicle is the content of the disturbance element And determining the inter-vehicle distance determined as the extension instruction for each subsequent vehicle.
In addition, the vehicle control device 1 includes receiving means for receiving an inter-vehicle distance as an instruction to expand the inter-vehicle distance from the leading vehicle, and an inter-vehicle distance changing means for traveling with the inter-vehicle distance changed to the inter-vehicle distance. When the inter-vehicle distance is received by the reception means, the inter-vehicle distance to the immediately preceding vehicle is changed by the inter-vehicle distance change means.

  In this way, by forming a formation in order from a car type with small acceleration resistance in formation 10, by detecting a forward disturbance from the navigation function or distance sensor 171 etc., by controlling the length between the formation trains by this, The speed of the vehicle 2 with large acceleration resistance, which can be absorbed like a damper, can be absorbed like a damper by the vehicle 2 with less acceleration resistance, which is arranged in front of the formation 10 It is reduced and the fuel efficiency of the whole vehicle group is improved.

That is, although the vehicle speed changes greatly facing the disturbance element on the front side of the row of trains 10, since the inter-vehicle distance is expanded on the rear side, the change in speed changes more gradually toward the trailing end side (rear road side) become.
A vehicle 2 with small acceleration resistance that can easily cope with changes in speed is allocated on the front side of the row of cars 10, and a vehicle 2 with large acceleration resistance that is not easy to cope with speed changes is allocated in the rear side There is.
For this reason, since the change of the vehicle speed becomes smaller as the vehicle 2 has larger acceleration resistance, the fuel efficiency of the entire train 10 is improved.

Various methods can be used to adjust the inter-vehicle distance by the following vehicles 2b and 2c, but for example, the following can be considered.
(1) In the case where the leading vehicle 2a transmits the inter-vehicle distance to the following vehicles 2b and 2c.
In this case, the leading vehicle 2a transmits the following distance to the following vehicles 2b and 2c according to the disturbance factor such as L2 and L3, and the vehicles 2b and 2c expand the following distance to the instructed value.
In addition, the leading vehicle 2a can indicate an individual inter-vehicle distance based on the acceleration resistance of the vehicles 2b, 2c, and the following vehicles 2b, 2c can extend the individual inter-vehicle distance to the indicated value. . In this case, since the following vehicle 2c has a larger acceleration resistance than the following vehicle 2b, the following distance of the following vehicle 2c is made longer than the following distance of the following vehicle 2b.

(2) A case where the leading vehicle 2a designates and applies a plurality of setting values of the inter-vehicle distance which the following vehicles 2b and 2c have in advance.
In this case, the following vehicles 2b and 2c have a plurality of inter-vehicle distances in advance, such as a normal inter-vehicle distance L1, an inter-vehicle distance L2, L3, ... (L1 <L2 <L3 <...), etc. It specifies which inter-vehicle distance the leading vehicle 2a applies.
As a result, the leading vehicle 2a can cause the following vehicles 2b and 2c to have the inter-vehicle distance according to the disturbance factor.

(3) The leading vehicle transmits the content of the disturbance element to the following vehicle.
As described later, the lead vehicle 2a determines the type of disturbance element, and sets the inter-vehicle distance of the following vehicles 2b and 2c for each type.
Therefore, the correspondence between the type of disturbance element and the inter-vehicle distance is stored in the following vehicles 2b, 2c, and the kind of disturbance element detected by the vehicle 2a is transmitted to the following vehicles 2b, 2c to extend the inter-vehicle distance. It is possible.
In this case, when the vehicle control device 1 mounted on the leading vehicle detects a disturbance element, the content of the disturbance element is transmitted as an expansion instruction, and when mounted on a following vehicle, the disturbance element as an inter-vehicle distance expansion instruction And travel at an inter-vehicle distance based on the content of the disturbance element.

Next, the types of disturbance elements will be described.
The disturbance element is an external influence that causes the change in vehicle speed to the row 10, and in the present embodiment, there are a road shape and a leading vehicle 4 as an example.
When the road shape is a disturbance factor, in the case of a slope (the vehicle speed temporarily decreases or increases in the uphill lane or downhill lane, and then returns to the original vehicle speed), in the case of a curve (the vehicle speed is temporary when entering a curve) In the case of the entrance of the tunnel (the light and dark changes rapidly, the vehicle speed temporarily decreases).

When the leading vehicle 4 is a disturbance factor, the vehicle speed of the leading vehicle 4 traveling in the same lane as the row 10 or in a different lane may change.
If the disturbance elements are to temporarily affect the speed of the convoy 10 as described above, the vehicle control device 1 transmits an inter-vehicle distance reduction instruction when the disturbance elements disappear, The inter-vehicle distance of the vehicle 2 is returned to the normal inter-vehicle distance.

Next, an example of a method of calculating the inter-vehicle distance according to the extension instruction will be described.
If the road shape is a disturbance factor, calculate the inter-vehicle distance by (vehicle speed of the leading vehicle 2) x α, and if it is a slope, α = α1, if it is a curve, α = α2, if it is a tunnel entrance and exit , Α = α3. α1, α2 and α3 are set to optimal values by experiment.

  If the leading vehicle 4 is a disturbance element, the distance between the vehicles is calculated by (vehicle speed of the leading vehicle 2) × (distance between the leading vehicles 4) × β, and the leading vehicle 4 travels in the same lane as the row 10 In the case of traveling, β = β1, and in the case of traveling in a different lane, β = β2. The β1 and β2 are set to optimal values by experiment.

FIG. 3 is a diagram for explaining an inter-vehicle distance extension method. In the figure, the leading vehicle is indicated by a thick line.
FIG. 3A is an example in which the inter-vehicle distance is extended by accelerating in order from the vehicle 2 having the smallest travel resistance. The upper figure shows before expansion, and the lower figure shows after expansion.
In this example, the change in speed of the vehicle 2 having high travel resistance is basically suppressed.

As shown in the figure, in this example, the inter-vehicle distance is extended by accelerating the vehicles 2 in the order of smaller acceleration resistance, that is, from the leading vehicle 2a to the following vehicle 2f from the front.
More specifically, first, the vehicle speed of the leading vehicle 2a accelerates from v1 to v2 (v1 <v2), and then the following vehicle 2b accelerates from v1 to v2, and thereafter, sequentially accelerates to the following vehicle 2e.
Then, when the required inter-vehicle distance is obtained, the vehicle speeds of the leading vehicle 2a to the following vehicle 2f are returned from v2 to v1.

FIG. 3B is an example in which the inter-vehicle distance is extended by decelerating sequentially from the vehicle 2 having a small travel resistance. The upper figure shows before expansion, and the lower figure shows after expansion.
Also in this example, the change in speed of the vehicle 2 having high travel resistance is basically suppressed.

As shown in the figure, in this example, the inter-vehicle distance is extended by decelerating the vehicles 2 in the descending order of acceleration resistance, that is, from the rear vehicle 2 f to the rear vehicle 2 b.
More specifically, first, the vehicle speed of the following vehicle 2f is decelerated from v1 to v3 (v1> v3), and then the following vehicle 2e is decelerated from v1 to v3 and thereafter sequentially decelerated to the following vehicle 2b.
Then, when the required inter-vehicle distance is obtained, the vehicle speeds of the following vehicles 2b to 2f are returned from v3 to v1.

FIG. 3C is an example in which the train 10 is divided into two lanes to extend the inter-vehicle distance. The upper diagram, the middle diagram, and the lower diagram show the inter-vehicle distance before expansion, during expansion, and after expansion, respectively.
As shown in the figure above, the road 5 has two lanes, the main lane 6 and the sub lane 7, and the convoy 10 (the leading vehicle 2a, the following vehicles 2b to 2f) travels the main lane 6 There is.
When the leading vehicle 2a detects the presence of the disturbance element, it transmits a division command to the following vehicle 2.

As shown in the middle view, the leading vehicle 2a changes lanes to the secondary lane 7 after issuing a division command. Since the leading vehicle 2a has small acceleration resistance, it is easy to change lanes.
On the other hand, when the follow-on vehicle 2 receives the division command, the follow-on vehicle 2 in the odd-numbered order in the row 10 travels to the secondary lane 7 as well.
As a result, the following vehicles 2b, 2d, 2f remain in the main lane 6, and the leading vehicles 2a, 2c, 2e move to the sub lane 7.
As described above, after the formation 10 is divided into a plurality of lanes, the leading vehicle 2 of each lane becomes the leading vehicle 2, and the following vehicle 2 incorporates the vehicle 2 traveling behind in the same lane.

As a result, as shown in the figure below, a row 10a (the leading vehicle 2a, the following vehicles 2c, 2e) and a row 10b (the leading vehicle 2b, the following vehicles 2d, 2f) are formed.
After that, the formations 10a and 10b respectively reduce the vehicle speed from v1 to v3 and disturb the inter-vehicle distance from the vehicle ahead with the exception of the rearmost vehicle 2 (that is, excluding the vehicle 2 having the largest acceleration resistance). Set the value according to the element and then return from v3 to v1.
By the above-described procedure, formations 10a and 10b in which the inter-vehicle distance according to the disturbance element is set are formed.

As described above, in this example, the vehicles 2 are moved in a lane from the front side (from the side with small acceleration resistance) in the formation 10 to form an excess inter-vehicle distance in front of each vehicle 2.
Then, the vehicle on the front side is decelerated (deceleration of the vehicle having a small acceleration resistance) to reduce the excessive inter-vehicle distance to be an appropriate interval according to the disturbance element.
Thus, the inter-vehicle distance can be extended without changing the vehicle speeds of the two tailmost vehicles 2 having the largest acceleration resistance.

  In this manner, the vehicle control device 1 accelerates in order of vehicles in front of the formation to vehicles in the rear or decelerates in order of vehicles on the rear of the formation and vehicles in front by the expansion instruction which also specifies the order of acceleration / deceleration. Can increase the distance between cars.

FIG. 4 is a flowchart for explaining the procedure of an inter-vehicle distance extension method determination process.
The lead vehicle 2a selects one of the three extension methods described above according to the following procedure.
The following processing is performed by the CPU 111 in accordance with the row travel program 125 when the vehicle control device 1 is mounted on the lead vehicle 2.

First, the lead vehicle 2 determines whether or not there is room to take an inter-vehicle distance ahead (step 5).
If there is no margin (step 5; N), the lead vehicle 2 determines whether the road currently traveled is multiple lanes (step 10).
In the case of multiple lanes (Step 10; Y), the lead vehicle 2 selects a method for dividing and decelerating the formation 10 to extend the inter-vehicle distance (Step 15), and the process is ended.
If the vehicle is not in a plurality of lanes (Step 10; N), the lead vehicle 2 selects a method of decelerating in order of increasing acceleration resistance to extend the inter-vehicle distance (Step 20), and ends the processing.

On the other hand, if there is room to take the inter-vehicle distance ahead (step 5; Y), the lead vehicle 2 determines whether the current vehicle speed of the convoy 10 has a margin compared to the speed limit (step 25).
If there is no margin (Step 25; N), the lead vehicle 2 selects a method for decelerating in order of increasing acceleration resistance to extend the inter-vehicle distance (Step 20), and ends the processing.
If there is a margin (step 25; Y), the lead vehicle 2 selects a method of expanding the inter-vehicle distance by accelerating in order of low acceleration resistance (step 30), and ends the processing.

FIG. 5 is a flow chart for explaining the procedure of the formation extending the inter-vehicle distance in accordance with the disturbance element.
Among the following processing, the processing of the leading vehicle 2 is performed by the CPU 111 according to the row traveling program 125 when the vehicle control device 1 is mounted on the leading vehicle 2, and the processing of the following vehicle 2 is the vehicle control device 1 Is carried out in accordance with the row traveling program 125 when the following vehicle 2 is mounted.

The lead vehicle 2 refers to the map information 121 and the high precision road map information 122, and confirms the road shape of the traveling route to be traveled from the current position to the destination point (step 70).
Next, the lead vehicle 2 specifies a point which is a disturbance element in the confirmed road shape, and stores it as a disturbance point together with the position and the content of the disturbance element (uphill / downhill lane, curve, entrance of the tunnel) Step 75).

  Next, the lead vehicle 2 acquires a change in the vehicle speed of the leading vehicle 4 traveling immediately before (step 80). The acquisition of the change in vehicle speed is performed not only for the leading vehicle 4 in the lane in which the row 10 is traveling, but also for the leading vehicle 4 in the adjacent lane.

Next, the lead vehicle 2 determines whether there is a disturbance element (step 85).
The leading vehicle 2 compares the current position with the disturbance point stored in step 75 when the disturbance element is due to the road shape, and determines that there is a disturbance element when the nearest disturbance point is within a predetermined distance. .
When the disturbance element is caused by the speed change of the leading vehicle 4, it is determined that the disturbance element is present if the change in the inter-vehicle distance with the leading vehicle 4 is equal to or greater than a predetermined threshold.

If it is determined that there is no disturbance element (step 85; N), the lead vehicle 2 proceeds to step 100, and determines whether to continue row travel (step 100).
If there is no reason for the driver to end the row running such as releasing the row running, the lead vehicle 2 determines that the row running is to be continued (Step 100; Y), returns to Step 80, and monitors the disturbance element. continue.
On the other hand, when it is determined that the row traveling is ended (Step 100; N), the leading vehicle 2 ends the management of the row traveling.

If it is determined in step 85 that there is a disturbance element (step 85; Y), the lead vehicle 2 specifies the content of the disturbance element (step 90).
The content of the disturbance elements are uphill and downhill lanes, curves and entrances and exits of the tunnel in the case of road shape, and in the case of speed change of the leading vehicle 4, the vehicle speed of the leading vehicle 4 traveling in the same lane. A change is a change in speed of the leading vehicle 4 traveling in a different lane.
Then, the lead vehicle 2 obtains the inter-vehicle distance by calculating the inter-vehicle distance according to the content of the disturbance element (step 93).

Next, the lead vehicle 2 determines whether the inter-vehicle distance of the following vehicle 2 corresponds to the content of the disturbance element (step 95).
If the inter-vehicle distance corresponds to the content of the disturbance element (step 95; Y), the leading vehicle 2 proceeds to step 100 because there is no need to extend the inter-vehicle distance.
If the inter-vehicle distance does not correspond to the content of the disturbance element (step 95; N), the lead vehicle 2 determines the expansion method by the inter-vehicle distance expansion method determination process shown in FIG. 4 (step 107).

Next, the leading vehicle 2 transmits an inter-vehicle distance extension command to each of the following vehicles 2 (step 110), and proceeds to step 100.
On the other hand, each succeeding vehicle 2 receives the extension command (step 115).
The extension command includes an extension method and an inter-vehicle distance instruction, and each succeeding vehicle 2 extends the inter-vehicle distance to the vehicle 2 ahead (step 120) based on the extension command.

FIG. 6 is a flowchart for explaining an example of a formation forming procedure.
Among the following processing, the processing of the formation vehicle is performed by the CPU 111 according to the formation traveling program 125 when the vehicle control device 1 is mounted on the formation vehicle, and the processing of the candidate vehicle is performed by the vehicle control device 1 When mounted on the candidate vehicle, the CPU 111 performs the process according to the row travel program 125.

The formation vehicle starts searching for a candidate vehicle for forming the formation 10 (step 205).
When the candidate vehicle is searched, the formation vehicle requests the candidate vehicle to transmit its own vehicle information 123 (step 210), whereas the candidate vehicle transmits its own vehicle information 123 (step 215) ). The host vehicle information includes the vehicle ID and the acceleration resistance of the candidate vehicle.

When the formation train of vehicles receives the vehicle information 123 from the candidate vehicle (step 220), it stores it in the RAM 113 as other vehicle information.
Then, the formation vehicle determines whether there is any one of the searched candidate vehicles for which the vehicle information 123 (other vehicle information) has not been received yet (step 225).
If there is a candidate vehicle that has not received the vehicle information 123 yet (step 225; N), the process returns to step 210, and requests the vehicle information 123 for the candidate vehicle.
On the other hand, when the host vehicle information 123 is received from all the candidate vehicles (step 225; Y), the acceleration resistances of the candidate vehicles and the host vehicle are arranged in the ascending order, and thereby each vehicle 2 including the host vehicle in the row 10 The order is determined (step 230).

Next, the formation vehicle transmits a subsequent instruction to the candidate vehicle serving as the succeeding vehicle 2, and transmits a leading instruction to the candidate vehicle serving as the leading vehicle 2 (step 235). In response to this transmission, the candidate vehicle serving as the succeeding vehicle 2 receives the subsequent instruction, and the candidate vehicle serving as the leading vehicle 2 receives the leading instruction (step 245).
Next, the formation vehicle determines whether or not the instruction has been transmitted to all the candidate vehicles (step 240).

If there is still a candidate vehicle that has not been instructed (Step 240; N), the formation vehicle returns to Step 235 to continuously transmit an instruction.
On the other hand, when the instruction is transmitted to all the candidate vehicles (step 240; Y), the formation vehicle instructs each candidate vehicle to form formation, and the formation vehicle and the candidate vehicles are arranged in the ascending order of acceleration resistance. A formation is formed (step 250).

According to the embodiment described above, the following effects can be obtained.
(1) By arranging the vehicles 2 from the top in ascending order of acceleration resistance to form the row 10, the vehicle 2 on the front is made to function as a damper for the disturbance elements present in front of the row 10 The propagation can be weakened as it goes backward, which can mitigate the degree of change in the vehicle speed of the vehicle 2 having a large acceleration resistance.
(2) The function as a damper can be enhanced by increasing the inter-vehicle distance of the following vehicle 2 corresponding to the disturbance element.
(3) Since the degree of change in the vehicle speed of the vehicle 2 having a large acceleration resistance can be mitigated, the fuel efficiency of the entire train 10 can be improved.

Various modifications can be made to the embodiment described above.
For example, in the inter-vehicle distance expansion method determination process of FIG. 4, the inter-vehicle distance is expanded by accelerating in order of small acceleration resistance or decelerating in order of large acceleration resistance. The inter-vehicle distance may be extended by decelerating in descending order of resistance.
Here, the total running resistance R is represented by R = Rr + Rl + Rs + Ra. However, Rr is rolling resistance, Rl is air resistance, Rs is uphill resistance, and Ra is acceleration resistance.

1 Vehicle Control Device 2 Vehicle 4 Leading Vehicle 5 Road 6 Lane 7 Secondary Lane 10 Train 110 Control 111 CPU
112 ROM
113 RAM
120 storage unit 121 map information 122 high accuracy road map information 123 own vehicle information 124 navigation program 125 formation traveling program 130 vehicle information detection unit 131 current position detection unit 132 vehicle speed sensor 134 steering sensor 135 brake sensor 136 throttle sensor 140 display unit 150 input Part 160 Communication part 170 Peripheral information collection part 171 Distance sensor 172 Camera 180 Actuator control part 181 Steering actuator 182 Brake actuator 183 Throttle actuator

Claims (11)

If it is mounted on a vehicle that performs row formation using vehicle-to-vehicle communication and is mounted on the lead vehicle, the travel information is transmitted to the subsequent vehicles that make up the row, and if it is mounted on the subsequent vehicle A row running management device for controlling the running based on the running information from the leading vehicle,
Vehicle identification means for identifying the vehicles that make up the formation;
Acceleration resistance acquiring means for acquiring acceleration resistance of the specified vehicle;
Convoy formation means that arranges the vehicles from the front in the ascending order of the acquired acceleration resistance and constitutes a formation;
A detection means for detecting a disturbance element of traveling existing in front of the formation;
Division command transmission means for transmitting a division command to the subsequent vehicle;
Division command receiving means for receiving a division command from the leading vehicle;
And lane change means for changing lanes ,
When mounted on the leading vehicle, the detection means detects the disturbance element, and when the road currently traveling is a plurality of lanes, the division command transmission means transmits a division command, Change lanes to the next lane with the lane changer,
When mounted on the subsequent vehicle, the division command reception means receives the division command, and when the vehicle is an odd-numbered vehicle from the lead vehicle, the lane change means changes the lane to the next lane.
A row running management device characterized in that.   A margin judging means for judging whether there is a margin for taking an inter-vehicle distance ahead,
  The division command transmission unit mounted on the leading vehicle transmits the division command when the detection unit detects the disturbance element and the margin determination unit determines that there is no margin for taking the inter-vehicle distance.
The row running management device according to claim 1, characterized in that. And a extended instruction transmitting means for transmitting the extended instruction inter-vehicle distance in each of the previous SL subsequent vehicle,
The expansion instruction transmission unit mounted on the leading vehicle transmits the expansion instruction when the detection unit detects the disturbance element and when the margin determination unit determines that there is an allowance for the inter-vehicle distance.
The row running management device according to claim 2, characterized in that. When the disturbance element is detected by the detection means,
A determination means for determining an inter-vehicle distance according to an acceleration resistance of the subsequent vehicle for each subsequent vehicle,
The extension instruction transmission unit transmits the determined inter-vehicle distance as the extension instruction for each of the subsequent vehicles.
The row running management device according to claim 3 , characterized in that. When the disturbance element is detected by the detection means,
A determination means for determining an inter-vehicle distance based on the content of the detected disturbance element;
The extension instruction transmission unit transmits the determined inter-vehicle distance as the extension instruction.
The row running management device according to claim 3 , characterized in that. The detection means detects at least one of a change in speed of a preceding vehicle or a road condition ahead as the content of the disturbance element.
The row running management device according to claim 5 , characterized in that: When the extension instruction transmission means designates an inter-vehicle distance by the transmission extension instruction, the extension instruction transmission means accelerates in order from a vehicle in front of the formation to a vehicle in rear to widen the inter-vehicle distance, or Further instructing the order of acceleration / deceleration of decelerating in order of vehicles from the vehicle to the front and increasing the inter-vehicle distance;
The row running management device according to any one of claims 3 to 6 , which is a feature of the present invention. When the disturbance element is detected by the detection means,
The extension instruction transmission unit transmits the content of the detected disturbance element as the extension instruction.
The row running management device according to claim 3 , characterized in that. Extension instruction receiving means for receiving an inter-vehicle distance as an inter-vehicle distance extension instruction from the leading vehicle;
An inter-vehicle distance changing means for changing the inter-vehicle distance from the immediately preceding vehicle to the inter-vehicle distance, and
Equipped with
If mounted on the following vehicle,
When the inter-vehicle distance is received by the extension instruction receiving means, the inter-vehicle distance with the immediately preceding vehicle is changed by the inter-vehicle distance changing means.
The row running management device according to claim 3 , characterized in that. Extension instruction receiving means for receiving the content of the disturbance element as an instruction to extend the inter-vehicle distance from the leading vehicle;
An inter-vehicle distance changing means for changing the inter-vehicle distance from the immediately preceding vehicle to an inter-vehicle distance based on the content of the disturbance element;
If mounted on the following vehicle,
When the expansion instruction receiving unit receives the disturbance element, the inter-vehicle distance changing unit changes an inter-vehicle distance from the immediately preceding vehicle.
The row running management device according to claim 3 , characterized in that. If it is mounted on a vehicle that performs row formation using vehicle-to-vehicle communication and is mounted on the lead vehicle, the travel information is transmitted to the subsequent vehicles that make up the row, and if it is mounted on the subsequent vehicle A program that causes a computer to function as a row running management device that controls the running based on the running information from the leading vehicle,
A vehicle identification function that identifies the vehicles that make up the formation;
An acceleration resistance acquisition function of acquiring the acceleration resistance of the specified vehicle;
A formation configuration function that arranges the vehicles from the front in the ascending order of the acquired acceleration resistance and configures a formation;
A detection function for detecting a disturbance component of traveling existing in front of the formation;
A division command transmission function for transmitting a division command to the following vehicle;
A division command reception function for receiving a division command from the leading vehicle;
Lane change function to change lanes,
The A row running management program for implementing by a computer,
When mounted on the leading vehicle, the detection function detects the disturbance element, and when the road currently traveling is a plurality of lanes, a division command transmission function transmits a division command, Change lanes to the next lane with the lane change function,
When mounted on the subsequent vehicle, the division command reception function receives the division command, and when the vehicle is an odd-numbered vehicle from the lead vehicle, the lane change function changes the lane to the next lane.
A row running management program characterized by

Images