Convoy travel control apparatus

• US 10,262,541 B2
• Filed: 10/01/2014
• Issued: 04/16/2019
• Est. Priority Date: 11/08/2013
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Miyazawa, Masako, Tanabe, Hiroyuki, Yamane, Michi, Sen, Naoto, Yashima, Junpei, Nakahama, Hideo, Ishiyama, Mahito, Hiroma, Takuji
• Primary Examiner(s): Edwards, Jerrah
• Application Number:
  US15/033,762
• Publication Number:
  US 20160267795A1
• Time in Patent Office: 1,658 Days
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2556/65 Data transmitted between vehicles
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 30/165 Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

This convoy travel control apparatus includes: a communication portion; a travel control portion; and a joining control portion, wherein when an own vehicle is travelling in convoy, if the communication portion has received, from an independent vehicle not incorporated in group of convoy vehicles travelling in convoy, request information to incorporate the independent vehicle into the group of convoy vehicles, then the joining control portion determines a positional relationship between a position of the group of convoy vehicles and a position of the independent vehicle, and wherein according to the determined positional relationship, then the joining control portion exercises control, which is for incorporating the independent vehicle into the group of convoy vehicles, on the group of convoy vehicles via the communication portion.

Claims

1. A convoy travel control apparatus, comprising:

a communication portion that communicates with another vehicle;

a travel control portion that actualizes travel in convoy with the another vehicle through communication via the communication portion;

a joining control portion;

a forward imaging portion that takes an image of a preceding vehicle;

an image recognition portion that, by recognizing an image taken by the forward imaging portion through image processing, recognizes an identification number allocated to the imaged preceding vehicle; and

an identification information sharing portion that receives an identification number allocated to a convoy vehicle incorporated into the group of convoy vehicles, wherein;

when an own vehicle is travelling in convoy, if the communication portion has received, from an independent vehicle not incorporated in group of convoy vehicles travelling in convoy, request information to incorporate the independent vehicle into the group of convoy vehicles, then the joining control portion exercises control, which is for incorporating the independent vehicle into the group of convoy vehicles, on the group of convoy vehicles via the communication portion,

if the identification number allocated to the imaged preceding vehicle matches with the identification number allocated to the convoy vehicle, then the joining control portion determines that the imaged preceding vehicle is the convoy vehicle,

if the independent vehicle is travelling behind the group of convoy vehicles, then the joining control portion decelerates the group of convoy vehicles, and

if the independent vehicle is travelling in front of the group of convoy vehicles, then the joining control portion transmits, via the communication portion, information that requires to accelerate the group of convoy vehicles.

2. The convoy travel control apparatus according to claim 1, further comprising:

a sensor portion that measures an inter-vehicular distance between the own vehicle and a preceding vehicle;

an inter-vehicular distance control portion that controls a travel drive portion of the own vehicle so that the inter-vehicular distance measured by the sensor portion is a set distance; and

a lane keeping control portion that controls a steering portion of the own vehicle so that the own vehicle does not deviate from a driving lane, wherein;

the joining control portion determines whether an inter-vehicular distance and a difference in speed between convoy vehicles incorporated in the group of convoy vehicles are within predetermined ranges or not, and

if the inter-vehicular distance and the difference in speed between the convoy vehicles are within the predetermined ranges, then the travel control portion causes the own vehicle to travel in convoy based on control by the inter-vehicular distance control portion and on control by the lane keeping control portion.

3. The convoy travel control apparatus according to claim 2, wherein

if the own vehicle is travelling in convoy, then the travel control portion orders the inter-vehicular distance control portion to perform inter-vehicular distance control with the set distance shorter than a case where the own vehicle is not travelling in convoy.

4. The convoy travel control apparatus according to claim 1, wherein:

if the independent vehicle is travelling behind the group of convoy vehicles, then the joining control portion generates information of speed change request that accelerates the independent vehicle,

if the independent vehicle is travelling in front of the group of convoy vehicles, then the joining control portion generates information of speed change request that decelerates the independent vehicle, and

the joining control portion transmits the generated information of speed change request to the independent vehicle via the communication portion.

5. The convoy travel control apparatus according to claim 1, further comprising

a sensor portion that measures an inter-vehicular distance between the own vehicle and a preceding vehicle, wherein:

the joining control portion calculates a position of the preceding vehicle based on the inter-vehicular distance measured by the sensor portion, and

if a distance between the calculated position of the preceding vehicle and a position of a convoy vehicle incorporated into the group of convoy vehicles is within a predetermined distance, then the joining control portion determines that the preceding vehicle is the convoy vehicle.

6. The convoy travel control apparatus according to claim 2, further comprising

a state information sharing portion that receives information indicative of a state in front of or behind the group of convoy vehicles, wherein

according to the information indicative of the state in front of or behind the group of convoy vehicles, the travel control portion controls travel of the group of convoy vehicles.

7. The convoy travel control apparatus according to claim 6, wherein

if the information indicative of the state in front of or behind the group of convoy vehicles is information indicative of a predetermined event, then the travel control portion orders the inter-vehicular distance control portion to change the inter-vehicular distance.

8. The convoy travel control apparatus according to claim 6, wherein

if the information indicative of the state in front of or behind the group of convoy vehicles is information indicative of a predetermined event, then the travel control portion orders the lane keeping control portion to change a position of the own vehicle with respect to a lane.

9. The convoy travel control apparatus according to claim 6, further comprising

a communication control portion, wherein

if the communication portion receives at least either of image information in which an interior of the convoy vehicle incorporated in the group of convoy vehicles is taken and voice information collected from the interior of the convoy vehicle, then according to the information indicative of the state in front of or behind the group of convoy vehicles, the communication control portion determines whether each in the group of convoy vehicles is capable of travelling safely or not, and the communication control portion controls the presentation portion so as to present at least either of the image information and the voice information.

10. The convoy travel control apparatus according to claim 9, wherein

the communication control portion transmits voice information, which has been collected from the own vehicle, via the communication portion based on an operation input.

11. The convoy travel control apparatus according to claim 9, further comprising

a storage portion that stores point information granted to a driver according to experience of driving the convoy vehicle, wherein

the presentation portion presents the point information.

12. The convoy travel control apparatus according to claim 11, wherein

the storage portion stores the point information granted to the driver according to the experience that satisfies a preset condition.

13. The convoy travel control apparatus according to claim 1, further comprising

a position information sharing portion that receives information indicative of a trail of a preceding vehicle, wherein

the travel control portion causes an own vehicle to follow the trail.

14. The convoy travel control apparatus according to claim 1, wherein:

the joining control portion determines a positional relationship between a position of the group of convoy vehicles and a position of the independent vehicle, and

according to the determined positional relationship, then the joining control portion exercises control, which is for incorporating the independent vehicle into the group of convoy vehicles, on the group of convoy vehicles via the communication portion.

15. The convoy travel control apparatus according to claim 9, wherein

if no other vehicles are present around the group of convoy vehicles, then the communication control portion determines whether each in the group of convoy vehicles is capable of travelling safely or not.

16. The convoy travel control apparatus according to claim 9, wherein

if a road shape ahead of the group of convoy vehicles is straight, then the communication control portion determines whether each in the group of convoy vehicles is capable of travelling safely or not.

17. The convoy travel control apparatus according to claim 1, wherein

if a timing indicated by a received lighting timing information matches with a timing at which a light source portion imaged by the forward imaging portion lights up, then the travel control portion determines that an imaged preceding vehicle is a communication vehicle.

18. The convoy travel control apparatus according to claim 1, wherein

if any one of the convoy vehicle ahead determines that there is not an obstacle ahead, then the travel control portion determines that there is not the obstacle in front of the own vehicle.

19. The convoy travel control apparatus according to claim 1, wherein

the driver of the independent vehicle is capable of selecting from which of front, rear, and side of the convoy vehicles incorporated in the group of convoy vehicles, the driver of the independent vehicle can merge with the group of convoy vehicles.