Vehicle guiding system

• US 5,781,119 A
• Filed: 02/28/1996
• Issued: 07/14/1998
• Est. Priority Date: 03/14/1995
• Status: Expired due to Fees

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Yamashita, Masanobu, Aoki, Keiji, Tachibana, Akihide
• Primary Examiner(s): Hofsass, Jeffery A.
• Assistant Examiner(s): MANNAVA, ASHOK K
• Application Number:
  US08/608,167
• Time in Patent Office: 867 Days
• Field of Search: 340/902, 340/903, 340/905, 340/539, 340/435, 340/436, 180/167-168, 180/171, 364/447, 364/460, 364/461, 364/455, 364/456
• US Class Current: 340/903
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/0261 using magnetic plots
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/0293 Convoy travelling
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

A vehicle guiding system enables a plurality of vehicles to run in a platoon with minimum assistance from drivers, and is intended to enhance effective use of from auto-drive lane. When the vehicle runs in the platoon, a front running vehicle detects its displacement from a magnetic nail, and calculates a steering amount to be corrected (i.e. control variables). The front running vehicle not only controls its own movements on the basis of the control variable data but also transmits them to a following vehicle. The following vehicle does not detect its displacement from the magnetic nail, but controls its steering amount on the basis of the received control variable data. The first following vehicle transfers the control variable data to a further following vehicle. The further following vehicle simply receives the control variable data from the following vehicle, and does not calculate its own control variables. This reduces a distance between the vehicles which is necessary for each vehicle to perform such calculation.

Claims

1. A vehicle guiding system for enabling a plurality of vehicles to run in a platoon, the system comprising:

(a) sensor means installed on a front running vehicle in the platoon, the sensor means detecting a relative displacement of the front running vehicle from a base line of a road;

(b) calculation means installed on the front running vehicle the calculation means calculating, on the basis of the detected relative displacement, control variables for enabling the front running vehicle to run along the base line;

(c) transmitting means installed on the front running vehicle, the transmitting means transmitting the control variable data from the calculation means to a vehicle following the front running vehicle;

(d) receiving means installed on the following vehicle, the receiving means receiving the control variable data from the transmitting means;

(e) storage means installed on the following vehicle, the storage means storing the control variable data received via the receiving means;

(f) control means installed on the following vehicle, the control means determining a correction amount on the basis of the received control variable data when the following vehicle reaches a position where the front running vehicle transmitted the control variable data, and controlling the following vehicle on the basis of the correction amount; and

(g) signaling means which is installed along the road, detects a vehicle running alone and notifies the presence of the vehicle to a base station,

wherein the base station guides a lead vehicle in front of the vehicle running alone, and enables the lead vehicle to function as the front running vehicle.

2. The vehicle guiding system as in claim 1, wherein the signalling means detects the vehicle running alone when no vehicle is present within a predetermined distance in front of such a vehicle.

3. A vehicle guiding system for enabling a plurality of vehicles to run in a platoon, the system comprising:

(a) sensor means installed on a front running vehicle in the platoon, the sensor means detecting a relative displacement of the front running vehicle from a base line of a road;

(b) calculation means installed on the front running vehicle, the calculation means calculating, on the basis of the detected relative displacement, control variables for enabling the front running vehicle to run along the base line;

(c) transmitting means installed on the front running vehicle the transmitting means transmitting the control variable data from the calculation means to a vehicle following the front running vehicle;

(d) receiving means installed on the following vehicle, the receiving means receiving the control variable data from the transmitting means;

(e) storage means installed on the following vehicle, the storage means storing the control variable data received via the receiving means;

(f) control means installed on the following vehicle, the control means determining a correction amount on the basis of the received control variable data when the following vehicle reaches a position where the front running vehicle transmitted the control variable data, and controlling the following vehicle on the basis of the correction amount;

(g) evaluating means which is installed along the road and evaluates levels of traffic congestion, and

(h) command output means for issuing a command for reducing a distance between the front running vehicle and the following vehicle when the evaluating means recognizes heavy traffic,

wherein the control means of the following vehicle reduces the distance in response to the command.

4. The vehicle guide system as in claim 3, wherein said level of traffic congestion indicates an average distance of less than 50 meters between the front running vehicle and the following vehicle.