Vehicle control method and system for use in automatic driving system

• US 6,122,573 A
• Filed: 01/05/1998
• Issued: 09/19/2000
• Est. Priority Date: 01/07/1997
• Status: Expired due to Term

• Current Assignee: Mitsubishi Heavy Industries, Ltd.
• Original Assignee: Mitsubishi Heavy Industries, Ltd.
• Inventors: Suzuki, Hiroshi, Higashi, Shinichi, Takagi, Akira
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US09/002,782
• Time in Patent Office: 988 Days
• Field of Search: 701/23, 701/25, 701/26, 701/213, 701/41, 340/902, 340/903, 340/904, 340/905, 340/996, 180/168, 180/167
• US Class Current: 701/23
• 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: G08G 1/096725 where the received information generates an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096741 where the source of the transmitted information selects which information to transmit to each vehicle
• CPC Class Codes: G08G 1/096783 where the origin of the information is a roadside individual element

Abstract

A vehicle control method for use in an automatic driving system which transmits drive support information stored in each of markers buried in a road at regular intervals, to a vehicle which passes the marker, in order to support driving of the vehicle, comprising the steps of storing, in the marker, positional information indicative of the position of the marker, and at least one of road information indicative of the state of the road and control information concerning the speed and traveling direction of the vehicle, and transmitting, to the vehicle, the positional information and the at least one of the road information and the control information, which are used as the driving support information.

Claims

1. A vehicle control method for use in an automatic driving system which transmits drive support information stored in each of markers buried in a road, to a passing vehicle, in order to support driving of the passing vehicle, comprising the steps of:

storing, in the marker, positional information indicative of a position of the marker, and at least one of road information indicative of a state of the road and control information concerning a driving speed and traveling direction for passing vehicle; and

transmitting, to the passing vehicle, the positional information and the at least one of the road information and the control information, which are used as the drive support information, wherein the marker counts the number of passing vehicles and stores, as maintenance information, information indicative of the counted number, and transmits the maintenance information to an inspection vehicle.

2. A method according to claim 1, wherein the marker also obtains information indicative of abnormality and failure of the marker itself, and stores the information indicative of the abnormality and failure as part of the maintenance information.

3. A method according to claim 1, wherein the road information includes at least information indicative of the inclination, the curvature and the surface state of the road.

4. A method according to claim 1, wherein the control information includes at least speed instructing information, acceleration/deceleration instructing information and steering instructing information.

5. A method according to claim 1, wherein the markers are buried in the road at regular intervals.

7. An automatic driving system according to claim 5, wherein

the processing section also obtains information indicative of abnormality and failure of the marker itself;

and

the maintenance information includes the information indicative of the abnormality and failure.

6. An automatic driving system for transmitting drive support information stored in each of markers buried in a road, to a passing vehicle, in order to support driving of the passing vehicle, wherein

the marker includes storage means which stores positional information indicative of a position of the marker, and at least one of road information indicative of a state of the road and control information concerning a driving speed and travelling direction for the passing vehicle;

the marker also includes communication means for transmitting, to the passing vehicle, the positional information and the at least one of the road information and the control information, which are used as the drive support information wherein

the marker further includes a processing section for counting the number of passing vehicles;

the storage means stores, as maintenance information, information indicative of the counted number; and

the communication means transmits, to an inspection vehicle, the maintenance information stored in the storage means.

8. An automatic driving system according to claim 6, wherein the road information includes at least information indicative of the inclination, the curvature and the surface state of the road.

9. An automatic driving system according to claim 6, wherein the control information includes at least speed instructing information, acceleration/deceleration instructing information and steering instructing information.

10. An automatic driving system according to claim 6, wherein the markers are buried in the road at regular intervals.

11. A method for use in a system which transmits drive support information stored in each of markers buried in a road, to a passing vehicle, in order to support driving of the passing vehicle, comprising the steps of:

storing, in the marker, positional information indicative of a position of the marker, and road information indicative of a state of the road;

transmitting, to the passing vehicle, the positional information and the road information, which are used as part of the drive support information;

counting, using the marker, the number of passing vehicles;

storing, in the marker, the counted number of passing vehicles; and

transmitting, to an inspection vehicle which passes the marker, the counted number of passing vehicles.

12. The method according to claim 11, wherein the maker counts the number of passing vehicles by the number of occasions of communication with the passing vehicles.

13. The method according to claim 11, further comprising the steps of:

detecting, by the maker, abnormality and failure of the marker itself;

storing, in the marker, the detected abnormality and failure; and

transmitting, to the inspection vehicle, the detected abnormality and failure as part of the maintenance information.

14. The method according to claim 13, wherein the control information includes speed instructing information, acceleration/deceleration instructing information and steering instructing information.

15. The method according to claim 11, further comprising the steps of:

storing, in the marker, control information concerning the speed and traveling direction for the passing vehicle; and

transmitting, to the passing vehicle, the control information which is used as part of the driving support information.

16. The method according to claim 11, wherein the state of the road includes an inclination, curvature and surface condition of the road.

17. A system which transmits drive support information stored in each of markers buried in a road, to a passing vehicle, in order to support driving of the passing vehicle, wherein the marker includes:

a first memory location for storing positional information indicative of a position of the marker, and road information indicative of a state of the road;

a transmitter for transmitting, to the passing vehicle, the positional information and the road information, which are used as part of the drive support information;

a counter for counting the number of passing vehicles; and

a second memory location for storing the counted number of passing vehicles, wherein said transmitter transmits, to an inspection vehicle, the counted number of passing vehicles.

18. The system according to claim 17, wherein the maker counts the number of passing vehicles by the number of occasions of communication with the passing vehicles.

19. The system according to claim 18, wherein the state of the road includes an inclination, curvature and surface condition of the road.

20. The system according to claim 17, wherein the maker further includes:

a detector for detecting an abnormality or failure of the marker itself; and

a third memory location for storing the detected abnormality or failure, wherein said transmitter transmits, to the inspection vehicle, the detected abnormality or failure as part of the maintenance information.

21. The system according to claim 17, wherein the maker further includes:

a third memory location for storing control information concerning the speed and traveling direction for the passing vehicle, wherein said transmitter transmits, to the passing vehicle, the control information which is used as part of the driving support information.

22. The system according to claim 17, wherein the control information includes speed instructing information, acceleration/deceleration instructing information and steering instructing information.