Method and system for controlling a plurality of vehicles as a group unit

• US 6,167,331 A
• Filed: 08/19/1998
• Issued: 12/26/2000
• Est. Priority Date: 08/21/1997
• Status: Expired due to Fees

• Current Assignee: Mitsubishi Heavy Industries, Ltd.
• Original Assignee: Mitsubishi Heavy Industries, Ltd.
• Inventors: Nakagawa, Yoshirou, Matsumoto, Shinichi, Saeki, Hiroshi, Higashi, Shinichi
• Primary Examiner(s): Chin, Gary
• Application Number:
  US09/136,402
• Time in Patent Office: 860 Days
• Field of Search: 701/23, 701/24, 701/25, 701/26, 701/96, 701/300, 701/301, 340/903, 340/435, 340/436, 342/455, 180/167-169, 318/587
• US Class Current: 701/23
• CPC Class Codes: G08G 1/075 Ramp control
• CPC Class Codes: G08G 1/096716 where the received information does not generate an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096758 where no selection takes place on the transmitted or the received information
• CPC Class Codes: G08G 1/096783 where the origin of the information is a roadside individual element
• CPC Class Codes: G08G 1/096791 where the origin of the information is another vehicle

Abstract

A system and method for controlling a group of vehicles running on a road under vehicle-to-vehicle control where a joining group of vehicles (10) approaching from a branch road (7) is controlled by a system employing a moving target control method applied to only the head vehicle (1) in the joining group (10). Vehicle joining is achieved when a head moving target (21) in a continuous null (not-allocated) group (40) of moving targets on the main road that has an overall length larger than that of the joining vehicle group approaching from the branch road (7) and the head moving target of the null group (40) is synchronized with the head vehicle of the joining group (10).

Claims

1. A running vehicle group controlling method for automatically controlling a plurality of vehicles shifting from a branch road to a main road, wherein said method operates on the basis of a moving target method wherein a plurality of vehicles running on an actual road are associated to a plurality of moving targets on a computer, the moving targets are allocated to an imaginary road on the computer which corresponds to the actual road, and wherein said moving targets are used to track and control the vehicles running on the actual road, said running vehicle group controlling method comprising the steps of:

detecting the vehicles that are shifting from the branch road to the main road as a joining vehicle group, wherein the joining vehicle group is operating under vehicle-to-vehicle distance control; and

associating only a head vehicle of the joining vehicle group with only one of the moving targets created by the computer, and

allocating the one moving target to the head vehicle of the joining vehicle group so that a space adjacent to the one moving target is created by the computer on the imaginary road, whereby said space has a length corresponding to at least a length of the joining vehicle group, and whereby none of the non-associated moving targets are assigned to any of the vehicles in the detected vehicles.

2. The method according to claim 1, comprising the additional steps of dividing the joining vehicle group into at least two subgroups, when the length of the space adjacent to the one moving target is smaller than the length of the joining vehicle group, so that the vehicles constituting one of the subgroups are able to be allocated with the one moving target and join within the space adjacent to the one moving target;

and

detecting the vehicles of one of the other subgroups as new joining vehicle group for shifting to the main road from the branch road.

3. A running vehicle group controlling method for automatically controlling a plurality of vehicles running on a road, comprising the steps of:

allocating a moving target for joining to only a head vehicle in a joining vehicle group, wherein the joining vehicle group comprises a group of approaching vehicles joining a main road from a branch road, when the vehicles in the joining vehicle group are controlled as a unit under vehicle-to-vehicle control in order to maintain a constant vehicle-to-vehicle distance; and

determining a length of the joining vehicle group approaching the main road from the branch road; and

determining a length of a continuous, non-allocated group of moving targets on the main road; and

setting a head moving target of a continuous, non-allocated group of moving targets on the main road in synchronism with the moving target for joining, when the length of the continuous, non-allocated group of moving targets on the main road is longer than the length of the joining vehicle group, in order to achieve joining of the joining vehicle group with the continuous moving target group on the main road.

4. The method according to claim 3, comprising the additional step of dividing the joining vehicle group into a plurality of smaller sub-groups when the length of the joining vehicle group is longer than the length of the continuous, non-allocated group of moving targets on the main road, in order to make the length of any moving target for joining shorter in length than the continuous moving target group on the main road.

5. A running vehicle group controlling system for automatically controlling a plurality of vehicles shifting from a branch road to a main road, wherein said system operates on the basis of a moving target method wherein a plurality of vehicles running on an actual road are associated to a plurality of moving targets on a computer, the moving targets are allocated to an imaginary road on the computer which corresponds to the actual road, and wherein said moving targets are used to track and control the vehicles running on the actual road, said running vehicle group controlling system comprising:

a detecting unit for detecting the vehicles that are shifting from the branch road to the main road as a joining vehicle group, wherein the joining vehicle group is operating under vehicle-to-vehicle distance control; and

an associating unit for associating only a head vehicle of the joining vehicle group with only one of the moving targets created by the computer, wherein said associating unit allocates the one moving target to the head vehicle of the joining vehicle group so that a space adjacent to the one moving target is created by the computer on the imaginary road, whereby said space has a length corresponding to at least a length of the joining vehicle group, and whereby none of the non-associated moving targets are assigned to any of the vehicles in the detected vehicles.

6. The system according to claim 5, comprising a dividing unit for dividing the joining vehicle group into at least two subgroups, when the length of the space adjacent to the one moving target is smaller than the length of the joining vehicle group, so that the vehicles constituting one of the subgroups are able to be allocated with the one moving target and join within the space adjacent to the one moving target;

wherein said detecting unit detects the vehicles of one of the other subgroups as new joining vehicle group for shifting to the main road from the branch road.

7. The system according to claim 5, further comprising an on-road system and an on-vehicle system, wherein the on-road system comprises:

a position information equipment group for detecting a position and speed of each of the running vehicles as vehicle position information;

a running control computer, including the detecting unit and the associating unit, for performing management and control of each of said running vehicles based on the vehicle position information detected by the position information equipment group; and

a communication equipment for performing communication for effecting the transfer of the vehicle position information between the running control computer and said running vehicles and for transmission of a control instruction.

8. The system according to claim 7, wherein the on-vehicle system comprises:

a vehicle-to-vehicle distance detection sensor for detecting a vehicle-to-vehicle distance with respect to a preceding vehicle;

a vehicle/vehicle communication device for performing vehicle/vehicle communication;

a road/vehicle communication device for performing road/vehicle communication with the running control computer via the communication equipment; and

a vehicle-to-vehicle distance control device, connected to the vehicle-to vehicle distance detection sensor, the vehicle/vehicle communication device, the road/vehicle communication device and a vehicle drive device, for controlling the vehicle-to-vehicle distance with respect to the preceding vehicle.