To provide a convoy travel apparatus, even when respective setup speeds of vehicle groups before merging are different, capable of reaching a destination at a scheduled time without disturbing the longitudinal interval of vehicles.SOLUTION: In a state where a first vehicle group A including a self vehicle travels a running lane, when a travel control unit for controlling convoy travel detects a second vehicle group B traveling an approach route R2, the travel control unit causes it to merge into the second vehicle group B, while adjusting a travel position of the self vehicle so as to optimize an inter-vehicular distance after merging. When there is a difference in setup vehicle speeds between the first vehicle group A and the second vehicle group B before the merging, the travel control unit causes, after the merging, a rearmost vehicle A5 of the first vehicle group A whose setup vehicle speed is higher than that of the second vehicle group, to move to an overtaking lane R3, and then causes the other vehicles A1-A4 of the first vehicle group A to change the lane ahead of the rearmost vehicle A5, to overtake the second vehicle group B whose vehicle speed is slower than that of the first vehicle group.SELECTED DRAWING: Figure 2
【課題】合流前のそれぞれの車群の設定速度が異なっても、車両の前後間隔が離れず、予定時間通りに目的地に到着することができる隊列走行装置を提供する。【解決手段】隊列走行を制御する走行制御部は、自車両を含む第1の車群Aが走行車線R1を走行しているときに、進入路R2を走行している第2の車群Bを検出した場合、合流後に車両の車間距離が適切になるように自車両の走行位置を調整しつつ第2の車群Bと合流し、合流前に第1の車群Aと第2の車群Bとの間に設定車速に差異が生じるときには、合流後に、設定車速が速い第1の車群Aの最後尾車両A5が追越車線R3に移り、その後に最後尾車両A5の前方に第1の車群Aの他の車両A1〜A4が車線変更して、設定車速が遅い第2の車群Bを追い越すよう制御する。【選択図】図2
CONVOY TRAVEL APPARATUS
隊列走行装置
25.04.2019
Patent
Elektronische Ressource
Japanisch