To improve the follow-up performance of a following vehicle in a follow-up traveling system for allowing the following vehicle to travel while following a leading vehicle.SOLUTION: A follow-up traveling system 1 allows a following vehicle 2F to travel while following a leading vehicle 2L, and includes: a leading vehicle sensor 8 for acquiring steering information on steering which has been input to the leading vehicle; a following vehicle sensor 8 for acquiring the vehicle speed of the following vehicle; a deviation sensor 11 for acquiring deviation information including the position and attitude of the leading vehicle relative to the following vehicle; a control device 10 capable of performing the steering control of the following vehicle; and an inter-vehicle communication device 9 for transmitting the steering information on the leading vehicle acquired by the leading vehicle sensor to the control device. The control device performs, in correlation with the vehicle speed of the following vehicle, sensor steering control for performing the steering control of the following vehicle on the basis of at least one of the position and attitude of the leading vehicle acquired by the deviation sensor, and inter-vehicle steering control for performing the steering control of the following vehicle on the basis of the steering information on the leading vehicle received via the inter-vehicle communication device.SELECTED DRAWING: Figure 4
【課題】 先導車に後続車を追従走行させる追従走行システムにおいて、後続車の追従性能を高める。【解決手段】 後続車2Fを先導車2Lに追従走行させる追従走行システム1であって、先導車に入力された操舵に係る操舵情報を取得する先導車センサ8と、後続車の車速を取得する後続車センサ8と、後続車に対する先導車の位置、及び姿勢を含む偏差情報を取得する偏差センサ11と、後続車の操舵制御が可能な制御装置10と、先導車センサによって取得された先導車に係る操舵情報を制御装置に伝達する車々間通信装置9とを有し、制御装置は、偏差センサによって取得した先導車の位置及び姿勢の少なくとも一方に基づいて後続車の操舵制御を行うセンサ操舵制御と、車々間通信装置を介して受信した先導車の操舵情報に基づいて後続車の操舵制御を行う車々間操舵制御とを、後続車の車速に相関して行う。【選択図】 図4
FOLLOW-UP TRAVELING SYSTEM
追従走行システム
2021-03-01
Patent
Electronic Resource
Japanese
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