US 12,275,428 B2
Vehicle control system
Hirotake Ishii, Tokyo (JP); Hidefumi Ishimoto, Tokyo (JP); and Akiyoshi Kirimura, Tokyo (JP)
Assigned to Hitachi Construction Machinery Co., Ltd., Tokyo (JP)
Appl. No. 17/928,110
Filed by Hitachi Construction Machinery Co., Ltd., Tokyo (JP)
PCT Filed May 11, 2021, PCT No. PCT/JP2021/017822
§ 371(c)(1), (2) Date Nov. 28, 2022,
PCT Pub. No. WO2021/246114, PCT Pub. Date Dec. 9, 2021.
Claims priority of application No. 2020-095568 (JP), filed on Jun. 1, 2020.
Prior Publication US 2023/0202512 A1, Jun. 29, 2023
Int. Cl. B60W 60/00 (2020.01); B60W 30/16 (2020.01); G05D 1/00 (2024.01); H04W 64/00 (2009.01); H04W 76/14 (2018.01)
CPC B60W 60/001 (2020.02) [B60W 30/16 (2013.01); G05D 1/0295 (2013.01); H04W 64/00 (2013.01); H04W 76/14 (2018.02); B60W 2754/10 (2020.02)] 6 Claims
OG exemplary drawing
 
1. A vehicle control system comprising:
an autonomous travel vehicle on which a vehicle-mounted receiving terminal that acquires and receives its own positional information is mounted, wherein the autonomous travel vehicle is configured to travel autonomously;
a manned vehicle on which a vehicle-mounted transmitting terminal that acquires and transmits its own positional information is mounted, wherein the manned vehicle travels according to an operation by a driver; and
a first communication line and a second communication line that connect the vehicle-mounted receiving terminal of the autonomous travel vehicle and the vehicle-mounted transmitting terminal of the manned vehicle with each other via communication lines different from each other, wherein
the vehicle-mounted transmitting terminal of the manned vehicle transmits positional information about the manned vehicle by using the first communication line and the second communication line,
the vehicle-mounted receiving terminal of the autonomous travel vehicle uses the first communication line to receive the positional information about the manned vehicle,
the vehicle-mounted receiving terminal of the autonomous travel vehicle decides whether or not an inter-vehicle distance between the autonomous travel vehicle and the manned vehicle is equal to or shorter than a reference distance on a basis of the positional information about the manned vehicle and positional information about the autonomous travel vehicle,
in a case where the inter-vehicle distance is equal to or shorter than the reference distance, the vehicle-mounted receiving terminal of the autonomous travel vehicle decides whether or not the second communication line is established between the vehicle-mounted receiving terminal of the autonomous travel vehicle and the vehicle-mounted transmitting terminal of the manned vehicle,
in a case where the vehicle-mounted receiving terminal decides that the second communication line is established between the vehicle-mounted receiving terminal of the autonomous travel vehicle and the vehicle-mounted transmitting terminal of the manned vehicle, the autonomous travel vehicle travels under speed control with an upper limit of a travel speed at a first speed,
in a case where the vehicle-mounted receiving terminal decides that the second communication line is not established between the vehicle-mounted receiving terminal of the autonomous travel vehicle and the vehicle-mounted transmitting terminal of the manned vehicle, the autonomous travel vehicle travels under speed control with an upper limit of a travel speed at a non-zero second speed,
a communication delay related to the second communication line is shorter than a communication delay related to the first communication line, and
the first speed is higher than the second speed.