US 12,005,898 B2
Mobile object platoon control system that calculates longitudinal acceleration of the mobile objects by setting a gain of an arithmetic expression
Go Sakayori, Tokyo (JP); and Junya Takahashi, Tokyo (JP)
Assigned to HITACHI, LTD., Tokyo (JP)
Appl. No. 17/640,888
Filed by Hitachi, Ltd., Tokyo (JP)
PCT Filed Jan. 22, 2021, PCT No. PCT/JP2021/002149
§ 371(c)(1), (2) Date Mar. 7, 2022,
PCT Pub. No. WO2021/199608, PCT Pub. Date Oct. 7, 2021.
Claims priority of application No. 2020-062509 (JP), filed on Mar. 31, 2020.
Prior Publication US 2022/0332318 A1, Oct. 20, 2022
Int. Cl. B60W 30/16 (2020.01); G08G 1/00 (2006.01)
CPC B60W 30/16 (2013.01) [B60W 2520/06 (2013.01); B60W 2540/225 (2020.02); B60W 2554/4041 (2020.02); B60W 2720/106 (2013.01); G08G 1/22 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A mobile object control system that makes a plurality of mobile objects travel in a platoon along a travel path which is preliminarily set, comprising:
a computer, programmed to:
compute a longitudinal acceleration in a travel path of a preceding mobile object and a following mobile object, and
adjust a gain of an arithmetic expression for computing the longitudinal acceleration,
wherein the platoon includes the preceding mobile object and the following mobile object that follows the preceding mobile object along the travel path,
wherein the gain of the following mobile object is adjusted based on a size of the preceding mobile object relative to a size of the following mobile object, a difference between accelerations of the preceding mobile object and the following mobile object, and based on a line of sight of an occupant of either the following mobile object or the preceding mobile object, and
wherein a control of decelerating the following mobile object is performed, based on the adjusted gain, before a time when an absolute value of lateral acceleration of the preceding mobile object or a curvature of the travel path of the preceding mobile object starts increasing.