Row running control system and vehicle

摘要

A row running control system is a system that controls the running state of each vehicle by optimum control (LQ control) so that five vehicles, for example, run in a row. Acceleration instruction values for the succeeding four vehicles among the five vehicles are determined as values minimizing predetermined evaluation functions, and the evaluation functions are calculated based on the errors of the distances between the respective vehicles, relative speeds between the respective vehicles and the acceleration instruction values for the respective vehicles.

主权项

1. A row running control system that controls a running state of at least one vehicle of a plurality of vehicles that are in a row so that the plurality of vehicles maintains the row, the row running control system comprising:
an electronic control unit of a computer configured to:
calculate at least one running control value of the at least one vehicle of the plurality of vehicles, the at least one running control value corresponding to at least one of an acceleration instruction, a deceleration instruction and a steering instruction of the at least one vehicle;determine the at least one running control value so as to minimize a predetermined evaluation value, the predetermined evaluation value being calculated based on relative values of all pairs of two successive vehicles of the plurality of vehicles and the at least one running control value; andcontrol the running state of the at least one vehicle based on the at least one running control value of the at least one vehicle.