The present invention teaches a system of cooperative driving for use in traffic mitigation or towing, in which two or more non-mechanically connected vehicles are identically equipped with automatic driving controls, which cooperate with sensors and communication devices so that the vehicles are effectively driven by the driver in the leading vehicle.
This application is a continuation of application Ser. No. 07/390,485 filed on Jul. 31, 1989, now abandoned, which is a continuation of application Ser. No. 07/279,322 filed on Dec. 1, 1988 and now abandoned, which is a continuation of application Ser. No. 06/836,834 filed on Mar. 6, 1986 and now abandoned.
A distance control apparatus for a vehicle detects a vehicle speed and a distance to a preceding vehicle through a vehicle speed sensor and a distance measuring device. The distance control apparatus calculates two deceleration distances by a driver model calculating device and a vehicle model calculating device. The driver model calculating device calculates the deceleration distance on the basis of the vehicle speed and the distance to a preceding vehicle and with reference to a driver's control characteristics. The vehicle calculating device calculates the deceleration distance on the basis of the vehicle speed and with reference to physical characteristics of the vehicle. A speed control device of the distance control apparatus executes a deceleration control of the vehicle according to a larger one of the driver model deceleration distance and the vehicle model deceleration distance so as to realize the distance control fitting with a driver's feel to a distance while keeping a secure distance derived from vehicle characteristics.
A processional travel control apparatus allows processional travel with a leading vehicle driven by a driver and at least one succeeding vehicle automatically following the leading vehicle, while maintaining distances and directions between the vehicles by means of radar devices. The leading vehicle and the succeeding vehicles constitute a group. Each of the vehicles comprises a vehicle group identifying device for distinguishing the vehicle group from another vehicle group, the vehicle group identifying device preventing radio interference between the groups during processional travel.
A guiding signal generator and transmitter is included on a guiding device for generating and transmitting a guiding signal for guiding a tracking device. Provided on the tracking device are first and second guiding signal receivers spaced apart by a predetermined distance for receiving the guiding signal, and a controller for detecting a direction to and a distance from the guiding device based on outputs from the first and second guiding signal receivers and the predetermined distance. The configuration prevents collisions between the guiding device and the tracking device.
A self-propelled remotely controlled pilot vehicle adapted for use on raiad tracks to monitor hazardous conditions and obstacles on the railroad tracks. The pilot vehicle precedes a train along the railroad tracks at a distance which will allow the train to come to a complete stop in the event the pilot vehicle encounters a hazardous condition on the track. The pilot vehicle is equipped with a sensor array which measures a variety of different parameters such as the presence of noxious gases, moisture in the atmosphere or at ground level, and breakage in one or both rails of the track. The pilot vehicle is also equipped with a television camera which provides a visual image of the railroad track ahead of the pilot vehicle to the engineer of the train. An infrared camera which is mounted on the front of the pilot vehicle generates an infrared image of the tracks and is used during darkness or in severe weather conditions to monitor the tracks for unsafe conditions or to detect animals or humans from body radiation. Information gathered by the pilot vehicle's sensor array is supplied to a computer on board the pilot vehicle and is transmitted back to the train to enable the train's engineer to be apprised of conditions existing on the tracks ahead of the train in order to have time to react to potential hazards and dangerous situations on the railroad tracks.
A vehicle traveling control system and a vehicle control device whereby markers are detected with reliability and information about a local vehicle is transmitted to a succeeding vehicle. Information collecting unit of a preceding vehicle acquires information about the traveling state of the local vehicle associated therewith and supplies the acquired information to modulating unit. The modulating unit modulates the information supplied thereto and supplies the modulated information to blinking unit. The blinking unit causes the markers to blink in accordance with the information supplied thereto. Imaging unit of the succeeding vehicle acquires images of the markers and supplies the acquired images to specifying unit. The specifying unit specifies the marker images from within the image data output from the imaging unit. Validity determining unit determines validity of the specified marker images. Using the marker images, distance measuring unit measures a distance to the preceding vehicle. Demodulating unit demodulates information superimposed on the markers to reproduce the original information. In accordance with the information obtained from the distance measuring unit and the demodulating unit, control unit controls the traveling state of the local vehicle associated therewith.
