# 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 > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,005,898 B2 - Document ID: US12005898B2 - Status: Granted - Kind: B2 - Application number: 17/640,888 - Filed: 2021-01-22 - Published: 2022-10-20 - Granted: 2024-06-11 - Earliest claimed: 2020-03-31 - Assignees: Hitachi, Ltd. - Applicants: Hitachi, Ltd. - Inventors: Go Sakayori; Junya Takahashi - Web page: https://patentgrep.com/patent/US12005898B2 ## CPC - B60W 30/16: Control of distance between vehicles, e.g. keeping a distance to preceding vehicle - B60W 30/18145: {Cornering} - B60W 50/0098: {Details of control systems ensuring comfort, safety or stability not otherwise provided for} - G05D 1/02: Control of position or course in two dimensions - B60W 2050/0024: {Variable gains} - B60W 2520/06: Direction of travel - B60W 2540/225: Direction of gaze - B60W 2552/30: Road curve radius - B60W 2554/4041: Position - B60W 2720/106: Longitudinal acceleration - G08G 1/22: {Platooning, i.e. convoy of communicating vehicles} - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract Provided is a mobile body control system capable of improving both the comfort of passengers in each mobile body and the efficiency of cargo transport when a plurality of mobile bodies travel in a formation. A mobile body control system (1) causes a plurality of mobile bodies (21) to travel in a formation along a preset travel route, and comprises a preceding/succeeding acceleration calculation unit (S49) that calculates a preceding/succeeding acceleration of a preceding mobile body (21_n) and a succeeding mobile body (21_n+1) on the travel route. The preceding/succeeding acceleration calculation unit adjusts a gain E of an arithmetic expression used to calculate the preceding/succeeding acceleration on the basis of information about a transported object being transported by each mobile body (21). ## Claims ### Claim 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. ### Claim 2 (depends on 1) The mobile object control system according to claim 1, wherein the computer is programmed to: when the line of sight of the occupant of the following mobile object is forward toward the preceding mobile object, adjust the gain by setting the gain of the following mobile object in a section in which curvature of a travel path of the following mobile object increases, to be larger than that in a case where the line of sight of the occupant is not forward towards the preceding mobile object. ### Claim 3 (depends on 1) The mobile object control system according to claim 1, wherein the computer is programmed to: when the line of sight of the occupant of the following mobile object is forward toward the preceding mobile object, adjust the gain by setting the gain of the following mobile object in a section in which curvature of a travel path of the following mobile object decreases, to be smaller than that in a case where the line of sight of the occupant is not forward towards the preceding mobile object. ### Claim 4 (depends on 1) The mobile object control system according to claim 1, wherein the computer is programmed to: when the line of sight of the occupant of the preceding mobile object is rearward toward the following mobile object, adjust the gain by setting the gain of the preceding mobile object in a section in which curvature of a travel path of the preceding mobile object increases, to be larger than that in a case where the line of sight of the occupant is not rearward toward the following mobile object. ### Claim 5 (depends on 1) The mobile object control system according to claim 1, wherein the computer is configured to: when the line of sight of the occupant of the preceding mobile object is rearward toward the following mobile object, adjust the gain by setting the gain of the preceding mobile object in a section in which curvature of a travel path of the preceding mobile object decreases, to be smaller than that in a case where the line of sight of the occupant is not rearward toward the following mobile object. ### Claim 6 (depends on 1) The mobile object control system according to claim 1, wherein the computer is programmed to: when the line of sight of the occupant of the following mobile object is forward toward the preceding mobile object, compute the longitudinal acceleration of the following mobile object so that the difference from the longitudinal acceleration of the preceding mobile object becomes smaller in a section in which curvature of a travel path of the following mobile object increases, as compared with a case where the line of sight of the occupant is not forward toward the preceding mobile object. ### Claim 7 (depends on 1) The mobile object control system according to claim 1, wherein the computer is programmed to: when the line of sight of the occupant of the following mobile object is forward toward the preceding mobile object, compute the longitudinal acceleration of the preceding mobile object so that the difference from the longitudinal acceleration of the following mobile object becomes smaller in a section in which curvature of a travel path of the preceding mobile object decreases, as compared with a case where the line of sight of the occupant is not forward toward the preceding mobile object. ### Claim 8 (depends on 1) The mobile object control system according to claim 1, wherein the computer is programmed to adjust a deceleration time of the following mobile object based on the line of sight of the occupant of the following mobile object. ### Claim 9 (depends on 8) The mobile object control system according to claim 8, wherein the computer is programmed to: when the line of sight of the occupant of the following mobile object is forward toward the preceding mobile object, set the deceleration time of the following mobile object to be longer than the deceleration time in a case where the line of sight of the occupant is not forward towards the preceding mobile object.