# US 9,520,064 B2 · Train-of-vehicle travel support device, control system and processor unit > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,520,064 B2 - Document ID: US9520064B2 - Status: Granted - Kind: B2 - Application number: 13/003,049 - Filed: 2009-06-30 - Published: 2011-05-19 - Granted: 2016-12-13 - Earliest claimed: 2008-07-10 - Assignees: Mitsubishi Electric Corporation - Applicants: Yoshiaki Tsuda - Inventors: Yoshiaki Tsuda - Web page: https://patentgrep.com/patent/US9520064B2 ## CPC - G08G 1/161: {Decentralised systems, e.g. inter-vehicle communication} - B60W 30/10: Path keeping {(cruise control for automatically following a preceding vehicle B60W30/165)} - G05D 1/243: Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals (using passive navigation aids external to the vehicle G05D1/244; using signals from positioning sensors located off-board the vehicle G05D1/249) - G05D 1/695: for maintaining a fixed relative position of the vehicles, e.g. for convoy travelling or formation flight - G05D 1/6985: {using a lead vehicle, e.g. primary-secondary arrangements} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2420/408: Radar; Laser, e.g. lidar - B60W 2520/10: Longitudinal speed - B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data - G05D 2105/28: of freight - G05D 2107/13: Spaces reserved for vehicle traffic, e.g. roads, regulated airspace or regulated waters - G05D 2109/10: Land vehicles - G05D 2111/10: Optical signals - 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}) - 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 ## Abstract A train-of-vehicle travel support device which enables a train-of-vehicle travel of a plurality of vehicles even on a running road in which no magnetic marker is embedded. The train-of-vehicle travel support device includes a sensor unit obtaining road line shape data of a feature on a road surface, a processor unit obtaining running control data based on comparison of the road line shape data obtained by the sensor unit and reference data which has been previously stored, and an inter-vehicle communication device transmitting wirelessly the running control data obtained by the processor unit to a following vehicle. ## Claims ### Claim 1 A train-of-vehicle travel support device comprising: a sensor unit mounted on a vehicle and measuring a three-dimensional position and a shape of a feature on a road to produce a road line shape data; a processor unit mounted on the vehicle and comparing the road line shape data to a reference data showing a three dimensional position and shape of the feature on the road surface which has been previously stored, computing a difference between the road line shape data and the reference data, and obtaining running control data of the vehicle based on the difference; and an inter-vehicle communication device transmitting the running control data of the vehicle to a following vehicle which obtains running control data of the following vehicle based on the transmitted running control data of the vehicle. ### Claim 2 (depends on 1) The train-of-vehicle travel support device of claim 1, wherein the processor unit corrects a measurement error which is included in a self-position of the vehicle based on the difference, and obtains the running control data of the vehicle based on the corrected self-position. ### Claim 3 (depends on 2) The train-of-vehicle travel support device of claim 2, further comprising: a following-vehicle-mounted sensor unit mounted on the following vehicle and measuring position gap amount of the following vehicle with respect to the vehicle, wherein the following-vehicle-mounted processor unit obtains running control data of the following vehicle based on the running control data of the vehicle and the position gap amount. ### Claim 4 (depends on 1) The train-of-vehicle travel support device of claim 1, further comprising: a following-vehicle-mounted sensor unit mounted on the following vehicle and measuring position gap amount of the following vehicle with respect to the vehicle, wherein the following-vehicle-mounted processor unit obtains running control data of the following vehicle based on the running control data of the vehicle and the position gap amount. ### Claim 5 A control system of a vehicle being mounted on the vehicle, the control system comprising: a measurement unit for measuring a three-dimensional position and a shape of a feature on a road to produce a road line shape data; a memory unit for previously storing a reference data showing a three-dimensional position and a shape of a feature on a road; and a computing unit for computing a difference between the road line shape data and the reference data, and obtaining running control data of the vehicle based on the difference. ### Claim 6 (depends on 5) The control system of the vehicle of claim 5, wherein the computing unit corrects, based on the difference, a measurement error included in a self-position of the vehicle, and obtains the running control data of the vehicle based on the corrected self-position. ### Claim 7 A processor unit mounted in a vehicle that follows a preceding vehicle and which obtains running control data of the vehicle based on running control data of the preceding vehicle received from a processor in the preceding vehicle that obtains the running control data of the preceding vehicle based on a difference between road line shape data indicating a three-dimensional position and a shape of a feature measured by the preceding vehicle and reference data showing a three-dimensional position and a shape of a feature which has been previously stored. ### Claim 8 (depends on 7) The processor unit of claim 7, wherein the processor in the preceding vehicle corrects, based on the difference, a measurement error included in a self-position of the preceding vehicle, and obtains the running control data of the preceding vehicle based on the corrected self-position.