Perimeter monitor
When vehicle group constituent vehicles V 1 to V 4 form a vehicle group, a logical unit 40 a for distributing perimeter monitoring regions among the vehicles controls a monitoring region s of a sensor 23 of each vehicle so that the monitoring region s is changed with comparison to that during independent traveling. As a result, even in a state in which an area surrounding the vehicle group cannot be sufficiently monitored with the monitoring region identical to that during independent traveling, the monitoring capacity of the area surrounding the vehicle group can be increased by changing the monitoring region s of the sensor 23 of each vehicle during traveling as a vehicle group.
1. A perimeter monitoring device that controls perimeter monitoring units of a plurality of vehicles each carrying the perimeter monitoring unit that monitors a perimeter, the perimeter monitoring device comprising:
a monitoring region control unit that controls a monitoring region of the perimeter monitoring unit of each vehicle so as to change the monitoring region with comparison to the monitoring region during independent traveling of the vehicles when the plurality of vehicles form a group of vehicles that share at least part of a traveling plan,
wherein the monitoring region control unit performs control such that when the plurality of vehicles form the vehicle group, a surface area in which the monitoring regions of the perimeter monitoring units of the vehicles overlap becomes smaller than a surface area in which the monitoring regions of the perimeter monitoring units of the vehicles overlap during independent traveling of the vehicles.
2. The perimeter monitoring device according to claim 1 , wherein the monitoring region control unit performs control such that when the plurality of vehicles form the vehicle group, a monitoring region of the perimeter monitoring unit of the vehicle that is a leading vehicle of the vehicle group becomes further forward of the vehicle group than the monitoring region during independent traveling of the vehicles.
3. The perimeter monitoring device according to claim 1 , wherein the monitoring region control unit performs control such that when the plurality of vehicles form the vehicle group, a monitoring region of the perimeter monitoring unit of the vehicle that is a leading vehicle of the vehicle group becomes further forward of the vehicle group than the monitoring region during independent traveling of the vehicles.
4. The perimeter monitoring device according to claim 1 , wherein the perimeter monitoring unit is a camera, and the perimeter region control unit controls the monitoring region by changing a focal distance of the camera when the plurality of vehicles form the vehicle group.
5. The perimeter monitoring device according to claim 1 , wherein the perimeter monitoring unit is a camera, and the perimeter region control unit controls the monitoring region by changing a focal distance of the camera when the plurality of vehicles form the vehicle group.
6. The perimeter monitoring device according to claim 2 , wherein the perimeter monitoring unit is a camera, and the perimeter region control unit controls the monitoring region by changing a focal distance of the camera when the plurality of vehicles form the vehicle group.
7. The perimeter monitoring device according to claim 3 , wherein the perimeter monitoring unit is a camera, and the perimeter region control unit controls the monitoring region by changing a focal distance of the camera when the plurality of vehicles form the vehicle group.
8. The perimeter monitoring device according to claim 1 , wherein the perimeter region control unit controls the monitoring region of the perimeter monitoring unit by changing a distance between the vehicles when the plurality of vehicles form the vehicle group.
9. The perimeter monitoring device according to claim 1 , wherein the perimeter region control unit controls the monitoring region of the perimeter monitoring unit by changing a distance between the vehicles when the plurality of vehicles form the vehicle group.
10. The perimeter monitoring device according to claim 2 , wherein the perimeter region control unit controls the monitoring region of the perimeter monitoring unit by changing a distance between the vehicles when the plurality of vehicles form the vehicle group.
11. The perimeter monitoring device according to claim 3 , wherein the perimeter region control unit controls the monitoring region of the perimeter monitoring unit by changing a distance between the vehicles when the plurality of vehicles form the vehicle group.
12. The perimeter monitoring device according to claim 4 , wherein the perimeter region control unit controls the monitoring region of the perimeter monitoring unit by changing a distance between the vehicles when the plurality of vehicles form the vehicle group.
13. The perimeter monitoring device according to claim 1 , wherein when the plurality of vehicles form the vehicle group and the vehicle group makes a turn, the perimeter region control unit performs control such that a region on the inner side of the turn of the vehicle that is a preceding vehicle becomes a monitoring region of the perimeter monitoring unit of the vehicle that follows the vehicle that is the preceding vehicle.
14. The perimeter monitoring device according to claim 1 , wherein when the plurality of vehicles form the vehicle group and the vehicle group makes a turn, the perimeter region control unit performs control such that a region on the inner side of the turn of the vehicle that is a preceding vehicle becomes a monitoring region of the perimeter monitoring unit of the vehicle that follows the vehicle that is the preceding vehicle.
15. The perimeter monitoring device according to claim 2 , wherein when the plurality of vehicles form the vehicle group and the vehicle group makes a turn, the perimeter region control unit performs control such that a region on the inner side of the turn of the vehicle that is a preceding vehicle becomes a monitoring region of the perimeter monitoring unit of the vehicle that follows the vehicle that is the preceding vehicle.
16. The perimeter monitoring device according to claim 3 , wherein when the plurality of vehicles form the vehicle group and the vehicle group makes a turn, the perimeter region control unit performs control such that a region on the inner side of the turn of the vehicle that is a preceding becomes a monitoring region of the perimeter monitoring unit of the vehicle that follows the vehicle that is a preceding vehicle.
17. The perimeter monitoring device according to claim 4 , wherein when the plurality of vehicles form the vehicle group and the vehicle group makes a turn, the perimeter region control unit performs control such that a region on the inner side of the turn of the vehicle that is a preceding vehicle becomes a monitoring region of the perimeter monitoring unit of the vehicle that follows the vehicle that is the preceding vehicle.
18. The perimeter monitoring device according to claim 8 , wherein when the plurality of vehicles form the vehicle group and the vehicle group makes a turn, the perimeter region control unit performs control such that a region on the inner side of the turn of the vehicle that is a preceding vehicle becomes a monitoring region of the perimeter monitoring unit of the vehicle that follows the vehicle that is the preceding vehicle.