JP2018036861A - Confluence support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique for contributing to safety more.SOLUTION: A confluence support device 50 is configured to acquire blockage information representing presence of an inhibitor designating an object that moves so as to narrow a front space in a traveling lane of an own vehicle around the own vehicle. The confluence support device 50 is configured to acquire junction area information representing that the own vehicle is located in a junction area where a second lane designating a lane different from the first lane joins with the first lane designating the lane where the own vehicle travels. The confluence support device 50 is configured to output caution information urging caution when the junction area information is acquired and the blockage information is acquired.SELECTED DRAWING: Figure 3

Description

  The present disclosure relates to a technique for supporting confluence.

2. Description of the Related Art In recent years, a technique for causing a vehicle to join safely in a joining area on a road is known. The merge area is an area where branch lines merge with the main road.
In Patent Document 1, the roadside infrastructure provided on the main line and the branch line respectively detects a merged vehicle traveling on the main line or a merged vehicle traveling on the branch line, and a space for joining the merged vehicle to the main line is secured. As described above, it is described that the vehicle speed and the priority are notified to the joining vehicle and the joined vehicle.

JP2015-102893A

  However, in the technique of Patent Literature 1, notification is performed before the junction area based on information detected before the junction area. For this reason, even if the merging vehicle and the merging vehicle are traveling in accordance with the notification so that a space for merging is ensured in the merging region, an expectation that hinders merging such as suddenly interrupting the space in the merging region. There is a problem that danger occurs when a vehicle that performs unexpected operation occurs.

  Therefore, in view of such problems, it is an object of the present invention to provide a technique that contributes to safety.

  The merging support device (50) of the present disclosure includes an inhibition acquisition unit (S45), a merging acquisition unit (S50), and an output unit (S65). The inhibition acquisition unit is configured to acquire inhibition information indicating that an inhibition object indicating an object that moves so as to narrow a space ahead in the lane in which the host vehicle is traveling exists. The merge acquisition unit indicates that the host vehicle is located in a merge area indicating a region where a second lane indicating a lane different from the first lane merges with a first lane indicating a lane in which the host vehicle is traveling. It is configured to obtain region information. The output unit is configured to output caution information for calling attention when the merge area information is acquired and the inhibition information is acquired.

  According to such a merging support apparatus, when the own vehicle is located in the merging region, the caution information that calls attention is output when an obstructing object exists around the own vehicle. For this reason, when an obstructing object that can hinder smooth merging exists in the merging region, attention can be urged by the caution information. As a result, confluence support that contributes to safety can be performed.

  Note that the reference numerals in parentheses described in this column and in the claims indicate the correspondence with the specific means described in the embodiment described later as one aspect, and the technical scope of the present disclosure It is not limited.

The block diagram which shows the structure of the confluence | merging assistance system of this indication. The figure explaining a merge point. The flowchart which shows a confluence | merging support process. The flowchart which shows an obstruction vehicle determination process. The figure explaining an obstruction vehicle list. The figure explaining the effect by the merge support of 1st Embodiment. The figure explaining the condition where safe merge is suppressed in a merge area. The flowchart which shows a formation process. The figure explaining instruction | indication distance. The figure explaining a mode that vehicle-to-vehicle communication information is transmitted / received between vehicles in which vehicle-to-vehicle communication is possible. The figure explaining formation command. The figure explaining the action | operation by formation instruction | indication. The figure explaining the effect by the merge support of 2nd Embodiment.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.
[1. First Embodiment]
[1-1. Constitution]
A joining support system 10 shown in FIG. 1 is a system that is mounted on a vehicle and supports joining.

  As shown in FIG. 2, “merge” here refers to a vehicle that travels in the second lane 62 in a merge area 71 that represents an area where the second lane 62 representing the branch line merges with the first lane 61 representing the main line. This represents that the joining vehicle 9 moves to the first lane 61.

  A lane here is an area on the road, and represents an area partitioned by lane markings that divide the road, such as white lines and yellow lines. Hereinafter, the lane is also referred to as a lane. In the merging support system 10 of the present embodiment, the merging vehicle 9 that is about to move to the first lane 61 that is the lane in which the host vehicle 1 is traveling, that is, the merging vehicle 9 that is about to move to the main line, is supported. Note that the vehicle on which the junction support system 10 is mounted is also referred to as the host vehicle 1.

  The merge support system 10 illustrated in FIG. 1 includes a control unit 50. The merge support system 10 includes a GPS receiver 11, a radar 12, a camera 13, a vehicle speed sensor 14, a map database 15, road data 151, an inter-vehicle communication device 20, and a wireless communication device 30. It may be. GPS indicates a global positioning system.

The GPS receiver 11 is a known device that detects the position of the host vehicle 1 based on radio waves transmitted from GPS satellites.
The radar 12 detects an object existing around the host vehicle 1 by transmitting an electromagnetic wave such as a radio wave around the host vehicle 1 and receiving the reflected wave. An object represents a tangible object. The tangible object may include, for example, a person or a vehicle.

One or a plurality of cameras 13 are provided, and images the surroundings of the host vehicle 1.
The vehicle speed sensor 14 is a known sensor that detects the traveling speed of the host vehicle 1.
The map database 15 is a database that stores known map information in which latitude / longitude on the earth and road data are associated with each other. The road data 151 is associated with various types of information such as the position of the lane on the road, the number of lanes, the position of the merge area 71, the position of the toll gate provided on the branch line that merges with the merge area 71, and the like. The position of the merge area 71 may include a merge start position 711 where the main line and the branch line begin to merge, and a merge end position 712 where the merge ends.

  The inter-vehicle communication device 20 is a well-known communication device for exchanging information with other vehicles. The inter-vehicle communication device 20 has a function of exchanging information about the host vehicle 1 such as the position of the host vehicle 1, the vehicle number, the vehicle speed, and the like with another vehicle. In addition, although the vehicle number here has shown the number of the number plate of a vehicle, the vehicle number should just be information which can identify a vehicle separately, such as vehicle ID, for example.

  The wireless communication device 30 is a well-known communication device for exchanging information with an external device that collects and distributes various types of vehicle information such as a center and roadside infrastructure. The wireless communication device 30 may transmit information related to the host vehicle 1 such as the position of the host vehicle 1, the vehicle number, the vehicle speed, and the like.

  The control unit 50 is configured around a known microcomputer having a CPU 51 and a semiconductor memory (hereinafter, memory 52) such as a RAM, a ROM, and a flash memory. Various functions of the control unit 50 are realized by the CPU 51 executing a program stored in a non-transitional physical recording medium. In this example, the memory 52 corresponds to a non-transitional tangible recording medium that stores a program. The non-transitional tangible recording medium means to remove electromagnetic waves from the recording medium. Further, by executing this program, a method corresponding to the program is executed. The number of microcomputers constituting the control unit 50 may be one or more.

  The control unit 50 includes a function for performing merging support as one of the functional configurations realized by the CPU 51 executing the program. The method for realizing the functions in the control unit 50 is not limited to software, and some or all of the elements may be realized using hardware that combines a logic circuit, an analog circuit, and the like.

[1-2. processing]
Next, the merging support process executed by the control unit 50 will be described using the flowchart shown in FIG. As shown in FIG. 2, the merge support process is a process for safely joining the merged vehicle 9 in the space 81 in front of the host vehicle 1. For example, the merge support process is started when the power of the merge support system 10 is turned on, and then repeatedly performed. In the description of the process, when the subject is omitted, the control unit 50 is the subject.

  In the merge support process, the control unit 50 first acquires the own vehicle 1 information in S10. The own vehicle 1 information represents information related to the own vehicle 1. The information here may include the vehicle speed, the current position of the host vehicle 1 (hereinafter, the host vehicle position), and the like. The detection result by the vehicle speed sensor 14 is used for the vehicle speed. The detection result by the GPS receiver 11 is used for the vehicle position.

  In S15, the control unit 50 acquires ambient information. The ambient information represents information related to other vehicles located around the host vehicle 1. Hereinafter, other vehicles are also referred to as other vehicles. In addition, the circumference | surroundings here can include the range which the electromagnetic wave by vehicle-to-vehicle communication reaches, for example. The vehicle may include a four-wheeled vehicle such as a passenger car or a truck, or a two-wheeled vehicle such as a motorcycle.

  Further, the information here may include a moving direction, a position, a speed, and the like. The moving direction represents the moving direction. The position may be indicated by either an absolute position or a position relative to the position of the host vehicle 1. The speed may be indicated by either an absolute speed or a relative speed indicating a relative speed with respect to the host vehicle 1. In the present embodiment, the output result of the radar 12 is used to acquire the movement direction, position, and speed. In addition, instead of the position, information such as an azimuth and a distance may be included in the surrounding information.

  In S20, the control unit 50 executes the inhibition vehicle determination process. The inhibition vehicle determination process is a process for determining whether or not an inhibition vehicle exists around the host vehicle 1. For example, as shown in FIG. 7 to be described later, the inhibition vehicle 8 represents another vehicle that moves so as to narrow a space 81 ahead in the lane in which the host vehicle 1 is traveling.

  Here, the forward direction represents the traveling direction of the host vehicle 1. A space represents an area where other objects, that is, other vehicles do not exist. The periphery of the host vehicle 1 here includes the front and rear with respect to the traveling direction of the host vehicle 1 and the right and left with respect to the traveling direction of the host vehicle 1. Moving so as to narrow the space means moving so that the distance between the first lane 61 and the other vehicle in the width direction of the road becomes shorter, or the distance between the host vehicle 1 and the other vehicle in the direction in which the road extends. Moving to shorten.

  In addition, the 1st lane 61 mentioned below shows the lane in which the own vehicle 1 is drive | working, and the 2nd lane 62 shall show the branch line merged with the 1st lane 61 as a main line. In the inhibition vehicle determination process, it is determined based on the moving direction and position of the other vehicle whether or not the other vehicle moves to narrow the space.

  In the inhibition vehicle determination process, as shown in FIG. 4, in S100, the control unit 50 in the first lane 61 based on the own vehicle position acquired in S10 and the position of the other vehicle acquired in S20. It is determined whether or not another vehicle is positioned immediately before the own vehicle 1. Positioning immediately before here means that the vehicle 1 is located in the forward direction of the vehicle 1 and closest to the vehicle 1. The control unit 50 shifts the process to S110 when another vehicle is positioned immediately before the host vehicle 1 in the first lane 61, and shifts the process to S105 when the other vehicle is not positioned.

  In S105, the control unit 50 deletes the inhibition vehicle information in which the inhibition pattern described later indicates “deceleration” from the inhibition vehicle list described later, and records the deleted inhibition vehicle list in the memory 52 as a new inhibition vehicle list. . Then, the process proceeds to S120.

  In S <b> 110, the control unit 50 determines whether another vehicle is positioned immediately before the host vehicle 1 in the first lane 61 and the other vehicle is decelerating. Here, the relative speed of the other vehicle with respect to the host vehicle 1 acquired in S15 is recorded in the memory 52 every time it is acquired for a predetermined period. When the relative speed of the other vehicle recorded in the memory 52 decreases with time, the control unit 50 determines that the other vehicle is decelerating.

  When the other vehicle is located immediately before the host vehicle 1 in the first lane 61 and the speed of the other vehicle decreases with time, the control unit 50 moves the other vehicle to the space. The vehicle is judged to move so as to be narrowed, and the other vehicle is regarded as an obstacle vehicle, and the process proceeds to S115. Further, if another vehicle is positioned immediately before the host vehicle 1 in the first lane 61 but the other vehicle is not decelerating, the process proceeds to S120.

  In S <b> 115, the control unit 50 determines that another vehicle that is positioned immediately before the own vehicle 1 in the first lane 61 and that is decelerating is an inhibited vehicle, generates inhibition information, and records the inhibition information in the memory 52. . The inhibition information represents information indicating that the inhibition vehicle exists around the host vehicle 1. That is, the inhibition information is recorded in the memory 52 only when the inhibition vehicle exists around the host vehicle 1.

  In addition, the control unit 50 generates inhibition vehicle information indicating information regarding the inhibition vehicle and records the inhibition vehicle information in the memory 52. For example, as shown in FIG. 5, the inhibition vehicle information indicates information that associates the vehicle number, position, inhibition pattern, inhibition degree, and the like of the inhibition vehicle with each other. The inhibited vehicle list described below indicates information including one or more pieces of such inhibited vehicle information.

  Here, the vehicle number is the number of the vehicle number plate. The control unit 50 determines the position of the other vehicle acquired in S15 and the position of the other vehicle in the image captured by the camera 13 by a process different from the inhibition vehicle determination process (hereinafter, another process). May be configured to correspond to each other. And you may be comprised so that the information with which the vehicle number imaged with the camera 13 and the position of the vehicle which has this vehicle number matched was matched.

In addition, the vehicle number and position of an obstructed vehicle are not limited to this, For example, you may use the information acquired by vehicle communication.
The inhibition pattern refers to information indicating what kind of inhibition is being performed so as to narrow the space by the inhibition vehicle. In this step, which is performed when another vehicle is positioned immediately before the host vehicle 1 in the first lane 61 and the other vehicle decelerates, for example, “deceleration” is recorded as an inhibition pattern. The inhibition pattern may be displayed in any manner as long as a plurality of inhibition patterns can be expressed in a distinguishable manner. For example, the inhibition pattern may be indicated by a numerical value such as an inhibition pattern “1”.

  The degree of inhibition indicates the probability that merging is inhibited for each inhibition pattern. The correspondence between the inhibition pattern and the inhibition degree is recorded in advance in the memory 52 as inhibition degree correspondence information. The control unit 50 acquires and records the inhibition degree corresponding to the inhibition pattern based on the inhibition degree correspondence information. For example, as shown in FIG. 5, when the inhibition pattern is “deceleration”, the inhibition degree may be set to 30% based on the inhibition degree correspondence information.

  The degree of inhibition is not limited to the predetermined value such as 30% described above, and may be set arbitrarily. For example, when another vehicle is located in front of the host vehicle 1 in the first lane 61 and the other vehicle decelerates, the degree of deceleration of the vehicle is acquired, and the degree of deceleration increases. The degree of inhibition may be set so that the degree of inhibition is high. The degree of deceleration indicates the rate at which the vehicle speed decelerates during a predetermined time. In the inhibition degree correspondence information, when the inhibition pattern is “deceleration”, the inhibition degree may be set such that the inhibition degree increases as the deceleration degree increases.

The control unit 50 records the inhibition vehicle information in the memory 52, and then ends the inhibition vehicle determination process.
In S <b> 120, the control unit 50 determines whether another vehicle is located in the anti-adjacent lane 63 based on the position of the other vehicle acquired in S <b> 15 and the road data 151. The anti-adjacent lane 63 is a lane adjacent to the first lane 61 and positioned opposite to the second lane 62. The control unit 50 shifts the process to S125 when no other vehicle is located in the anti-adjacent lane 63, and shifts the process to S130 when positioned.

  In S125, the control unit 50 deletes the inhibition vehicle information in which the inhibition pattern indicates “interruption approach” and “interruption display” described later from the inhibition vehicle list, and stores the deleted inhibition vehicle list as a new inhibition vehicle list. 52. And the control part 50 complete | finishes this obstruction vehicle determination process.

  In S130, the control unit 50 acquires the distance between lanes. As shown in FIG. 6, the inter-lane distance 631 indicates a distance from the position of the other vehicle 8 to the first lane 61. The inter-lane distance 631 is calculated based on the position of the other vehicle acquired in S20 and the road data 151. The control unit 50 may be configured to acquire the inter-lane distance 631 calculated in another process, or the control unit 50 may be configured to calculate the inter-lane distance 631.

  In S <b> 135, the control unit 50 determines whether another vehicle located in the anti-adjacent lane 63 is approaching the first lane 61. The controller 50 determines that the vehicle is approaching the first lane 61 when the inter-lane distance 631 decreases with time.

  When the other vehicle is located in the opposite lane 63 and the distance 631 between the lanes decreases with time, the control unit 50 moves so that the other vehicle narrows the space. If it is determined that the other vehicle is an obstacle vehicle, the process proceeds to S140. Further, even if another vehicle is located in the anti-adjacent lane 63, if the inter-lane distance 631 does not decrease with the passage of time for the other vehicle, the process proceeds to S145.

  In S140, the control unit 50 determines that another vehicle located in the anti-adjacent lane 63 and whose inter-lane distance 631 decreases with the passage of time is an inhibited vehicle, generates inhibition information, and stores the memory 52. To record. Further, similarly to S115, the inhibition vehicle information related to the inhibition vehicle is generated and recorded in the memory 52.

  Here, in this step, where the other vehicle is located in the anti-adjacent lane 63 and the inter-lane distance 631 of the other vehicle decreases with the passage of time, for example, the “interrupt approach” is inhibited. Record as. The inhibition pattern may be indicated by a numerical value such as an inhibition pattern “2”. When the inhibition pattern is “interruption approach”, the inhibition degree may be associated with, for example, 30% by the inhibition degree correspondence information. The degree of inhibition is not limited to the predetermined value such as 30% described above, and may be set arbitrarily.

After recording the obstructed vehicle information in the memory 52, the control unit 50 shifts the process to S145.
In S <b> 145, the control unit 50 acquires image data indicating an image obtained by capturing the surroundings of the host vehicle 1 from the camera 13.

  In S150, based on the acquired image data, the control unit 50 determines whether the object included in the image is a vehicle expressing a lane change to the first lane 61. For example, as shown in FIG. 6, the vehicle expressing the lane change to the first lane 61 represents the vehicle 8 operating the direction indicator so as to indicate the first lane 61 side.

  When specifying that the object is a vehicle in the image data, a known method such as pattern matching may be used. In addition, the identification that the vehicle expresses the lane change to the first lane 61 may be performed based on the luminance in the image data. Since these are well-known techniques, detailed description thereof is omitted.

  When the other vehicle is located in the anti-adjacent lane 63 and the other vehicle is a vehicle expressing a lane change to the first lane 61, the control unit 50 saves the space. It judges that it moves so that it may narrow, and makes processing shift to S155 by making vehicles into an obstacle vehicle. In addition, even if another vehicle is located in the anti-adjacent lane 63, if the other vehicle has not announced a lane change to the first lane 61, the present inhibition vehicle determination process is terminated.

  In S155, the control unit 50 determines that the vehicle located in the anti-adjacent lane 63 and expresses the lane change to the first lane 61 is the inhibition vehicle, and generates inhibition information for the inhibition vehicle, Record in the memory 52. Further, similarly to S115, the inhibition vehicle information related to the inhibition vehicle is generated and recorded in the memory 52.

  In this step, which is a transition to a case where another vehicle is located in the opposite lane 63 and the other vehicle is a vehicle expressing a lane change to the first lane 61, for example, “interrupt display” is inhibited. Record as a pattern.

  The inhibition pattern may be indicated by a numerical value such as an inhibition pattern “3”. Further, when the inhibition pattern is “interruption display”, the inhibition degree may be associated with, for example, 80% as having higher accuracy than “interruption approach” by the inhibition degree correspondence information. The degree of inhibition is not limited to the predetermined value such as 80% described above, and may be set arbitrarily.

The control unit 50 records the inhibition vehicle information in the memory 52, and then ends the inhibition vehicle determination process.

Returning to FIG. 3, the description will be continued. In S <b> 30, the control unit 50 determines whether or not the host vehicle 1 is located in the merge area 71 based on the current position of the host vehicle 1 and the road data 151. The merge area 71 is a lane in which the host vehicle 1 is traveling and represents the area where the first lane 61, which is the main line, is connected to the second lane 62, which is a lane different from the first lane 61 and is a branch line. .

The control unit 50 shifts the process to S40 when the host vehicle 1 is located in the merge area 71, and shifts the process to S45 when the own vehicle 1 is not located.
In S <b> 40, the control unit 50 generates merge area information and records it in the memory 52. The merge area information is information indicating that the host vehicle 1 is located in the merge area 71.

  In S45, the control unit 50 acquires inhibition information. In this step, the control unit 50 acquires the inhibition information generated in S115, S140, and S155. As described above, the control unit 50 records the inhibition information in the memory 52 when the inhibition vehicle is located around the host vehicle 1, and does not record the inhibition information in the memory 52 when the inhibition vehicle is not located. It is configured as follows.

  In S50, the control unit 50 acquires merge area information. In S50, the control unit 50 acquires the merge area information generated in S40. As described above, the control unit 50 records the merge area information in the memory 52 when the host vehicle 1 is located in the merge area 71, and stores the merge area information in the memory 52 when the vehicle 1 is not located in the merge area 71. It is configured not to record.

  In S55, the control unit 50 determines whether or not inhibition information has been acquired and merge area information has been acquired. If both the inhibition information and the merge area information are acquired, the process proceeds to S65, and if either the inhibition information and the merge area information is acquired, or if both of these are not acquired, The merge support process ends.

  In S <b> 60, the control unit 50 acquires the inhibited vehicle list from the memory 52. The inhibited vehicle list may include one or more pieces of inhibited vehicle information as described above. In S65, the control unit 50 outputs the caution information when the merge area information is acquired and the inhibition information is acquired. The attention information represents information for calling attention. The caution information can include, for example, inhibition information or part or all of inhibition vehicle information in the inhibition vehicle list. Specifically, for example, a message notifying that an inhibited vehicle exists can be included as the inhibition information. Moreover, the vehicle number, position, etc. of the inhibition vehicle can be included as inhibition vehicle information.

  The output destination of the caution information may include, for example, an output device such as a display or a speaker in the own vehicle 1, another vehicle, a center, a roadside infrastructure, or the like. The control unit 50 outputs the caution information and ends the joining support process.

[1-3. effect]
According to the first embodiment described in detail above, the following effects are obtained.
(1a) In the merging support system 10 described above, the control unit 50 has an obstacle around the host vehicle 1 indicating an object that moves so as to narrow the space 81 ahead in the lane in which the host vehicle 1 is traveling. Inhibition information representing is acquired. In addition, the host vehicle 1 is located in a merge area 71 that represents an area where a first lane 61 indicating a lane in which the host vehicle 1 is traveling and a second lane 62 indicating a lane different from the first lane 61 merge. Is obtained. When the merge area information is acquired and the inhibition information is acquired, the caution information for calling attention is output.

  According to the merging support system 10 as described above, when the own vehicle 1 is located in the merging region 71, when an obstruction object exists around the own vehicle 1, that is, an unexpected interruption or the like is performed by the obstruction object. Outputs caution information that calls attention when there is a risk. For this reason, when there is a hindering vehicle that can hinder smooth merging in the merging region 71, for example, the own vehicle 1, another vehicle located around the own vehicle 1, or the merging vehicle 9, depending on the caution information. Can be alerted. As a result, confluence support that contributes to safety can be performed.

  That is, as shown in FIG. 6, if there is a vehicle in which the direction indicator is operated to indicate the first lane 61 side in the anti-adjacent lane 63, the vehicle is determined to be the obstructing vehicle 8 and the attention information is Output by inter-vehicle communication. For this reason, for example, the merging vehicle 9 that has received the caution information can take various measures such as changing the vehicle speed at the time of merging or shifting the merging position. As a result, even if the inhibition vehicle 8 suddenly moves so as to narrow the front space 81 as shown in FIG. 7, the inhibition vehicle 8 is prevented from being prevented from joining.

  The vehicles located around the subject vehicle 1 are not necessarily limited to vehicles capable of inter-vehicle communication or wireless communication. Vehicles located around the host vehicle 1 may include vehicles that do not perform inter-vehicle communication or wireless communication. If the hindered vehicle 8 is not a vehicle capable of inter-vehicle communication or wireless communication, it is difficult to allow the merging vehicle 9 to safely join the vehicle because the surrounding information that can be acquired by the vehicle is limited. It is.

  According to the present disclosure, the merging vehicle 9 is located in the space 81 in front of the own vehicle 1 by calling attention to the own vehicle 1 and the merging vehicle 9 located around the inhibition vehicle 8 with respect to the inhibition vehicle 8. Can be merged more safely.

(1b) In the merging support system 10 described above, the control unit 50 may output the caution information by wireless communication using the inter-vehicle communication device 20 and the wireless communication device 30.
According to the merging support system 10 as described above, the caution information is output by wireless communication, so the caution information can be transmitted to other than the host vehicle 1.

(1c) In the merging support system 10 described above, the control unit 50 may output caution information by inter-vehicle communication using an inter-vehicle communication device.
According to the merging support system 10 as described above, the caution information is output by inter-vehicle communication. Therefore, attention should be paid to vehicles around the host vehicle 1 in the first lane 61, the merging vehicle 9 traveling in the second lane 62, and the like. It is possible to output information. As a result, it is possible to call attention to the vehicles around the host vehicle 1 and the joining vehicle 9.

  (1d) In the merging support system 10 described above, the control unit 50 may acquire the moving direction and position of the object. Further, based on the moving direction and position of the object, it may be determined whether or not the object moves to narrow the space. Further, when the object moves so as to narrow the space, the inhibition information may be generated assuming that the object is the inhibition object. Then, the generated inhibition information may be acquired.

  According to such a merge support system 10, since it is specified as an obstructing object in the merge support system 10 mounted on the own vehicle 1, for example, an unintentional operation such as suddenly interrupting in front of the own vehicle 1 is performed. Even if a vehicle is present, the object can be detected as an obstructing object in the host vehicle 1. That is, it is possible to detect the obstructing object more quickly and output the caution information more quickly than when the obstructing object is detected via the roadside infrastructure or the center.

  (1e) In the merging support system 10 described above, the control unit 50 may determine whether or not the object is located immediately before the host vehicle 1 in the first lane 61 based on the position of the object. Moreover, you may acquire the speed of an object. Then, when the object is located in front of the host vehicle 1 in the first lane 61 and the speed of the object decreases with time, it may be determined that the object moves to narrow the space.

  According to the merging support system 10 as described above, for example, as shown in FIG. 7, even when the front space 81 becomes narrow due to a sudden deceleration of the vehicle 4 immediately before the host vehicle 1, 4 can be detected as an obstruction.

  (1f) In the merging support system 10 described above, the control unit 50 controls the object in the lane 63 adjacent to the first lane 61 and opposite to the second lane 62 based on the position of the object. It may be determined whether or not is located.

According to such a merge support system 10, it is possible to detect that an object is located in the anti-adjacent lane 63.
(1g) In the merging support system 10 described above, the control unit 50 may acquire the inter-lane distance 631 indicating the distance between the object and the first lane 61. Then, when the object is located in the anti-adjacent lane 63 and the inter-lane distance 631 decreases with time, it may be determined that the object moves to narrow the space.

  According to such a merging support system 10, although not shown, it gradually approaches the first lane 61 from the non-adjacent lane 63 without expressing a lane change to the first lane 61 using a direction indicator or the like. Even when a vehicle exists, the vehicle can be detected as an obstruction.

  (1h) In the merging support system 10 described above, the control unit 50 may acquire an image obtained by imaging the surroundings of the host vehicle 1. Further, it may be determined whether or not the object included in the image is a vehicle expressing a lane change to the first lane 61. Then, when the object is located in the anti-adjacent lane 63 and the object is a vehicle expressing a lane change to the first lane 61, it may be determined that the object moves to narrow the space.

  According to such a merging support system 10, for example, as shown in FIG. 7, when there is a vehicle 8 that expresses a lane change to the first lane 61 and suddenly interrupts the first lane 61. In addition, the vehicle can be detected as an obstructing object.

  (1i) The caution information may include, for example, a message that informs the driver that an obstructing object is present. Thereby, attention can be urged to other vehicles which received attention information. Further, the caution information may include a part or all of the inhibition vehicle information. Thereby, in order to make other vehicles which received attention information recognize the inhibition vehicle, the inhibition vehicle information can be used.

  For example, information indicating the inhibition pattern may be included in the inhibition vehicle information. According to this, the merging vehicle can adjust the vehicle speed and the merging position according to the inhibition pattern so as to avoid the collision with the inhibition vehicle in the space 81 ahead. In other words, the merging vehicle can be merged more safely.

  Further, for example, the inhibition vehicle information may include the inhibition degree. According to this, when the degree of inhibition is large, the merging vehicle can adjust the vehicle speed and the merging position so as to avoid a collision with the inhibition vehicle in the space 81 ahead. In addition, the joining vehicle may not perform the adjustment when the inhibition degree is small. That is, it is possible to cause the joining vehicle to perform control necessary for joining according to the degree of inhibition.

The inhibited vehicle information may include information indicating the appearance characteristics of the inhibited vehicle, such as the color or shape of the vehicle body of the inhibited vehicle. This makes it easier for drivers of other vehicles to visually recognize the obstructed vehicle [2. Second Embodiment]
[2-1. Difference from the first embodiment]
Since the basic configuration of the second embodiment is the same as that of the first embodiment, differences will be described below. Note that the same reference numerals as those in the first embodiment indicate the same configuration, and the preceding description is referred to.

  In the second embodiment, in addition to the first embodiment, before the host vehicle 1 reaches the merging region 71, the distance from the host vehicle 1 is set with respect to other vehicles located around the host vehicle 1. This is different from the first embodiment in that an instruction is output so as to set a predetermined formation distance.

[2-2. processing]
Next, the formation process executed by the control unit 50 of the second embodiment in addition to the merge support process of the first embodiment shown in FIG. 3 will be described with reference to the flowchart of FIG. The formation process is started, for example, when the joining support system 10 is turned on, and then repeatedly executed.

  In the following description, it is assumed that the joining vehicle 9 can communicate with the host vehicle 1 by, for example, inter-vehicle communication or wireless communication via a center, roadside infrastructure, or the like. In addition, the vehicles other than the joining vehicle 9 that are other vehicles located around the own vehicle 1 include both a vehicle that can communicate with the own vehicle 1 and a vehicle that cannot communicate. Further, as shown in FIG. 9, it is assumed that the host vehicle 1 is traveling in the first lane 61 toward the merge area 71.

  In S210, the control unit 50 acquires the reach distance. The reach distance indicates the distance from the host vehicle 1 to the merge area 71. More specifically, the reach distance indicates the distance from the own vehicle 1 to the merge start position 711. The reach distance may be calculated based on the current position of the host vehicle 1 and the road data 151 acquired in S10.

  In S215, the controller 50 detects a communicable vehicle. Specifically, the control unit 50 transmits inter-vehicle communication information related to the host vehicle 1 to vehicles located around the host vehicle 1 by inter-vehicle communication. The vehicle-to-vehicle communication information may include information such as the vehicle number, current position, speed, and the like. The control unit 50 may use the own vehicle 1 information acquired in S10 in the above-described joining support process as inter-vehicle communication information related to the own vehicle 1. The surroundings of the host vehicle 1 here can include, for example, a range in which inter-vehicle communication with the host vehicle 1 is possible.

  In addition, as shown in FIG. 10, in other vehicles 5a and 5b on which a wireless communication device that performs vehicle-to-vehicle communication such as the vehicle-to-vehicle communication device 20 is mounted, the vehicles related to the other vehicles 5a and 5b Inter-vehicle communication information is transmitted at a predetermined cycle.

  In S220, control unit 50 generates a communication vehicle list. The communication vehicle list indicates information that associates a vehicle number of a vehicle capable of vehicle-to-vehicle communication, a current position and a speed of the vehicle, and the like for each vehicle number.

  Each time the control unit 50 receives inter-vehicle communication information from another vehicle by inter-vehicle communication, the control unit 50 adds inter-vehicle communication information related to the other vehicle to the communication vehicle list, and adds the added communication vehicle list to the new communication vehicle. A list is recorded in the memory 52. In addition, even if it is another vehicle included in the communication vehicle list, if the inter-vehicle communication information is not received for a predetermined period from the other vehicle, the information related to the other vehicle is deleted from the communication vehicle list, The deleted communication vehicle list is recorded in the memory 52 as a new communication vehicle list.

  In S225, the control unit 50 determines whether or not the reach distance is less than the designated distance. The indicated distance indicates a predetermined value and is recorded in the memory 52 in advance. The indicated distance can include, for example, a distance of about several kilometers to a few tens of kilometers. As shown in FIG. 9, the instruction start position 731 referred to below indicates a position that is separated from the joining area 71 by an instruction distance 72. The near side here means the side opposite to the traveling direction of the host vehicle 1.

That is, the control unit 50 shifts the process to S230 when the instruction start position 731 is reached, and ends the main formation process when it does not reach the instruction start position 731.
In S230, the control unit 50 determines whether or not the own vehicle 1 is located in the formation area based on the current position of the own vehicle 1 and the road data 151. As shown in FIG. 9, the formation area 73 indicates a range where the range from the instruction start position 731 to the merge area 71 and the merge area 71 are combined.

The control unit 50 ends the main row processing when the host vehicle 1 is not located in the row region 73, and moves the processing to S235 when located in the row region 73.
In S235, the control unit 50 determines whether or not a join request has been received. As shown in FIG. 11, the join request is information transmitted from the joining vehicle 9, and indicates that the joining vehicle 9 is scheduled to join in the joining area 71 and requests for support related to the joining. Represents information. In addition, the control part 50 may specify the joining vehicle 9 based on the vehicle-to-vehicle communication information by vehicle-to-vehicle communication. Alternatively, the control unit 50 may identify the joining vehicle 9 based on the surrounding information acquired in S15 and the road data 151.

  For example, as shown in FIG. 9, the joining vehicle 9 may transmit a joining request after passing through the toll gate 621 in the second lane 62. If a join request has been received, the process proceeds to S240, and if not received, the formation process is terminated.

  The control unit 50 determines whether or not the formation is possible in S240. The formation here means that the host vehicle 1 and other vehicles located around the host vehicle 1 travel at a predetermined distance so as to secure a space 81 in front of the host vehicle 1. . Securing the front space 81 of the host vehicle 1 indicates that the front space 81 is not narrowed.

  For example, the control unit 50 may acquire a communication vehicle list, and may determine that the formation is possible when the communication vehicle list includes vehicles capable of vehicle-to-vehicle communication (hereinafter, communicable vehicles). The control unit 50 moves the process to S245 when the formation is possible and moves the process to S270 when the formation is not possible.

  In S245, the control unit 50 outputs a formation instruction to the communicable vehicles located around the host vehicle 1 by inter-vehicle communication. The formation instruction represents an instruction for causing the communicable vehicle to maintain the distance from the own vehicle 1 at the formation distance. The formation distance is a predetermined distance and is recorded in the memory 52 in advance. The formation distance may include a distance of several tens of meters to several hundreds of meters, for example.

  The formation distance may be represented by a distance from the own vehicle 1 in the road extending direction (hereinafter referred to as a road direction distance) and a distance from the own vehicle 1 in the width direction of the road (hereinafter referred to as a width direction distance). .

  Further, the formation distance may be a value set for each communication vehicle for which a formation instruction is output. According to this, since the formation distance is set and output for each target communication vehicle, an arbitrary formation is formed by the own vehicle 1 and the target communication vehicle so as to secure the front space 81. Can do.

  The formation instruction may include a formation distance and a speed at which the formation distance is maintained. Further, for example, as shown in FIG. 11, the platoon instruction may include a position with respect to the host vehicle 1 specified based on the platoon distance instead of the platoon distance.

  Here, it is assumed that the communicable vehicle that has received the formation instruction is configured to transmit a response to the effect of consent to the formation instruction when it can travel based on the formation instruction. For example, the communicable vehicle that has received the formation instruction is when there is no other vehicle around the communicable vehicle, or when all other vehicles located around the communicable vehicle are communicable vehicles, A response to the effect of consent to the formation instruction may be transmitted.

  In S250, the control unit 50 determines whether or not the formation is completed up to the joining area 71. Specifically, the control unit 50 determines that the formation is completed when a response to the effect of accepting the formation instruction output in S245 is received from the communicable vehicle by inter-vehicle communication. The control unit 50 moves the process to S270 when the formation is not completed, and moves the process to S255 when the formation is completed.

  In this step, the control unit 50 may transmit joined vehicle information to the joining vehicle 9 as shown in FIG. The joined car information indicates information related to the joined car. The merged vehicle refers to a vehicle that travels while securing a space 81 in front of the merged vehicle 9 to merge. In the present embodiment, the host vehicle 1 corresponds to a merged vehicle.

  The information here may include information such as the vehicle number and the appearance characteristics relating to the vehicle such as the color, shape, and vehicle type of the vehicle body. The joining vehicle 9 can execute joining to the space 81 in front of the own vehicle 1 while specifying the own vehicle 1 based on the joined vehicle information.

  In S260, the control unit 50 determines whether or not a merge completion notification has been received from the merged vehicle 9 by inter-vehicle communication. The merge completion notification is a notification indicating that the merge vehicle 9 has completed the movement from the second lane 62 that is a branch line to the first lane 61 that is the main line. The control unit 50 waits until receiving the merge completion notification, and shifts the processing to S265 after receiving the merge completion notification.

In S <b> 265, the control unit 50 outputs an instruction to cancel the formation to the communication vehicle located around the host vehicle 1 by inter-vehicle communication. Then, the formation process is terminated.
In S <b> 270, the control unit 50 outputs a merge rejection notification to the merge vehicle 9 by inter-vehicle communication. The merge rejection notification represents a notification indicating that it is difficult to perform merge support. After outputting the communication, the control unit 50 ends the main formation process.

[2-3. effect]
According to the second embodiment described in detail above, the effects (1a) to (1i) of the first embodiment described above are achieved, and the following effects are further achieved.

  (2a) In the merging support system 10 described above, the control unit 50 may acquire the reach distance indicating the distance from the host vehicle 1 to the merging region 71. Then, when the reach distance is less than the instruction distance indicating the predetermined distance, wireless communication of a formation instruction that causes the vehicles around the own vehicle 1 to maintain the distance to the own vehicle 1 at a predetermined formation distance. May be output.

  According to the merging support system 10 as described above, the vehicle around the host vehicle 1 is driven while maintaining the distance from the host vehicle 1 at the row distance with the interval that is not overtaken or interrupted as the row distance. It can be expected that inhibition vehicles are prevented from occurring.

  That is, as shown in FIG. 13, for example, by outputting a formation instruction to the communication vehicles 7 a and 7 b located around the host vehicle 1, a space 81 in front of the host vehicle 1 is secured. According to this, for example, it is difficult for the other vehicle 6 located in the opposite lane 63 to interrupt the front space 81, so that the merging vehicle 9 can be safely merged.

  Although not shown in the figure, the formation instruction may be output to, for example, a communication vehicle immediately after the host vehicle 1 in the first lane 61 (hereinafter, the vehicle immediately after). According to this, since it is difficult for another vehicle in the opposite lane 63 that is located behind the host vehicle 1 and the immediately following vehicle to interrupt the front space 81, the joining vehicle 9 Can be safely joined.

However, the formation instruction is not limited to these, and may be output to any vehicle so that it is difficult for another vehicle to interrupt the front space 81.
[3. Other Embodiments]
As mentioned above, although embodiment of this indication was described, this indication is not limited to the above-mentioned embodiment, and can carry out various modifications.

  (3a) In the above embodiment, the merge area information is generated in the merge support system 10, but the merge area information may be acquired from a roadside infrastructure, a center, or the like by wireless communication.

  (3b) In the above embodiment, the inhibition information is generated in the merging support system 10, but for example, the inhibition information is generated in another vehicle located around the host vehicle 1, and the inhibition information is You may acquire by communication. Alternatively, inhibition information generated by other vehicles may be acquired via roadside infrastructure, a center, or the like.

  (3c) In the above embodiment, the camera 13 captures the surroundings of the host vehicle 1, but the captured range is not limited to this. The camera 13 may capture the front or rear of the host vehicle 1, may capture the right or left of the host vehicle 1, or may capture any combination thereof. May be.

  (3d) In the above embodiment, the indicated distance indicates a predetermined value, but is not limited to this. The command distance may be calculated by the control unit 50 based on the speed of the host vehicle 1 in the first lane 61 that is the main line. Specifically, the indicated distance may be calculated as a value obtained by integrating the time until the joining vehicle 9 reaches the joining area 71 from the toll gate and the speed of the host vehicle 1.

  That is, in FIG. 9, in the second lane 62, the distance from the toll gate 621 to the junction point 622, that is, the distance of the ramp way 64 is d1 km, and the speed limit in the second lane 62 is v1 km per hour. In this case, the time required for the joining vehicle 9 to reach the joining point 622 from the toll gate 621 is calculated as (d1 / v1) time. It is assumed that the joining vehicle 9 transmits a joining request after passing through the toll gate 621.

  Here, when the speed of the host vehicle 1 traveling on the first lane 61 that is the main line is v2 km per hour, the indicated distance may be calculated as (d1 / v1) × v2 km. As a result, the instruction distance 72 can be set for each merging area 71 according to the road configuration, so that appropriate timing that is neither too early nor too late than when the instruction distance 72 is set to a predetermined value. You can send a row order.

  (3e) In the above embodiment, for example, the host vehicle 1 and the communication vehicles 7a and 7b shown in FIG. 13 may be vehicles having an automatic driving function such as an ACC function. ACC is an abbreviation for Adaptive Cruise Control. ACC refers to a function that allows a vehicle to perform constant speed running while automatically maintaining a constant inter-vehicle distance. The communication vehicles 7a and 7b may use the vehicle speed designated by the formation instruction as the vehicle speed in the ACC.

  (3f) A plurality of functions of one constituent element in the above embodiment may be realized by a plurality of constituent elements, or a single function of one constituent element may be realized by a plurality of constituent elements. . Further, a plurality of functions possessed by a plurality of constituent elements may be realized by one constituent element, or one function realized by a plurality of constituent elements may be realized by one constituent element. Moreover, you may abbreviate | omit a part of structure of the said embodiment. In addition, at least a part of the configuration of the above embodiment may be added to or replaced with the configuration of the other embodiment. In addition, all the aspects included in the technical idea specified from the wording described in the claims are embodiments of the present disclosure.

  (3g) In various forms such as the above-described merge support system 10, the control unit 50, a program for causing the control unit 50 to function, a non-transition actual recording medium such as a semiconductor memory in which this program is recorded, and a merge support method The present disclosure can also be realized.

[4. Correspondence between Configuration of Embodiment and Configuration of Present Disclosure]
In the said embodiment, the control part 50 in the confluence | merging assistance system 10 is corresponded to the confluence | merging assistance apparatus said by this indication. The inter-vehicle communication device 20 and the wireless communication device 30 correspond to the communication device in the present disclosure. The control unit 50 is an object acquisition unit, a speed acquisition unit, a direction determination unit, an inhibition acquisition unit, a merge acquisition unit, an output unit, an immediately previous determination unit, an adjacent determination unit, a lane acquisition unit, a direction determination unit, and an inhibition generation in the present disclosure. It corresponds to a group, an image acquisition unit, an image determination unit, an arrival acquisition unit, and a formation instruction unit.

  S15 corresponds to processing as an object acquisition unit and speed acquisition unit, S20 corresponds to processing as a direction determination unit, S45 corresponds to processing as an inhibition acquisition unit, and S50 corresponds to processing as a merge acquisition unit. S65 corresponds to processing as an output unit. S100 corresponds to the process as the immediately preceding determination unit, S120 corresponds to the process as the adjacent determination unit, S130 corresponds to the process as the lane acquisition unit, and S110, S135, and S150 correspond to the processing as the direction determination unit. It corresponds to.

  S115, S140, and S155 correspond to processing as an inhibition generation unit, S145 corresponds to processing as an image acquisition unit, S150 corresponds to processing as an image determination unit, and S210 corresponds to processing as an arrival acquisition unit. S245 corresponds to the process as the formation instruction unit.

  Moreover, in the said embodiment, a vehicle and another vehicle are corresponded to the object as used in this indication, and the inhibition vehicle is equivalent to the inhibition object as used in this indication.

  20 vehicle-to-vehicle communication device, 30 wireless communication device, 50 control unit.

Claims (9)

An inhibition acquisition unit (S45) configured to acquire inhibition information indicating that an obstruction object indicating an object moving so as to narrow a space ahead of the lane in which the own vehicle is traveling is present around the own vehicle; ,
Acquisition of merge area information indicating that the own vehicle is located in a merge area representing an area where a second lane different from the first lane merges with a first lane indicating a lane in which the own vehicle is traveling A merge acquisition unit configured to perform (S50), and an output unit configured to output attention information for calling attention when the merge region information is acquired and the inhibition information is acquired (S65) )When,
A merging support device (50) comprising: The merging support device according to claim 1,
The said support part is a confluence | merging assistance apparatus comprised so that the said attention information might be output by radio | wireless communication using the communication apparatus (20, 30) which performs radio | wireless communication. The merging support device according to claim 2,
The communication device (20) is a vehicle-to-vehicle communication device that represents a device that performs wireless communication between another vehicle and the own vehicle indicating another vehicle different from the own vehicle,
The output support unit is a joining support device configured to output the caution information by vehicle-to-vehicle communication using the vehicle-to-vehicle communication device. The merging support device according to any one of claims 1 to 3,
An object acquisition unit (S15) configured to acquire the moving direction and position of the object;
A direction determining unit (S20, S110, S135, S150) configured to determine whether or not the object moves to narrow the space based on a moving direction and a position of the object;
An inhibition generation unit (S115, S140, S155) configured to generate the inhibition information by assuming that the object is the inhibition object when the object moves to narrow the space;
Further comprising
The merging support device is configured such that the inhibition acquisition unit acquires inhibition information generated by the inhibition generation unit. The merging support device according to claim 4,
Based on the position of the object, immediately before determining unit (S100) configured to determine whether the object is positioned immediately before the host vehicle in the first lane;
A speed acquisition unit (S15) configured to acquire the speed of the object;
Further comprising
The direction determining unit (S110) narrows the space when the object is positioned immediately before the host vehicle in the first lane and the speed of the object decreases with time. A merging support device configured to determine that it moves. The merging support apparatus according to claim 4 or 5, wherein
An adjacency configured to determine whether the object is located in a lane adjacent to the first lane and opposite to the second lane based on the position of the object. Determination unit (S120),
A merging support apparatus further comprising: The merging support device according to claim 6,
A lane acquisition unit (S130) configured to acquire an inter-lane distance indicating a distance between an object and the first lane;
Further comprising
The direction determining unit (S135) determines that the object moves to narrow the space when the object is located in the opposite lane and the distance between the lanes decreases with time. Confluence support device configured in The confluence support device according to claim 6 or 7,
An image acquisition unit (S145) configured to acquire an image of the surroundings of the host vehicle;
An image determination unit (S150) configured to determine whether an object included in the image is a vehicle expressing a lane change to the first lane;
Further comprising
The direction determining unit (S150) narrows the space when the object is located in the opposite lane and the object is a vehicle expressing a lane change to the first lane. A merging support device configured to determine that it moves. A confluence support device according to any one of claims 2 to 8,
An arrival acquisition unit (S210) configured to acquire an arrival distance indicating a distance from the host vehicle to the merge area;
When the reach distance is less than an instruction distance indicating a predetermined distance, a formation instruction that causes a vehicle around the own vehicle to maintain the distance to the own vehicle at a predetermined formation distance is output by wireless communication. A convoy indication unit (S245) configured as follows:
A merging support apparatus further comprising: