WO2018163407A1

WO2018163407A1 - Information processing device, information processing method, and information processing program

Info

Publication number: WO2018163407A1
Application number: PCT/JP2017/009731
Authority: WO
Inventors: 栄一堀内
Original assignee: 三菱電機株式会社
Priority date: 2017-03-10
Filing date: 2017-03-10
Publication date: 2018-09-13
Also published as: JPWO2018163407A1; JP6505349B2

Abstract

A third communication unit (263) receives through lane vehicle information indicating a planned travel route for each through lane vehicle, the information being transmitted from respective vehicle-mounted devices in one or more through lane vehicles traveling in a through lane towards a merge point at which the through lane of a plurality of traffic lanes and a merge lane merge. A comparison unit (253) specifies the current position of each through lane vehicle. The comparison unit (253) also determines, on the basis of the planned travel route of each through lane vehicle and the current position of each through lane vehicle, whether a lane-changing through lane vehicle is present, the lane-changing through lane vehicle being a through lane vehicle performing, within an established section after passing the merge point, a lane change to a merging traffic lane from a lane, from among the plurality of traffic lanes of the through lane, other than the merging traffic lane at which merges a merge lane. If it is determined that a lane-changing through lane vehicle is present, an information generating unit (252) generates notification information for notifying that the lane-changing through lane vehicle is present. The third communication unit (263) transmits the notification information to the vehicle-mounted device of a merge lane vehicle traveling in the merge lane.

Description

Information processing apparatus, information processing method, and information processing program

The present invention relates to a technique for providing information to a traveling vehicle.

In order for a vehicle traveling on a road having a junction or branch point such as an expressway to perform a safe and smooth junction or branch, studies and experiments on a system that provides information on other vehicles to the vehicle are proceeding. It has been. Such a system is composed of a roadside vehicle-to-vehicle wireless device that provides information to a vehicle, a server device that performs information collection, information processing, and information distribution.

As a conventional driving assistance information providing technology, for example, there is a technology disclosed in Patent Document 1. In the technique of Patent Document 1, for example, a sensor device set on the road side such as a camera detects the position, speed, and inter-vehicle distance of a vehicle traveling on the main line. In the technique of Patent Document 1, the roadside processing device distributes information such as the position, speed, and inter-vehicle distance of the vehicle traveling on the main line to the vehicle traveling on the merge line. In this way, the vehicle traveling on the merging line predicts the position and speed of the vehicle traveling on the main line when it reaches the merging point before reaching the merging point where the main line and the merging line merge. be able to. When the vehicle traveling in the merging lane reaches the merging point, the vehicle can be safely merged by performing smooth acceleration / deceleration while ensuring a distance from the other vehicle safely. Road-to-vehicle wireless communication can be realized by technologies such as ARIB STD-T75, ARIB STD-T109, and IEEE 801.11p.

Also, Patent Document 2 discloses a technique for transmitting a captured image obtained by a roadside processing device to a traveling vehicle using wireless communication. Patent Document 2 discloses a technique for transmitting audio information that conveys the approach of a vehicle to a traveling vehicle.

Patent Document 3 discloses a vehicle capable of automatic driving. More specifically, in Patent Document 3, the situation around the vehicle is detected by a sensor such as a camera mounted on the vehicle, and a GPS (Global Positioning System) signal and navigation map data are used to detect the vehicle. A technique for accurately grasping a position and performing automatic driving is disclosed.

Patent 2969175 JP 2003-91793 A International Publication No. WO2016-068273

In the technology of Patent Document 1, as described above, by providing information on the position, speed, etc. of the vehicle traveling on the main line to the vehicle traveling on the merge line, the vehicle traveling on the merge lane can safely join the main line. Like that.
However, on a road where there is a further diversion after merging, a lane change for diversion occurs. For this reason, a situation that cannot be solved only by the techniques of Patent Documents 1 to 3 occurs.
FIG. 29 shows a road and a traveling state of a vehicle in which a diversion occurs after merging.

In FIG. 29, the main line 100 is a two-lane road having a lane 111 and a lane 112. A merge line 300 joins the main line 100. A point where the main line 100 and the merge line 300 merge is referred to as a merge point 350. Further, after the merge line 300 merges with the main line 100, the diversion line 400 diverts from the main line 100. A point where the main line 100 is divided into the branch line 400 is referred to as a branch point 450.
Vehicles 140 to 149 travel on the main line 100, the merge line 300, and the branch line 400 from left to right in FIG.
The sensor device 212 detects the position and speed of the vehicle traveling in the range of reference numeral 121 before the junction point 350 on the main line 100. The sensor device 212 is a camera or the like. The position detected by the sensor device 212 is a longitude and latitude value where the vehicle exists.
The wireless communication device 222 distributes information on the position and speed of the vehicle traveling on the main line 100 detected by the sensor device 212 to the vehicle traveling on the merge line 300.
By installing various devices on the road side in this way, information on the position and speed of the vehicle traveling on the main line 100 can be transmitted to the vehicle traveling on the merge line 300 as described above. Is possible.
When the vehicle 144, the vehicle 145, and the vehicle 149 are in the positional relationship shown in FIG. 29, there is no vehicle traveling ahead of the vehicle 149 and the vehicle 144. Since the vehicle 149 is traveling ahead of the vehicle 144, the vehicle 149 can complete the merge to the main line 100 safely and smoothly.

In order for the vehicle 145 to enter the branch line 400, it is necessary to change the lane to the lane 111 in which the vehicle 144 is traveling. However, immediately after merging, the vehicle 149 and the vehicle 145 are in a parallel running state, so the vehicle 145 cannot change lanes quickly. Particularly when the distance between the vehicle 149 and the vehicle 144 is short, it is difficult for the vehicle 145 to change its lane after decelerating. For this reason, the vehicle 145 changes the lane to the lane 111 after accelerating and overtaking the vehicle 149. After the lane change to the lane 111 is completed, since the branch point 450 is close, the vehicle 145 needs to decelerate rapidly. Furthermore, the vehicle 149 that has traveled behind the vehicle 145 in the lane 111 needs to be suddenly decelerated as the vehicle 145 suddenly decelerates. Further, the vehicle 144 traveling behind the vehicle 149 also needs to be decelerated rapidly.
In this way, the following situation occurs on the road shown in FIG.
(1) When a vehicle (vehicle 145 in FIG. 29) traveling on the main lane 112 tries to change the lane to the lane 111 in order to enter the diversion line 400, the main line 100 is changed from the merging line 300 to the main line 100. When a vehicle that has joined the vehicle (vehicle 149 in FIG. 29) is running in parallel, it is necessary to change lanes to lane 111 with acceleration, and to decelerate rapidly to enter divergence line 400 become.
(2) The vehicle (vehicle 149 in FIG. 29) that merges from the merge line 300 to the main line 100 is in the lane 111 because the vehicle in the adjacent lane 112 (vehicle 145 in FIG. 29) enters the branch line 400 after the main line merge. When the vehicle changes to the lane and travels behind the vehicle in which the lane has been changed (vehicle 145 in FIG. 29), the vehicle suddenly decelerates as the vehicle traveling in front (vehicle 145 in FIG. 29) suddenly decelerates. Slow deceleration is required.
(3) When the rapid deceleration described in (1) and (2) frequently occurs, congestion and traffic congestion occur.
(4) Rapid acceleration, rapid deceleration, and sudden lane changes increase the risk of accidents and adversely affect the psychological state of the vehicle occupant.
In Patent Documents 1 to 3, there is a problem that the situation shown in the above (1) to (4) cannot be prevented on a road where a diversion occurs immediately after merging.

The main object of the present invention is to solve such problems. Specifically, a main object of the present invention is to obtain a configuration that realizes safe and smooth travel in a section from a junction point to a branch point.

An information processing apparatus according to the present invention includes:
A main line vehicle that indicates a planned travel route of each main line vehicle that is transmitted from each in-vehicle device of one or more main line vehicles that travel on the main line toward a merge point where a main line and a merge line of a plurality of lanes merge. A receiving unit for receiving information;
A position specifying unit for specifying the current position of each main line vehicle;
Lane change which is a main line vehicle in which a lane change from a lane other than the merging lane where the merging lane merges among the plurality of lanes of the main lane to the merging lane is performed within a predetermined section after passing the merging point A vehicle determination unit that determines whether or not a main line vehicle exists based on a planned travel route of each main line vehicle and a current position of each main line vehicle;
An information generation unit that generates notification information for notifying that the lane change main line vehicle exists when the vehicle determination unit determines that the lane change main line vehicle exists;
And a transmission unit that transmits the notification information to an in-vehicle device of a merge line vehicle traveling on the merge line.

In the present invention, the merging line vehicle is notified that there is a lane change main line vehicle. For this reason, the driver of the merging line vehicle or the automatic driving function of the merging line vehicle can know the existence of the lane changing vehicle in advance, and can perform driving assuming the lane changing of the lane changing vehicle near the merging point. . For this reason, in this invention, the safe and smooth driving | running | working of the area from a junction point to a branch point can be implement | achieved.

The figure which shows the structural example of the driving assistance information provision system which concerns on Embodiment 1, a vehicle, a main line, and a merge line. The figure which shows the operation | movement outline | summary of the driving assistance information provision system which concerns on Embodiment 1. FIG. The figure which shows the operation | movement outline | summary of the driving assistance information provision system which concerns on Embodiment 1. FIG. The figure which shows the operation | movement outline | summary of the driving assistance information provision system which concerns on Embodiment 1. FIG. The figure which shows the operation | movement outline | summary of the driving assistance information provision system which concerns on Embodiment 1. FIG. The figure which shows the operation | movement outline | summary of the driving assistance information provision system which concerns on Embodiment 1. FIG. The figure which shows the operation | movement outline | summary of the driving assistance information provision system which concerns on Embodiment 1. FIG. FIG. 3 is a diagram illustrating a hardware configuration example of the roadside processing device according to the first embodiment. FIG. 3 is a diagram illustrating a functional configuration example of a roadside processing apparatus according to the first embodiment. The figure which shows the correspondence of the hardware constitutions and functional constitution of the roadside processing apparatus which concerns on Embodiment 1. FIG. FIG. 3 is a diagram illustrating a functional configuration example of the sensor device according to the first embodiment. 3 is a diagram illustrating an example of a functional configuration of a wireless communication apparatus according to Embodiment 1. FIG. FIG. 3 is a diagram illustrating an arrangement example of a sensor device and a wireless communication device at a toll gate according to the first embodiment. 5 is a flowchart showing an operation example of a roadside processing device arranged at a place before the junction point according to the first embodiment. The figure which shows the communication sequence between the roadside processing apparatus arrange | positioned in the place before the confluence | merging point which concerns on Embodiment 1, and the roadside processing apparatus arrange | positioned in the place near a confluence | merging point. The figure which shows the communication sequence between the roadside processing apparatus, sensor apparatus, and radio | wireless communication apparatus which are arrange | positioned in the place vicinity of the merge point which concerns on Embodiment 1. FIG. 5 is a flowchart showing an operation example of a roadside processing device arranged at a place near a merge point according to the first embodiment. FIG. 5 is a diagram showing an example of first pattern information according to the first embodiment. The figure which shows the example of the area of the main line which concerns on Embodiment 1, and the position of a vehicle. The figure which shows the example of the position of the vehicle when there is no notification of the adjustment traveling speed which concerns on Embodiment 1. FIG. The figure which shows the example of the position of the vehicle when there exists a notification of the adjustment traveling speed which concerns on Embodiment 1. FIG. FIG. 6 shows an example of second pattern information according to the first embodiment. The figure which shows the example of the position of the vehicle with which transmission of the lane change instruction | indication which concerns on Embodiment 1 is effective. The figure which shows the example of the position of the vehicle after the transmission of the lane change instruction | indication concerning Embodiment 1. FIG. The figure which shows the example of the position of the vehicle when the lane change instruction | indication which concerns on Embodiment 1 is not transmitted. 5 is a flowchart showing an operation example of a roadside processing device arranged at a place near a merge point according to the first embodiment. 5 is a flowchart showing an operation example of a roadside processing device arranged at a place near a merge point according to the first embodiment. The figure which shows the example of the monitoring area of the sensor apparatus arrange | positioned in the place of the branch point vicinity which concerns on Embodiment 1. FIG. The figure which shows the example of the road where a diversion occurs immediately after merging.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description of the embodiments and drawings, the same reference numerals denote the same or corresponding parts.

Embodiment 1 FIG.
*** Overview of the driving support information provision system ***
FIG. 1 shows a configuration example of a driving support information providing system according to the present embodiment, a vehicle 150, a vehicle 160, a vehicle 170, a main line 100, and a merge line 300.
The driving support information providing system according to the present embodiment provides information to a vehicle traveling on a road such as an expressway.

The driving support information providing system according to the present embodiment includes a roadside processing device 201, a sensor device 211, a wireless communication device 221, a central processing device 231, a roadside processing device 202, a sensor device 212, and a wireless communication device 222.
The roadside processing device 201, the sensor device 211, and the wireless communication device 221 are disposed at a location before the junction point 350 where the main line 100 and the junction line 300 meet. That is, the roadside processing device 201, the sensor device 211, and the wireless communication device 221 are installed at any point in the direction opposite to the traveling direction from the junction point 350 when viewed from the traveling direction of the vehicle 150 and the vehicle 160. For example, the roadside processing device 201, the sensor device 211, and the wireless communication device 221 are arranged at a toll gate. The roadside processing device 201 is connected to the sensor device 211 and the wireless communication device 221. The roadside processing device 201 is assumed to be disposed on the roadside in the present embodiment, but the roadside processing device 201 is disposed on the roadside as long as it can communicate with the sensor device 211 and the wireless communication device 221. It does not have to be.
The roadside processing device 202, the sensor device 212, and the wireless communication device 222 are disposed in the vicinity of the junction point 350. The roadside processing device 202 is connected to the sensor device 212 and the wireless communication device 222. The sensor device 212 and the wireless communication device 222 are disposed, for example, at the positions shown in FIG. The roadside processing device 202 is assumed to be arranged on the roadside in this embodiment, but the roadside processing device 202 is arranged on the roadside as long as it can communicate with the sensor device 212 and the wireless communication device 222. It does not have to be.
The roadside processing device 201 and the roadside processing device 202 are connected via a communication network.
The central processing unit 231 is connected to roadside processing devices at a plurality of points via a communication network. For example, the central processing unit 231 transmits traffic information to the roadside processing device 201 and the roadside processing device 202. Further, the central processing unit 231 receives information on the position and speed of the vehicle detected by the sensor device 211 and the sensor device 212 from the road side processing device 201 and the road side processing device 202, and grasps information on the entire highway. be able to. The installation place of the central processing unit 231 does not matter. Further, the central processing unit 231 may not exist.
The roadside processing device 202 corresponds to an information processing device. The processing performed by the roadside processing device 202 corresponds to an information processing method and an information processing program.

The main line 100 is the main line 100 shown in FIG.
The merge line 300 is the merge line 300 shown in FIG.
The main line 100 and the merge line 300 merge at a merge point 350.
Although not shown in FIG. 1, as shown in FIG. 29, it is assumed that the main line 100 has a diversion point 450 that diverts to the diversion line 400 before the confluence point 350.

The vehicle 150 and the vehicle 160 travel along the main line 100 toward the junction point 350. Vehicle 150 and vehicle 160 are also referred to as mainline vehicles.
The vehicle 150 is a vehicle capable of automatic traveling. The vehicle 160 is a vehicle that cannot automatically travel.
The vehicle 150 is equipped with an in-vehicle device 151. The in-vehicle device 151 holds a vehicle identifier and a planned travel route. The vehicle identifier may be any data as long as it can identify the vehicle 150. The vehicle identifier is, for example, an identification number of an ETC (Electronic Toll Collection) system. The planned travel route is a route on which the vehicle 150 is planned to travel.
The vehicle 160 is equipped with an in-vehicle device 161. The in-vehicle device 161 also holds a vehicle identifier and a planned travel route.

The vehicle 170 travels along the merge line 300 toward the merge point 350. The vehicle 170 is also called a merging line vehicle.
The vehicle 170 is equipped with an in-vehicle device 171. The in-vehicle device 171 also holds a vehicle identifier and a planned travel route.
The vehicle 170 may be either a vehicle that can automatically travel or a vehicle that cannot automatically travel.

In the vehicle 150, strictly speaking, the in-vehicle device 151 wirelessly transmits the vehicle identifier and the planned travel route. However, in the following description, the vehicle 150 also transmits the vehicle identifier and the planned travel route for convenience. In the vehicle 160, the in-vehicle device 161 wirelessly transmits the vehicle identifier and the planned travel route. Hereinafter, the vehicle 160 is also described as transmitting the vehicle identifier and the planned travel route for convenience. Strictly speaking, in the vehicle 170, the in-vehicle device 171 wirelessly transmits the vehicle identifier and the planned travel route. However, in the following description, the vehicle 170 also transmits the vehicle identifier and the planned travel route for convenience. Similarly, strictly speaking, the in-vehicle device 151 of the vehicle 150 receives information, but hereinafter, for convenience, the vehicle 150 will also be described as receiving information. The same applies to the vehicle 150 and the vehicle 160.

Next, an outline of the operation of the driving support information providing system according to the present embodiment will be described with reference to FIGS.

In FIG. 2, the radio communication device 221 receives a vehicle identifier transmitted from the in-vehicle device 151 of the vehicle 150 when the vehicle 150 passes through a toll gate or the like before the junction. Then, the wireless communication device 221 transmits information indicating the received vehicle identifier to the roadside processing device 201. In parallel, the sensor device 211 captures the vehicle number of the vehicle 150. The sensor device 211 performs a character recognition process on the captured image of the vehicle number of the vehicle 150 and reads the vehicle number of the vehicle 150. Then, the sensor device 211 transmits information indicating the read vehicle number to the roadside processing device 201.
Similarly, when the vehicle 160 passes through a toll gate or the like in front of the junction, the wireless communication device 221 receives a vehicle identifier transmitted from the in-vehicle device 161 of the vehicle 160. Then, the wireless communication device 221 transmits information indicating the received vehicle identifier to the roadside processing device 201. In parallel, the sensor device 211 captures the vehicle number of the vehicle 160. The sensor device 211 performs a character recognition process on the captured image of the vehicle number of the vehicle 160 and reads the vehicle number of the vehicle 160. Then, the sensor device 211 transmits information indicating the read vehicle number to the roadside processing device 201.
The roadside processing device 201 transmits the identifier number information of the vehicle 150 to the roadside processing device 202. In the identifier number information of the vehicle 150, the vehicle identifier of the vehicle 150 and the vehicle number are shown in association with each other. Further, the roadside processing device 201 transmits the identifier number information of the vehicle 160 to the roadside processing device 202. In the identifier number information of the vehicle 160, the vehicle identifier of the vehicle 160 and the vehicle number are shown in association with each other. The roadside processing device 202 receives the identifier number information of the vehicle 150 and stores the vehicle identifier and the vehicle number of the vehicle 150 in association with each other. Furthermore, the roadside processing apparatus 202 receives the identifier number information of the vehicle 160, and stores the vehicle identifier and the vehicle number of the vehicle 160 in association with each other.

Next, as shown in FIG. 3, when the vehicle 150 and the vehicle 160 reach the vicinity of the merge point, the wireless communication device 222 transmits information indicating the vehicle identifier and the planned travel route transmitted from the in-vehicle device 151 of the vehicle 150 ( Hereinafter, main line vehicle information) is received. The wireless communication device 222 transmits the received main vehicle information to the roadside processing device 202. In parallel, the sensor device 212 detects the position and speed of the vehicle 150. In addition, the sensor device 212 images the vehicle number of the vehicle 150. The sensor device 212 performs character recognition processing on the captured image of the vehicle number of the vehicle 150 and reads the vehicle number of the vehicle 150. Then, the sensor device 212 transmits information indicating the position, speed, and vehicle number of the vehicle 150 (hereinafter referred to as current state information) to the roadside processing device 202.
Similarly, the wireless communication device 222 receives main line vehicle information indicating the vehicle identifier and the planned travel route transmitted from the in-vehicle device 161 of the vehicle 160. The wireless communication device 222 transmits main line vehicle information of the vehicle 160 to the roadside processing device 202. In parallel, the sensor device 212 detects the position and speed of the vehicle 160. In addition, the sensor device 212 images the vehicle number of the vehicle 160. The sensor device 212 performs a character recognition process on the captured image of the vehicle number of the vehicle 160 and reads the vehicle number of the vehicle 160. Then, the sensor device 212 transmits current state information indicating the position, speed, and vehicle number of the vehicle 160 to the roadside processing device 202.
The roadside processing device 202 stores the vehicle identifier and the planned travel route indicated in the main line vehicle information of the vehicle 150 transmitted from the wireless communication device 222 in association with each other. Further, the position, speed, and vehicle number of the vehicle 150 included in the current state information transmitted from the sensor device 212 are stored in association with each other. However, at this time, the vehicle identifier and planned travel route of the vehicle 150 are not associated with the position, speed, and vehicle number of the vehicle 150. Further, the roadside processing device 202 stores the vehicle identifier and the planned travel route indicated in the main line vehicle information of the vehicle 160 transmitted from the wireless communication device 222 in association with each other. In addition, the position, speed, and vehicle number of the vehicle 160 included in the current state information transmitted from the sensor device 212 are stored in association with each other. However, at this time, the vehicle identifier and planned travel route of the vehicle 160 are not associated with the position, speed, and vehicle number of the vehicle 160.
In FIG. 3, the illustration of the vehicle 170 is simplified for reasons of drawing, but the vehicle 170 in FIG. 3 is the same as the vehicle 170 in FIG. In FIG. 4 and subsequent figures, the illustration of the vehicle 170 is simplified.

Next, as shown in FIG. 4, the roadside processing device 202 associates the position, speed, and planned travel route of the main traveling vehicle from the association between the vehicle identifier and the vehicle number in the identifier number information.
Specifically, the roadside processing device 202 determines the vehicle 150 received from the wireless communication device 222 based on the association between the vehicle identifier of the vehicle 150 and the vehicle number in the identifier number information of the vehicle 150 received from the roadside processing device 201. The vehicle identifier is associated with the vehicle number of the vehicle 150 received from the sensor device 212. As a result, the roadside processing device 202 includes the planned travel route associated with the vehicle identifier of the vehicle 150 received from the wireless communication device 222, and the position and speed associated with the vehicle number received from the sensor device 212. Can be associated. That is, the roadside processing device 202 can associate the position, speed, and planned travel route of the vehicle 150.
Further, the roadside processing device 202 receives the vehicle 160 of the vehicle 160 received from the wireless communication device 222 based on the association between the vehicle identifier of the vehicle 160 and the vehicle number in the identifier number information of the received vehicle 160 received from the roadside processing device 201. The identifier is associated with the vehicle number of the vehicle 160 received from the sensor device 212. Accordingly, the roadside processing device 202 includes the scheduled travel route associated with the vehicle identifier of the vehicle 160 received from the wireless communication device 222, and the position and speed associated with the vehicle number received from the sensor device 212. Can be associated. That is, the roadside processing apparatus 202 can associate the position, speed, and planned travel route of the vehicle 160.
Then, the roadside processing device 202 determines, based on the position of the vehicle 150, whether the vehicle 150 is traveling in a merged lane that is a lane that merges with the merged line 300 on the main line 100 or is traveling in a lane other than the merged lane. To do. The merge lane is the lane 111 of FIG. Further, the lane other than the merge lane is the lane 112 in FIG. Further, the roadside processing device 202 determines whether or not the vehicle 150 enters the branch line 400 from the planned travel route of the vehicle 150. That is, it is determined whether or not the route ahead of the branch line 400 is included in the planned travel route of the vehicle 150, and whether or not the vehicle 150 enters the branch line 400 is determined. When it is determined that the vehicle 150 is traveling in a lane other than the merge lane and the vehicle 150 is determined to enter the divergence line 400, the road-side processing device 202, after the vehicle 150 passes through the merge point 350, the diversion point 450. It is determined that the lane change to the merging lane is performed in the section until reaching.
Similarly, the roadside processing device 202 determines whether the vehicle 160 is traveling in a merging lane or a lane other than the merging lane from the position of the vehicle 160. Further, the roadside processing device 202 determines whether or not the vehicle 160 enters the branch line 400 from the planned travel route of the vehicle 160. When it is determined that the vehicle 160 is traveling in a lane other than the merge lane and the vehicle 160 is determined to enter the divergence line 400, the roadside processing device 202 determines that the divergence point 450 is passed after the vehicle 160 passes the merge point 350. It is determined that the lane change to the merging lane is performed in the section until reaching.

Next, as shown in FIG. 5, the roadside processing device 202 transmits notification information for notifying the position and speed of the main traveling vehicle to the in-vehicle device 171 of the vehicle 170 via the wireless communication device 222. Further, the roadside processing device 202 transmits notification information for notifying the planned travel route of the main road traveling vehicle and the presence or absence of a lane change to the in-vehicle device 171 of the vehicle 170 via the wireless communication device 222. That is, the roadside processing device 202 sends notification information for notifying the position, speed, planned travel route and lane change of the vehicle 150 and the position, speed, planned travel route and lane change of the vehicle 160 to the wireless communication device 222. Via the vehicle-mounted device 171 of the vehicle 170.
Further, the roadside processing device 202 may include a notification that the main road traveling vehicle that changes the lane to the merge lane may decelerate after passing the merge point 350 in the notification information. Hereinafter, the main line vehicle that changes the lane to the merge lane after passing the merge point 350 is also referred to as a lane change main line vehicle.
As a result, the driver of the vehicle 170 or the automatic driving function of the vehicle 170 can change the lane change main line vehicle to the merge lane after the vehicle 170 moves to the merge lane. You can know in advance that there is a possibility of slowing down in order to enter. For this reason, the driver of the vehicle 170 or the automatic driving function of the vehicle 170 can perform driving assuming lane change and deceleration to the merge lane of the lane change main lane.

In addition to the transmission of the notification information shown in FIG. 5, the roadside processing device 202 sends notification information for notifying the adjusted traveling speed to the in-vehicle device 171 of the vehicle 170 via the wireless communication device 222 as shown in FIG. 6. You may send it. The adjusted travel speed is a travel speed of the vehicle 170 that causes the position of the lane change main line vehicle when the vehicle 170 reaches the merge point 350 to be separated from the merge point 350 by a predetermined distance or more. The roadside processing device 202 identifies the adjusted travel speed and generates notification information that notifies the identified adjusted travel speed. Then, the roadside processing device 202 transmits the notification information to the in-vehicle device 171 of the vehicle 170 via the wireless communication device 222. The roadside processing device 202 specifies, for example, a travel speed at which the vehicle 170 can reach the junction 350 before the lane change main line vehicle with a sufficient distance from the lane change main line vehicle as the adjusted travel speed. Further, the roadside processing device 202 specifies, as the adjusted travel speed, a travel speed at which the vehicle 170 can reach the junction 350 after the lane change main line vehicle by taking a sufficient distance from the lane change main line vehicle, for example.
By doing in this way, even if the lane change main line vehicle decelerates to enter the branch line 400, the vehicle 170 after joining the main line 100 does not need to decelerate rapidly.

Further, as shown in FIG. 7, the roadside processing device 202 may transmit instruction information for instructing the main line vehicle to change lanes via the wireless communication device 222.
For example, it is assumed that vehicle 150 is vehicle 145 in FIG. 29 and vehicle 160 is vehicle 144 in FIG. Further, it is assumed that the vehicle 150 changes to the lane 111 after passing through the junction point 350 in order to enter the branch line 400. In such a case, the roadside processing device 202 instructs the vehicle 160 (the vehicle 144) to change the lane to the lane 112. When the vehicle 160 (vehicle 144) changes to the lane 112, the vehicle 150 (vehicle 145) smoothly moves to the lane 111 because there is no vehicle traveling in a position that prevents the vehicle 150 (vehicle 145) from changing to the lane 111. You can change lanes. Further, the roadside processing device 202 may instruct the vehicle 160 (the vehicle 144) to decelerate. When the vehicle 160 (the vehicle 144) decelerates, a sufficient distance is formed between the vehicle 150 and the vehicle 160, so that the vehicle 150 can smoothly change to the lane 111.

*** Explanation of configuration ***
Next, configurations of the roadside processing device 201, the sensor device 211, the wireless communication device 221, the central processing device 231, the roadside processing device 202, the sensor device 212, and the wireless communication device 222 included in the driving support information providing system will be described.

FIG. 8 shows a hardware configuration example of the roadside processing device 201 and the roadside processing device 202.
The roadside processing device 201 and the roadside processing device 202 are computers.
The roadside processing device 201 and the roadside processing device 202 include a processor 801, a memory 802, a storage device 803, a first communication interface 804, a second communication interface 805, and a third communication interface 806, respectively.
The processor 801, the memory 802, the storage device 803, the first communication interface 804, the second communication interface 805, and the third communication interface 806 are connected to a bus.
The processor 801 is, for example, a CPU (Central Processing Unit) that executes a program.
The memory 802 is, for example, a RAM (Random Access Memory). A program to be executed by the processor 801 is loaded into the memory 802. The memory 802 stores information for reference by the program and information output by the program.
The storage device 803 is, for example, a ROM (Read Only Memory), a flash memory, or a hard disk. The storage device 803 stores a program executed by the processor 801. Further, the storage device 803 stores map information before being expanded in the memory 802. The storage device 803 stores a large amount of information in addition to the map information.
Each of the first communication interface 804, the second communication interface 805, and the third communication interface 806 is, for example, a NIC (Network Interface Card). The first communication interface 804 is used to communicate with other roadside processing devices. The second communication interface 805 is used to communicate with the sensor device. The third communication interface 806 is used to communicate with the wireless communication device.
The programs stored in the storage device 803 and executed by the processor 801 are the map information management unit 251, the information generation unit 252, the collation unit 253, the correspondence management unit 254, the sensor information management unit 255, wireless communication shown in FIG. This is a program that realizes the information management unit 256, the first communication unit 261, the second communication unit 262, and the third communication unit 263.

Next, the functional configuration of the roadside processing device 201 and the roadside processing device 202 will be described with reference to FIG.

The map information management unit 251 manages map information. For example, the map information management unit 251 reads map information from the storage device 803. Moreover, the map information management part 251 updates map information, for example.

The information generation unit 252 generates information to be distributed to the vehicle.
The information generation unit 252 included in the roadside processing apparatus 201 associates the vehicle identifier and the vehicle number of the same vehicle, and generates the identifier number information illustrated in FIG.
Further, the information generation unit 252 included in the roadside processing device 202 generates the notification information shown in FIG. 5, the notification information shown in FIG. 6, and the instruction information shown in FIG.
The information generation unit 252 included in the roadside processing device 202 generates the notification information in FIG. 5 that notifies that the lane change main line vehicle exists when the collation unit 253 determines that the lane change main line vehicle exists. In addition, as described above, the information generation unit 252 included in the roadside processing device 202 indicates that the lane change main line vehicle may be decelerated in the section between the junction point 350 and the branch point 450 in FIG. You may notify by notification information.
Further, the information generation unit 252 included in the roadside processing device 202 specifies the adjusted traveling speed of the vehicle 170 and generates the notification information of FIG. 6 that notifies the adjusted traveling speed.
In addition, the information generation unit 252 included in the roadside processing device 202 changes the lane or changes the traveling speed before reaching the junction 350 in the rear main line vehicle when the collation unit 253 determines that there is a rear main line vehicle. The instruction information shown in FIG. The rear main line vehicle is a vehicle that travels on the merged lane diagonally behind the vehicle 145 to be changed to the merged lane (lane 111), like the vehicle 144 in FIG.

The collation unit 253 collates the vehicle number with the vehicle identifier.
The collation unit 253 included in the roadside processing device 201 associates the vehicle number transmitted from the sensor device 211 with the vehicle identifier transmitted from the wireless communication device 221 and transfers it to the correspondence management unit 254 as identifier number information.
The collation unit 253 included in the roadside processing device 202 associates the vehicle identifier and vehicle number of the same main line vehicle from the association between the vehicle identifier and the vehicle number in the identifier number information transmitted from the roadside processing device 201. Thereby, the collation unit 253 associates the planned travel route associated with the vehicle identifier received from the wireless communication device 222 with the position and speed associated with the vehicle number received from the sensor device 212. That is, the collation unit 253 associates the current position, travel speed, and planned travel route of the same main line vehicle. The collation unit 253 included in the roadside processing device 202 determines whether or not there is a lane change main line vehicle that reaches the merge point 350 at the same time as the arrival of the vehicle 170 that is a merge line vehicle at the merge point 350. The determination is based on the planned travel route of the main line vehicle and the current position of each main line vehicle. In addition, the matching unit 253 included in the roadside processing device 202 determines whether there is a rear main line vehicle traveling diagonally behind the lane change main line vehicle in the merging lane based on the current position of each main line vehicle. .
The matching unit 253 included in the roadside processing device 202 corresponds to a position specifying unit and a vehicle determination unit. Moreover, the operation | movement which the collation part 253 contained in the roadside processing apparatus 202 respond | corresponds to a position specific process and a vehicle determination process.

The correspondence management unit 254 manages the processing result of the matching unit 253. That is, information indicating the processing result of the collation unit 253 is transferred to the information generation unit 252. Further, the information indicating the processing result of the matching unit 253 is deleted from the memory 802.

The sensor information management unit 255 manages information received from the sensor device.
The sensor information management unit 255 included in the roadside processing device 201 outputs the vehicle number information of the main line vehicle received by the second communication unit 262 from the sensor device 211 to the verification unit 253.
In addition, the sensor information management unit 255 included in the roadside processing device 202 outputs the vehicle number, current position, and travel speed information of the main line vehicle received by the second communication unit 262 from the sensor device 212 to the verification unit 253.

The wireless communication information management unit 256 manages reception information from the wireless communication device.
The wireless communication information management unit 256 included in the roadside processing device 201 outputs the vehicle identifier information of the main line vehicle received by the third communication unit 263 from the wireless communication device 221 to the verification unit 253.
Further, the wireless communication information management unit 256 included in the roadside processing device 202 outputs the main line vehicle information received by the third communication unit 263 from the wireless communication device 222 to the verification unit 253.

The first communication unit 261 communicates with other roadside processing devices via the first communication interface 804.
The first communication unit 261 included in the roadside processing device 201 transmits identifier number information to the roadside processing device 202.
Further, the first communication unit 261 included in the roadside processing device 202 receives the identifier number information from the roadside processing device 201. The first communication unit 261 included in the roadside processing device 202 corresponds to a receiving unit.

The second communication unit 262 communicates with the sensor device via the second communication interface 805.
The second communication unit 262 included in the roadside processing device 201 receives information on the vehicle number of the main line vehicle from the sensor device 211.
Further, the second communication unit 262 included in the roadside processing device 202 receives the current state information (main vehicle position, speed, and vehicle number) from the sensor device 212. The second communication unit 262 included in the roadside processing device 202 corresponds to a receiving unit.

The third communication unit 263 communicates with the wireless communication device via the third communication interface 806.
The third communication unit 263 included in the roadside processing device 201 receives information on the vehicle identifier of the main line vehicle from the wireless communication device 221.
The third communication unit 263 included in the roadside processing device 202 receives main line vehicle information (vehicle identifier and planned travel route) from the wireless communication device 222. Moreover, the 3rd communication part 263 contained in the roadside processing apparatus 202 transmits the notification information shown in FIG. 5 and the notification information shown in FIG. 6 to the vehicle-mounted apparatus of the merging line vehicle, and is sent to the main line vehicle (rear main line vehicle). The instruction information shown in FIG. 7 is transmitted. The third communication unit 263 included in the roadside processing device 202 corresponds to a reception unit and a transmission unit.

FIG. 10 shows the correspondence between the hardware configuration shown in FIG. 8 and the functional configuration shown in FIG.
As described above, the map information management unit 251, the information generation unit 252, the matching unit 253, the correspondence management unit 254, the sensor information management unit 255, the wireless communication information management unit 256, the first communication unit 261, the first communication unit 251 illustrated in FIG. The second communication unit 262 and the third communication unit 263 are realized by the processor 801 executing a program. The first communication unit 261 communicates with other roadside processing devices via the first communication interface 804. Further, the second communication unit 262 communicates with the sensor device via the second communication interface 805. In addition, the third communication unit 263 communicates with the wireless communication device via the third communication interface 806.

FIG. 11 shows a functional configuration example of the sensor device 211 and the sensor device 212.

The photographing unit 501 photographs the main line vehicle and the background around the main line vehicle.

The number reading unit 502 extracts an image of the number plate of the main line vehicle from the photographed image obtained by the photographing unit 501. The number reading unit 502 performs character recognition processing on the extracted number plate image, extracts characters from the number plate image, and reads the vehicle number.

The measurement unit 503 analyzes the background image around the main vehicle in the captured image obtained by the imaging unit 501, and specifies the position of the main vehicle. In addition, the measurement unit 503 identifies the speed of the main vehicle by comparing a plurality of positions of the main vehicle obtained from captured images at a plurality of times. The measuring unit 503 may use any method for specifying the position and speed of the main line vehicle.

The communication unit 504 transmits the vehicle number information obtained by the measurement unit 503 and the position and speed information of the main line vehicle obtained by the communication unit 504 to the road-side processing device 201 or the road-side processing device 202.

FIG. 12 shows a functional configuration example of the wireless communication device 221 and the wireless communication device 222.

The transmission data storage unit 601 stores the information received by the first communication unit 603. Then, the transmission data storage unit 601 outputs the stored information to the second communication unit 604 when the transmission timing of the stored information arrives.

The reception data storage unit 602 stores the information received by the second communication unit 604. Then, the reception data storage unit 602 outputs the stored information to the first communication unit 603 when the transmission timing of the stored information arrives.

The first communication unit 603 communicates with the roadside processing device 201 or the roadside processing device 202. The first communication unit 603 acquires information to be transmitted from the received data storage unit 602 to the roadside processing device 201 or the roadside processing device 202, and transmits the acquired information to the roadside processing device 201 or the roadside processing device 202. Also, the first communication unit 603 outputs information received from the roadside processing device 201 or the roadside processing device 202 to the transmission data storage unit 601.
For example, the first communication unit 603 of the wireless communication device 221 acquires information indicating the vehicle identifier from the reception data storage unit 602 and transmits the information indicating the acquired vehicle identifier to the roadside processing device 201. The first communication unit 603 of the wireless communication device 222 acquires main line vehicle information (vehicle identifier and planned travel route) from the reception data storage unit 602 and transmits the acquired main line vehicle information to the roadside processing device 202. Further, the first communication unit 603 of the wireless communication device 222 receives at least one of the notification information in FIG. 5, the notification information in FIG. 6, and the instruction information in FIG. 7 from the roadside processing device 202. Then, the first communication unit 603 of the wireless communication apparatus 222 outputs at least one of the received notification information in FIG. 5, notification information in FIG. 6, and instruction information in FIG. 7 to the transmission data storage unit 601.

The second communication unit 604 communicates with the in-vehicle device of the vehicle wirelessly using a wireless antenna. The second communication unit 604 acquires information to be transmitted from the transmission data storage unit 601 to the in-vehicle device, and transmits the acquired information to the in-vehicle device. Also, the first communication unit 603 outputs information received from the in-vehicle device to the reception data storage unit 602.
For example, the second communication unit 604 of the wireless communication device 221 receives information indicating the vehicle identifier from the in-vehicle device, and outputs the received information indicating the vehicle identifier to the reception data storage unit 602. The second communication unit 604 of the wireless communication device 222 receives main line vehicle information (vehicle identifier and planned travel route) from the in-vehicle device, and outputs the received main line vehicle information to the reception data storage unit 602. Further, the second communication unit 604 of the wireless communication apparatus 222 acquires at least one of the notification information in FIG. 5, the notification information in FIG. 6, and the instruction information in FIG. 7 from the transmission data storage unit 601. Then, the second communication unit 604 of the wireless communication device 222 transmits at least one of the acquired notification information in FIG. 5, notification information in FIG. 6, and instruction information in FIG. 7 to the in-vehicle device.

*** Explanation of operation ***
Next, an operation example of the roadside processing device 201, the sensor device 211, and the wireless communication device 221 at a location before the junction point 350 described with reference to FIG. 2 will be described. Hereinafter, an example in which the roadside processing device 201, the sensor device 211, and the wireless communication device 221 are installed at a toll gate will be described.

FIG. 13 shows an arrangement example of the sensor device 211 and the wireless communication device 221 at the toll gate. FIG. 13 shows an arrangement example of the sensor device 211 and the wireless communication device 221 when looking down from above the road surface.
When the vehicle passes through the toll gate, the vehicle travels from left to right in FIG. 13 and passes through the open / close gate 703. In the present embodiment, the imaging range of the sensor device 211 is limited to the periphery of the open / close gate 703 as indicated by two broken lines extending from the sensor device 211. Further, the communication range of the wireless communication device 221 is limited to the periphery of the open / close gate 703 as indicated by two broken lines extending from the wireless communication device 221. The sensor device 211 can photograph the vehicle 712, but cannot photograph the vehicle 711 and the vehicle 713. The wireless communication device 221 can wirelessly communicate with the in-vehicle device of the vehicle 712, but cannot wirelessly communicate with the in-vehicle device of the vehicle 711 and the in-vehicle device of the vehicle 713.
Even if the sensor device 211 can capture a vehicle other than the vehicle 712, the vehicle 712 can be distinguished from other vehicles depending on the size of the vehicle 712 in the captured image. Similarly, even if the wireless communication device 221 can wirelessly communicate with an in-vehicle device of a vehicle other than the vehicle 712, the vehicle 712 can be distinguished from other vehicles by the intensity of the received radio wave in wireless communication.

Next, an operation example of the roadside processing apparatus 201 will be described with reference to FIGS. 14 and 15.
FIG. 14 shows an operation flow of the roadside processing apparatus 201.
FIG. 15 shows a communication sequence between the sensor device 211 and the wireless communication device 221 and the roadside processing device 201 and a communication sequence between the roadside processing device 201 and the roadside processing device 202.

In the roadside processing apparatus 201, the second communication unit 262 receives the vehicle number information D801 indicating the vehicle number of the vehicle that is about to pass through the opening / closing gate 703 from the sensor device 211 (step S8010, step F902). Then, the sensor information management unit 255 stores the vehicle number information D801 in the memory 802 (step S8020). The vehicle number information D801 is also expressed as a vehicle number D801.

Next, the collation unit 253 determines whether or not there is vehicle identifier information D802 stored in the memory 802 (step S8030). The vehicle identifier information D802 is information indicating a vehicle identifier. The vehicle identifier information D802 is also expressed as a vehicle identifier D802.
When the vehicle identifier information D802 is not stored in the memory 802 (NO in step S8030), the collation unit 253 waits for a time until the vehicle passes through the opening / closing gate 703, for example, 1 second, and the wireless communication device 221 Waiting for reception of the vehicle identifier information D802 (step S8040).
When the third communication unit 263 receives the vehicle identifier information D802 from the wireless communication device 221 (step S8050, step F901), the wireless communication information management unit 256 stores the vehicle identifier information D802 in the memory 802 (step S8060).
When the vehicle identifier information D802 is stored in the memory 802 (YES in step S8030) or when the vehicle identifier information D802 is stored in the memory 802 in step S8060, the verification unit 253 reads the vehicle number information D801 and the vehicle from the memory 802. The identifier information D802 is read. Then, the collation unit 253 outputs the read vehicle number information D801 and vehicle identifier information D802 to the information generation unit 252 via the correspondence management unit 254.

The information generation unit 252 generates identifier number information D803 from the vehicle number information D801 and the vehicle identifier information D802. The identifier number information D803 includes vehicle number information D801 and vehicle identifier information D802. The first communication unit 261 transmits the identifier number information D803 to the roadside processing device 202 (Step S8070, Step F911).
Thereafter, the correspondence management unit 254 deletes the vehicle number information D801 and the vehicle identifier information D802 from the memory 802 (step S8080).

In the roadside processing device 202, the first communication unit 261 receives the identifier number information D803 from the roadside processing device 202, and the correspondence management unit 254 stores the identifier number information D803 in the memory 802 (step S951).

Next, an operation example of the roadside processing device 202 will be described with reference to FIGS. 16 and 17.
FIG. 16 shows a communication sequence between the roadside processing device 202 after storing the identifier number information D803 in the memory 802, the sensor device 212, and the wireless communication device 222.
FIG. 17 shows an operation flow of the roadside processing apparatus 202 after the identifier number information D803 is stored in the memory 802.
Hereinafter, a procedure for generating the notification information shown in FIG. 5 will be described.

In the roadside processing device 202, the second communication unit 262 receives information on the position, speed and vehicle number of the main line vehicle from the sensor device 212 as current state information F921, and the sensor information management unit 255 stores the main line vehicle information F922 in the memory. The data is stored in 802 (step S952).
The third communication unit 263 receives the vehicle identifier of the main line vehicle and the planned travel route information from the wireless communication device 222 as main line vehicle information F922, and the wireless communication information management unit 256 stores the main line vehicle information F922 in the memory 802. (Step S953).

In the roadside processing device 202, the collation unit 253 activates a periodic timer for generating notification information and waits for the periodic timer to expire. The periodic timer is a timer that measures time such as 100 milliseconds, 1 second, and the like. The time (cycle) measured by the cycle timer is longer than the time until the processing of the collation unit 253, the correspondence management unit 254, the information generation unit 252 and the third communication unit 263, which will be described below, is completed. This time is sufficiently shorter than the time required for the main vehicle to pass through the junction 350 after the device 212 receives the current state information F921.

When the cycle timer expires (step S10010), the collation unit 253 acquires the vehicle number information included in the current state information F921 stored in the memory 802 as vehicle number information D1001 (also referred to as vehicle number D1001) (step S10010). S10020).
Next, the collation unit 253 searches the memory 802 for identifier number information D803 that includes vehicle number information D801 that matches the vehicle number information D1001 (step S10030).
When the verification unit 253 acquires the identifier number information D803 including the vehicle number information D801 that matches the vehicle number D1001 (YES in step S10030), the verification unit 253 includes the vehicle identifier information D802 included in the acquired identifier number information D803 in the memory 802. The main line vehicle information F922 including information on the matching vehicle identifier (hereinafter referred to as vehicle identifier information D1002 or vehicle identifier D1002) is searched (step S10040).
When the corresponding main line vehicle information F922 is acquired (YES in step S10040), the collation unit 253 associates the current state information F921 in which the vehicle number information D1001 is acquired in step S10020 and the main line vehicle information F922 (step S10020). S10050). That is, the collation unit 253 associates the vehicle identifier and the vehicle number of the same main line vehicle, and associates the planned travel route, the current position, and the current travel speed of the same main line vehicle.

Next, the collation unit 253 acquires planned travel route information (hereinafter referred to as planned travel route information D1003 or planned travel route D1003) from the main line vehicle information F922 associated with the current state information F921 in step S10050 (step S10060). ).

Then, the collation unit 253 determines whether or not the main line vehicle enters the branch line 400 from the planned travel route information D1003 (step S10070).
The determination in step S10070 is realized, for example, as follows.
The planned travel route information D1003 includes, for example, the latitude and longitude values of the point through which the vehicle passes as an identifier of the road on which the vehicle is scheduled to travel. Alternatively, the scheduled travel route information D1003 includes a unique section ID (Identifier) for each section of the plurality of sections of the road as an identifier of the road on which the vehicle is scheduled to travel.
The collation unit 253 acquires map information from the map information management unit 251. The map information acquired from the map information management unit 251 includes latitude and longitude values for each point. Moreover, the section ID may be included in the map information acquired from the map information management unit 251.
The collation unit 253 compares the latitude and longitude values (or section ID) included in the scheduled travel route information D1003 with the latitude and longitude values (or section ID) included in the map information. Then, when the latitude and longitude values (or section IDs) of the route ahead of the branch line 400 are included in the planned travel route information D1003, the matching unit 253 determines that the main line vehicle enters the branch line 400.

When it is determined that the main line vehicle enters the diversion line 400 (YES in step S10070), the collation unit 253 specifies a travel lane in which the main line currently travels (hereinafter referred to as a travel lane D1021) (step S10080). .
That is, the collation unit 253 compares the main vehicle position information included in the current state information F921 with the map information acquired from the map information management unit 251, and identifies the travel lane D1021 of the main vehicle. The position information of the main line vehicle included in the current state information F921 includes latitude and longitude values. The map information includes latitude and longitude values for each main lane and a unique lane ID for each lane. The collating unit 253 compares the latitude and longitude values included in the position information of the main line vehicle with the latitude and longitude values of the lane included in the map information, and identifies the traveling lane D1021.

Next, the collation unit 253 determines whether or not the travel lane D1021 identified in step S10080 is a shunt lane (step S10090).
The diversion lane is a lane that diverts to the diversion line 400 among the lanes on the main line 100. In the example of FIG. 29, the lane 111 is a shunt lane.
The collation unit 253 compares the lane ID of the travel lane D1021 with the lane ID of the shunt lane to determine whether the travel lane D1021 is a shunt lane.

When the traveling lane D1021 is a shunt lane (YES in step S10090), the collation unit 253 determines that the main line vehicle does not change lanes. In this case, the collation unit 253 sets the lane change presence / absence D1031 to “none” (lane change presence / absence D1031 = none). Thereafter, the process proceeds to step S10110.

On the other hand, when the traveling lane D1021 is not a shunt lane (NO in step S10090), the collation unit 253 determines that the main line vehicle changes the lane (step S10100). Then, the matching unit 253 sets the lane change presence / absence D1031 to “present” (lane change presence / absence D1031 = present). That is, collation part 253 extracts a lane change main line vehicle in Step S10100.

The collation unit 253 determines whether or not the processing of steps S10020 to S10090 (or S10100) has been performed on all the current state information F921 (step S10110).
When the unprocessed current state information F921 exists (NO in step S10110), the collation unit 253 performs the processing from S10020 on the unprocessed current state information F921.

When the processing in steps S10020 to S10090 (or S10100) is performed on all current state information F921 (YES in step S10110), the information generation unit 252 generates notification information F923 and the third communication unit 263. Transmits the notification information F923 to the in-vehicle device of the merge line vehicle (step S10120).
For each main line vehicle, the collation unit 253 includes main line vehicle identifier information D1002 (= D802), main line vehicle position and speed information (information included in the current state information F921), planned travel route information D1003, lane The change presence / absence D1031 is associated and stored in the memory 802.
And the information generation part 252 produces | generates the notification information F923 using such information. For this reason, the notification information F923 includes the following.
-Vehicle identifier information D1002 (= D802) of the main line vehicle
-Information on the position and speed of the main line vehicle (information included in the current state information F921)
-Planned route information D1003
-Lane change D1031

After the notification information F923 is transmitted in step S10120, the correspondence management unit 254 stores main vehicle vehicle identifier information D1002, main vehicle position, speed information, planned travel route information D1003, which is stored in the memory 802. The lane change presence / absence D1031 is deleted. By doing in this way, it can prevent that the information generation part 252 produces | generates the same notification information F923.

As described above, the roadside processing device 202 notifies the merging line vehicle that there is a lane change main line vehicle. For this reason, the driver or automatic driving function of the merging line vehicle can know the presence of the lane change vehicle in advance, and can perform driving assuming that the lane changing vehicle decelerates to enter the branch line 400. it can. Accordingly, it is possible to prevent sudden deceleration near the junction.
Further, the roadside processing device 202 determines the position, speed, vehicle of the main line vehicle acquired at a location near the junction 350 based on the association between the vehicle identifier acquired at the location before the junction 350 and the vehicle number. The number, vehicle identifier, and scheduled travel route are associated. For this reason, even when a vehicle that cannot measure the position with high accuracy is traveling on the main line, the roadside processing device 202 can accurately determine whether or not the lane of the vehicle has changed.

Next, a procedure for the roadside processing device 202 to generate the notification information shown in FIG. 6 will be described.

The roadside processing device 202 can acquire the vehicle identifier information D1002, main vehicle position, speed information, planned travel route information D1003, and lane change presence / absence D1031 according to the flow shown in FIG.
In addition, the sensor device 212 can acquire the position and speed of the vehicle 170 traveling on the merge line 300.
The information generation unit 252 of the roadside processing device 202 uses the above information of the main line vehicle obtained by the flow of FIG. 17 and the position and speed of the vehicle 170 obtained by the sensor device 212 to adjust the traveling speed of the vehicle 170. Is derived.
The information generation unit 252 of the roadside processing device 202 derives the adjusted travel speed according to the flow shown in FIG. 26, for example. Hereinafter, an operation example of the information generation unit 252 of the roadside processing device 202 will be described with reference to FIG.

The information generation unit 252 of the roadside processing device 202 calculates the time until the vehicle 170 reaches the confluence 350 based on the current position and current speed of the vehicle 170 acquired by the sensor device 212 (step S261). . Hereinafter, the time until the vehicle 170 reaches the junction 350 is referred to as t time.
Below, the calculation method of t time is demonstrated.

For example, the information generation unit 252 calculates the acceleration a of the vehicle 170 from the speeds v1 and v2 of the vehicle 170 measured by the sensor device 212 at at least two different times (T1 and T2). The equation for calculating the acceleration a is a = (v2-v1) / (T2-T1).
If the current speed of the vehicle 170 is v2, the change in the position of the vehicle 170 after the elapse of time t is (v2 × t) + (1/2) * a × t × t. The information generation unit 252 can obtain the time t by performing calculation using this equation and the distance between the current position of the vehicle 170 and the junction point 350.

Next, the information generation unit 252 calculates the position of each main line vehicle after the elapse of time t (step S262).
Specifically, the information generation unit 252 calculates the position of each main line vehicle after the elapse of time t by multiplying the current speed by time t, assuming that there is no change in the traveling speed of the main line vehicle. The position of each main line vehicle after the elapse of time t is the position of each main line vehicle when the vehicle 170 reaches the junction point 350.

In the roadside processing device 202, it is assumed that the first pattern information shown in FIG. 18 is stored in the memory 802 or the storage device 803.
In the first pattern information shown in FIG. 18, a plurality of combinations of combinations of the position, speed, and presence / absence of lane change of the main line vehicle are described. Further, in the first pattern information shown in FIG. 18, the adjusted travel speed and the arrival time difference to the junction point 350 are described for each pattern. The adjusted travel speed is a travel speed of the vehicle 170 that causes the position of the main line vehicle when the vehicle 170 arrives at the merge point 350 to be separated from the merge point 350 by a predetermined distance or more. Further, the arrival time difference to the junction point 350 is a difference between the time when the vehicle 170 reaches the junction point 350 and the time when the main line vehicle reaches the junction point 350 when the vehicle 170 travels at the adjusted traveling speed.

FIG. 19 shows an example of lanes and sections described in the first pattern information of FIG.
18 and 19, the main line 100 includes a lane A and a lane B. The main line 100 is divided into a plurality of sections. In the example of FIGS. 18 and 19, there are section # 1, section # 2, and section # 3.
The first pattern information in FIG. 18 describes a pattern that covers all combinations of the presence / absence of a vehicle for each section, the speed of the vehicle existing in the section, and the presence / absence of lane change of the vehicle existing in the section.

The information generation unit 252 selects, from the first pattern information, a pattern corresponding to the position and speed of the main vehicle obtained from the sensor device 212 and the presence or absence of the lane change of the main vehicle obtained in step S10100 of FIG. Step S263).
Next, the information generation unit 252 generates notification information for notifying the adjusted traveling speed described in the selected pattern (step S264).
Finally, the third communication unit 263 transmits the notification information generated by the information generation unit 252 to the in-vehicle device of the vehicle 170 via the wireless communication device 222 (step S265).

In the example of FIG. 19, the vehicle exists in the section # 1 of the lane A, the vehicle exists in the section # 3 of the lane A, and the vehicle exists in the section # 3 of the lane B. Further, the vehicle existing in the section # 3 of the lane B is scheduled to change lanes. When the vehicle is traveling on the main line 100 as in the example of FIG. 19, the information generation unit 252 selects, for example, the pattern # 1 of FIG. And the information generation part 252 produces | generates the notification information which notifies 80 km / h which is the adjustment driving speed of the selected pattern # 1.
When the vehicle 170 travels along the merge line 300 at the adjusted travel speed of 80 km / h, the vehicle 170 reaches the merge point 350 1.1 seconds before the main line vehicle reaches the merge point 350.

When the adjusted traveling speed is not notified from the road-side processing device 202 to the vehicle 170, the positional relationship among the vehicle 170, the vehicle 180, and the vehicle 190 after t seconds is as shown in FIG. That is, when the adjusted traveling speed is not notified to the vehicle 170, the vehicle 170 and the vehicle 180 reach the joining point 350 almost at the same time, so the vehicle 170 needs to be decelerated or accelerated. On the main line 100, the vehicle 180 and the vehicle 190 are almost parallel at the junction 350. In such a case, it is desirable that the vehicle 170 reaches the junction point 350 earlier than the

vehicles

180 and 190 by accelerating to the junction point 350 rather than decelerating. FIG. 21 shows a state where the vehicle 180 has already passed the junction point 350 when the vehicle 190 reaches the section # 3 after t seconds.
If the vehicle 170 travels at 80 km / h according to the notified adjusted traveling speed and can reach the junction 350 at 1.1 seconds earlier than the vehicle 180 and the vehicle 190, the vehicle 170 You are traveling in front of 190 24 meters ((80 * 1000 meters) / 3600 seconds) * 1.1 seconds). As a result, a space of 24 meters is secured in front of the vehicle 180 and the vehicle 190. The vehicle 190 decelerates and changes to the lane A, travels behind the vehicle 180, and can enter the branch line 400.
In the first pattern information of FIG. 18 including such a case, the adjusted traveling speed of the vehicle 170 is defined in advance for the combination of the position and speed of the vehicle on the main line 100 and whether or not there is a lane change. The information generation unit 252 notifies the vehicle 170 of the traveling speed at which the vehicle 170 can safely and smoothly join the main line 100 as the adjusted traveling speed according to the first pattern information. Further, since the vehicle 170 joins the main line 100 safely and smoothly, the vehicle 190 shown in FIG. 21 can enter the branch line 400 safely and smoothly.

As described above, the roadside processing device 202 notifies the adjusted traveling speed to the vehicle 170 in consideration of the position, speed, and lane change of the main line vehicle. Therefore, the vehicle 170 joins the main line vehicle at an interval. It is possible to reach the point 350 and to join the main line safely and smoothly. Further, the vehicle 170 can take a traveling position where the lane change of the main line vehicle is smoothly performed. Further, by receiving notification information transmitted from the wireless communication device 222 by the main line vehicle, the driver or the automatic driving function of the main line vehicle can know the travel position when the vehicle 170 is merged. For this reason, it is possible to smoothly change the lane even for a vehicle such as the vehicle 190 of FIG. 21 that intends to change the lane to enter the branch line 400.
As described above, the roadside processing device 202 notifies the adjusted traveling speed via the wireless communication device 222, so that safe merging and diversion can be realized.

If the vehicle 170 supports automatic driving, it is easy for the vehicle 170 to travel at the adjusted traveling speed indicated in the notification information by the automatic driving function. When the vehicle 170 does not support automatic driving, the in-vehicle device transmits the adjusted traveling speed to the driver by voice or the like, so that the driver can drive the vehicle 170 at the adjusted traveling speed.

In the above description, as illustrated in FIG. 18, an example in which pattern information configured by a combination of the presence / absence of a vehicle for each section of the main line, the speed, and the presence / absence of lane change has been described. Instead, the information generation unit 252 may use pattern information obtained by patterning the relationship between the distance between vehicles on the main line and the position of the vehicle without providing a section. In addition, the information generation unit 252 may perform a logical operation that includes determination of the magnitude of the inter-vehicle distance or the like to calculate the adjusted traveling speed.

Next, a procedure for the roadside processing device 202 to generate the instruction information shown in FIG. 7 will be described.

The roadside processing device 202 can acquire the vehicle identifier information D1002, main vehicle position, speed information, planned travel route information D1003, and lane change presence / absence D1031 according to the flow shown in FIG.
In addition, the sensor device 212 can acquire the position and speed of the vehicle 170 traveling on the merge line 300.
The information generation unit 252 of the roadside processing apparatus 202 generates the instruction information shown in FIG. 7 using the above information of the main line vehicle obtained by the flow of FIG.
Specifically, the information generation unit 252 of the roadside processing device 202 generates the instruction information of FIG. 7 according to the flow of FIG. Hereinafter, an operation example of the information generation unit 252 of the roadside processing device 202 will be described with reference to FIG.

First, the information generation unit 252 identifies the speed and position of the main line vehicle and whether or not there is a lane change (step S271). That is, the information generation unit 252 acquires the vehicle identifier information D1002 of the main line vehicle, the position and speed information of the main line vehicle, and the lane change presence / absence D1031 obtained by the flow of FIG. Identify the current position, speed, and lane change.

Next, a pattern corresponding to the current state of the main line vehicle is selected (step S272).

In the roadside processing device 202, it is assumed that the second pattern information shown in FIG. 22 is stored in the memory 802 or the storage device 803.
In the second pattern information shown in FIG. 22, a plurality of combinations of combinations of the position, speed, and lane change presence / absence of the main vehicle are described. Lane A, lane B, section # 1, section # 2, and section # 3 shown in FIG. 22 are the same as those shown in FIGS. Further, in the second pattern information shown in FIG. 22, the instruction target vehicle and the instruction are described for each pattern. The instruction target vehicle is a vehicle to which instruction information is transmitted. The instruction target vehicle of pattern # 1 in FIG. 22 is a vehicle in section # 2 of lane A. In addition, as instructions, for example, lane change instructions, speed changes, and the like are described. When a speed change is described as an instruction, a deceleration width (for example, −20 km / h) or an acceleration width (for example, +10 km / h) is described.

Next, the information generation unit 252 generates instruction information for notifying an instruction described in the selected pattern (step S273). For example, the information generation unit 252 generates instruction information for instructing a lane change. Further, the information generation unit 252 generates instruction information for instructing deceleration, for example.
Finally, the third communication unit 263 transmits the instruction information to the in-vehicle apparatus of the instruction target vehicle described in the pattern selected in Step S272 via the wireless communication apparatus 222 (Step S274).

FIG. 23 shows the effect obtained by instructing the main line vehicle to change the lane or the vehicle speed before merging.

FIG. 23 shows the travel positions of the vehicles before joining. Although the vehicle 190 is traveling in the lane B at the time of FIG. 23, the vehicle 190 is scheduled to change to the lane A in order to enter the branch line 400. The vehicle 180 travels diagonally behind the vehicle 190 on the lane A, and corresponds to a rear main line vehicle. The information generation unit 252 detects the vehicle 180 that is a main line vehicle behind and transmits instruction information to the vehicle 180.
Reference numeral 1321 describes instruction information transmitted from the roadside processing device 202 to the vehicle 180 via the wireless communication device 222. The instruction information 1321 in FIG. 23 instructs the vehicle 180 to change lanes because the lane change of the vehicle 190 is expected. Specifically, the roadside processing device 202 transmits instruction information including the vehicle identifier of the vehicle 180 and the lane change = present. The vehicle 180 changes the lane to the lane B according to the instruction information.
FIG. 24 shows a state after the vehicle 180 changes lanes according to the instruction information 1321. Since the vehicle 180 has changed the lane from the lane A to the lane B, a space in the lane A where the vehicle 190 can easily change the lane is secured. For this reason, the vehicle 190 can change the lane to the lane A in a state where there is room between the vehicles.
FIG. 25 shows a state where the instruction information 1321 is not transmitted to the vehicle 180. In this case, since the vehicle 180 does not change the lane, the vehicle 180 is still traveling diagonally behind the vehicle 190. The vehicle 190 is approaching the diversion point 450, but the lane change to the lane A is delayed due to the presence of the vehicle 180. In addition, since the distance between the vehicle 190 and the vehicle 180 is narrow, it is difficult to smoothly change the lane. For this reason, the vehicle 190 needs to make a sudden acceleration to change the lane to the lane A, and to make a sudden deceleration before the diversion point 450.

Although FIG. 23 shows an example in which the vehicle 180 is instructed to change lanes, the information generation unit 252 may instruct the vehicle 180 to decelerate. When the vehicle 180 decelerates, an interval is generated between the vehicle 190 and the vehicle 180, so that the vehicle 190 can change the lane to the lane A safely and smoothly.

As described above, if the vehicle 180 supports automatic driving, it is easy for the vehicle 180 to change the lane or the traveling speed according to the instruction information by the automatic driving function. In addition, when the vehicle 180 does not support automatic driving, the in-vehicle device transmits a lane change or a change in travel speed to the driver by voice or the like, so that the driver can change the lane or the travel speed.

In addition, as shown in FIG. 28, a sensor device 213 may be installed in a section between the junction point 350 and the branch point 450. The sensor device 213 monitors the traveling of the vehicle in the monitoring section 122. The monitoring section 122 is a section between the junction point 350 and the branch point 450.
In the roadside processing device 202, the third communication unit 263 receives information on the position and speed of the vehicle in the monitoring section 122 measured by the sensor device 213 from the sensor device 213.
And the collation part 253 counts the frequency | count of the lane change in the monitoring area 122 based on the information of the position of the vehicle received from the sensor apparatus 213. FIG. The collation unit 253 identifies the traveling lane of the same vehicle at two or more different times in the same procedure as Step S10080 in FIG. 17 and determines whether or not there is a lane change in the monitoring section 122. The collation unit 253 increments the number of lane changes each time a lane change in the monitoring section 122 is detected, and stores the number of lane changes in the memory 802. In addition, the matching unit 253 counts the number of vehicles that have passed through the monitoring section 122.
Next, the matching unit 253 divides the number of lane changes that occurred in the monitoring section 122 by the number of vehicles that have passed through the monitoring section 122 to obtain the lane change ratio. The information generation unit 252 may generate notification information that notifies the rate of lane change obtained by the matching unit 253.
Further, the collation unit 253 counts the number of decelerations in the monitoring section 122 based on the vehicle speed information received from the sensor device 213. The collation unit 253 compares the speeds of the same vehicle at two or more different times, and determines whether or not there is a deceleration greater than the prescribed deceleration width in the monitoring section 122. Then, the collation unit 253 increments the number of decelerations each time a deceleration greater than the specified deceleration width in the monitoring section 122 is detected, and stores the number of decelerations in the memory 802. In addition, the matching unit 253 counts the number of vehicles that have passed through the monitoring section 122.
Next, the matching unit 253 divides the number of decelerations that occurred in the monitoring section 122 by the number of vehicles that have passed through the monitoring section 122 to obtain the rate of deceleration. The information generation unit 252 may generate notification information that notifies the rate of deceleration obtained by the verification unit 253.
Each vehicle that has received the notification information can realize safe and smooth travel by performing driving control with reference to the rate of lane change and the rate of deceleration.

Further, if the lane change or deceleration in the monitoring section 122 is equal to or greater than the threshold value, the adjusted traveling speed notified by the notification information may not be appropriate.
For this reason, if the lane change or deceleration in the monitoring section 122 is equal to or greater than the threshold, the information generation unit 252 corrects the adjusted travel speed described in the first pattern information in FIG. For example, the information generation unit 252 sets a speed slower than the current adjusted travel speed as the corrected travel speed. And the information generation part 252 produces | generates the notification information which notifies the adjustment travel speed after correction | amendment.

Thus, the roadside processing device 202 notifies the vehicle of the rate of lane change or the rate of deceleration in the monitoring section 122 between the junction point 350 and the branch point 450. Accordingly, the driver or the automatic driving function can perform driving assuming lane change or deceleration of another vehicle when traveling in the section between the junction point 350 and the branch point 450. Further, since the roadside processing device 202 corrects the adjusted travel speed according to the lane change rate or the deceleration rate in the monitoring section 122, it is possible to realize safer and smoother vehicle travel.

Further, the roadside processing device 201 arranged at a toll booth or the like acquires the vehicle identifier and the vehicle number, and detects whether or not the vehicle that has acquired the vehicle identifier and the vehicle number is an automatic travel compatible vehicle. Also good. Further, the roadside processing device 201 sets an automatic travel flag for notifying that the vehicle is an automatic travel compatible vehicle in the identifier number information D803, and transmits the identifier number information D803 to the roadside processing device 202. Also good.
In the roadside processing apparatus 202, when the automatic travel flag is set in the identifier number information D803, the collation unit 253 can omit the association from steps S10020 to S10050 in FIG.
Main line vehicle information F922 transmitted from a vehicle that supports automatic travel includes the current position and current travel speed of the vehicle in addition to the vehicle identifier and the planned travel route. It is conceivable to set an automatic travel flag in the main line vehicle information F922. In this case, the collation unit 253 can determine whether or not the transmission source vehicle of the main line vehicle information F922 is an automatic travel compatible vehicle by investigating the presence or absence of the automatic travel flag.
For the automatic travel compatible vehicle, the collation unit 253 uses the current position and the planned travel route included in the main line vehicle information F922 and subsequent steps S10070 and subsequent steps in FIG. 17 without performing the association of steps S10020 to S10050 in FIG. Can be processed.
The collation unit 253 may delete the identifier number information D803 received from the roadside processing device 201 from the memory 802 when detecting that the automatic travel flag is set in the main line vehicle information F922.
Further, when the collation unit 253 detects that the automatic traveling flag is set in the main line vehicle information F922, the identifier number information including the same vehicle identifier as the vehicle identifier included in the main line vehicle information F922. D803 is extracted from the memory 802. Then, the matching unit 253 may notify the sensor device 212 of the vehicle number included in the extracted identifier number information D803. In this case, the sensor device 212 does not transmit the vehicle position / speed information (current state information F921) of the vehicle number notified from the verification unit 253 to the roadside processing device 202.

As described above, the processing load on the roadside processing device 202 and the sensor device 212 can be reduced, and the load on the CPU, memory, and the like of the roadside processing device 202 and the sensor device 212 can be reduced. In addition, the processing time in the roadside processing device 202 and the wireless communication device 221 can be shortened. For this reason, the roadside processing apparatus 202 can provide information to the vehicle in a short time. In addition, a new function can be introduced into the roadside processing apparatus 202 as much as the processing load is reduced.

Further, the roadside processing device 202 receives the vehicle identifier and the planned travel route information from the central processing device 231, and performs the processing of FIG. 17 in association with the vehicle position and speed received from the sensor device 212. Also good.

The central processing unit 231 is a computer including a CPU that executes a program, an external storage device such as a hard disk, and a main storage device such as a RAM. The central processing unit 231 has a communication interface such as Ethernet (registered trademark).
The central processing unit 231 transmits / receives information to / from the car navigation system via a mobile line connected to the car navigation system mounted on the vehicle and the Internet. Each vehicle transmits information on the vehicle identifier and the planned travel route to the central processing unit 231 using a mobile line or the like when the planned travel route is changed in the car navigation system. The central processing unit 231 transmits the vehicle identifier and the scheduled travel route to the roadside processing device at each point.

The roadside processing device 202 receives the vehicle identifier and the information on the scheduled travel route from the central processing device 231 as main line vehicle information F922 instead of receiving from the wireless communication device 222, and stores the received main line vehicle information F922 in the memory 802. To do. The matching unit 253 performs the process of FIG. 17 using the main line vehicle information F922 from the central processing unit 231 instead of the main line vehicle information F922 from the wireless communication apparatus 222.

Thus, if the roadside processing device 202 uses the main line vehicle information F922 from the central processing device 231, the amount of communication with the vehicle of the wireless communication device 222 can be reduced. For this reason, it is possible to reduce the number of the wireless communication devices 222 or simplify the functions installed in the wireless communication device 222, and to realize vehicle driving support with a simpler configuration.

*** Explanation of the effect of the embodiment ***
In the present embodiment, the roadside processing device 202 notifies the merging line vehicle that there is a lane change main line vehicle. For this reason, the driver or automatic driving function of the merging line vehicle can know the presence of the lane change vehicle in advance, and can perform driving assuming that the lane changing vehicle decelerates to enter the branch line 400. it can. Accordingly, it is possible to prevent sudden deceleration near the junction.
Further, the roadside processing device 202 determines the position and speed of the main line vehicle acquired at a location near the junction 350 based on the association between the vehicle identifier and the vehicle number in the identifier number information D803 at a location before the junction 350. The vehicle number, the vehicle identifier, and the scheduled travel route are associated with each other. For this reason, even when a vehicle that cannot measure the position with high accuracy is traveling on the main line, the roadside processing device 202 can accurately determine whether or not the lane of the vehicle has changed.

Further, in the present embodiment, the roadside processing device 202 notifies the vehicle 170 of the adjusted travel speed in consideration of the position, speed, and lane change of the main line vehicle. It is possible to open and reach the junction point 350, and to join the main line safely and smoothly. Further, the vehicle 170 can take a traveling position where the lane change of the main line vehicle is smoothly performed. Further, by receiving notification information transmitted from the wireless communication device 222 by the main line vehicle, the driver or the automatic driving function of the main line vehicle can know the travel position when the vehicle 170 is merged. For this reason, it is possible to smoothly change the lane even for a vehicle such as the vehicle 190 of FIG. 21 that intends to change the lane to enter the branch line 400.
As described above, the roadside processing device 202 notifies the adjusted traveling speed via the wireless communication device 222, so that safe merging and diversion can be realized.

Further, in the present embodiment, the roadside processing device 202 instructs the rear main line vehicle to change lanes or speed. The rear main line vehicle changes lanes or speeds according to the instructions, so that a vehicle traveling diagonally forward can easily change lanes.

*** Explanation of hardware configuration ***
Finally, a supplementary description of the hardware configuration of the roadside processing apparatus 202 will be given.

The storage device 803 includes a map information management unit 251, an information generation unit 252, a collation unit 253, a correspondence management unit 254, a sensor information management unit 255, a wireless communication information management unit 256, a first communication unit 261, and a second communication. In addition to programs that implement the unit 262 and the third communication unit 263, an OS (Operating System) is also stored.
Then, at least a part of the OS is executed by the processor 801.
While executing at least part of the OS, the processor 801 executes the map information management unit 251, the information generation unit 252, the collation unit 253, the correspondence management unit 254, the sensor information management unit 255, the wireless communication information management unit 256, and the first communication. The program for realizing the unit 261, the second communication unit 262, and the third communication unit 263 is executed.
When the processor 801 executes the OS, task management, memory management, file management, communication control, and the like are performed.
In addition, the map information management unit 251, the information generation unit 252, the collation unit 253, the correspondence management unit 254, the sensor information management unit 255, the wireless communication information management unit 256, the first communication unit 261, the second communication unit 262, and the first 3, at least one of information, data, a signal value, and a variable value indicating a result of processing of “unit” of the communication unit 263 is stored in at least one of the storage device 902, the register in the processor 901, and the cache memory. .
In addition, the map information management unit 251, the information generation unit 252, the collation unit 253, the correspondence management unit 254, the sensor information management unit 255, the wireless communication information management unit 256, the first communication unit 261, the second communication unit 262, and the first 3 may be stored in a portable storage medium such as a magnetic disk, a flexible disk, an optical disk, a compact disk, a Blu-ray (registered trademark) disk, a DVD, or the like.

In addition, the map information management unit 251, the information generation unit 252, the collation unit 253, the correspondence management unit 254, the sensor information management unit 255, the wireless communication information management unit 256, the first communication unit 261, the second communication unit 262, and the first 3 may be read as “circuit”, “process”, “procedure”, or “processing”.
The roadside processing device 202 may be realized by an electronic circuit such as a logic IC (Integrated Circuit), a GA (Gate Array), an ASIC (Application Specific Integrated Circuit), or an FPGA (Field-Programmable Gate Array).
In this case, the map information management unit 251, the information generation unit 252, the collation unit 253, the correspondence management unit 254, the sensor information management unit 255, the wireless communication information management unit 256, the first communication unit 261, and the second communication unit 262. And the program which implement | achieves the 3rd communication part 263 is each implement | achieved as a part of electronic circuit.
The processor and the electronic circuit are also collectively referred to as a processing circuit.

100 main lines, 111 lanes, 112 lanes, 122 monitoring sections, 140 vehicles, 141 vehicles, 142 vehicles, 143 vehicles, 144 vehicles, 145 vehicles, 146 vehicles, 147 vehicles, 148 vehicles, 149 vehicles, 150 vehicles, 151 in-vehicle devices, 160 vehicle, 161 in-vehicle device, 170 vehicle, 171 in-vehicle device, 180 vehicle, 190 vehicle, 201 roadside processing device, 202 roadside processing device, 211 sensor device, 212 sensor device, 213 sensor device, 221 wireless communication device, 222 wireless communication Device, 231 central processing unit, 251 map information management unit, 252 information generation unit, 253 verification unit, 254 correspondence management unit, 255 sensor information management unit, 256 wireless communication information management unit, 261 first communication unit, 262 second of Shinbu, 263 Third communicator, 300 confluence line, 350 confluence, 400 diversion line, 450 diversion point, 501 shooting section, 502 number reading section, 503 measurement section, 504 communication section, 601 transmission data storage section, 602 Received data storage unit, 603, first communication unit, 604, second communication unit, 801 processor, 802 memory, 803 storage device, 804, first communication interface, 805, second communication interface, 806, third communication interface.

Claims

A main line vehicle that indicates a planned travel route of each main line vehicle that is transmitted from each in-vehicle device of one or more main line vehicles that travel on the main line toward a merge point where a main line and a merge line of a plurality of lanes merge. A receiving unit for receiving information;
A position specifying unit for specifying the current position of each main line vehicle;
Lane change which is a main line vehicle in which a lane change from a lane other than the merging lane where the merging lane merges among the plurality of lanes of the main lane to the merging lane is performed within a predetermined section after passing the merging point A vehicle determination unit that determines whether or not a main line vehicle exists based on a planned travel route of each main line vehicle and a current position of each main line vehicle;
An information generation unit that generates notification information for notifying that the lane change main line vehicle exists when the vehicle determination unit determines that the lane change main line vehicle exists;
An information processing apparatus comprising: a transmission unit that transmits the notification information to an in-vehicle device of a merging line vehicle traveling on the merging line.
The vehicle determination unit
The information processing apparatus according to claim 1, wherein the information processing apparatus determines whether or not there is the lane change main line vehicle that is a main line vehicle that reaches the merging point at the same time as the merging line vehicle reaches the merging point.
The information generator is
The information processing apparatus according to claim 1, wherein notification information is generated for notifying that the lane change main line vehicle may be decelerated within the predetermined section.
The vehicle determination unit
The lane which is a main line vehicle which performs a lane change from a lane other than the merging lane to the merging lane within a section from passing through the merging point to reaching a merging point where the main merging lane divides into a diverging line. The information processing apparatus according to claim 1, wherein it is determined whether or not there is a changed main line vehicle.
The vehicle determination unit
The method according to claim 4, wherein it is determined whether or not there is a lane change main line vehicle that is a main line vehicle traveling in a lane other than the merged lane, where a route ahead of the branch line is included in the planned travel route. The information processing apparatus described.
The position specifying unit includes:
Identify the current travel speed of each main line vehicle, identify the current position and current travel speed of the merge line vehicle,
The information generator is
Based on the current position and current travel speed of each main line vehicle and the current position and current travel speed of the merge line vehicle, the position of the lane change main line vehicle when the merge line vehicle reaches the merge point is 2. The information processing according to claim 1, wherein a travel speed of the merging line vehicle to be separated from a junction by a predetermined distance or more is specified as an adjusted travel speed, and the notification information for notifying the identified adjusted travel speed is generated. apparatus.
The information generator is
The information processing apparatus according to claim 6, wherein the adjusted travel speed is corrected based on a rate at which a lane change has occurred within the predetermined section.
The information generator is
The information processing apparatus according to claim 6, wherein the adjusted travel speed is corrected based on a rate at which deceleration occurs in the predetermined section.
The information generator is
The information processing apparatus according to claim 7, wherein the notification information for notifying a rate at which a lane change has occurred in the predetermined section is generated.
The information generator is
The information processing apparatus according to claim 8, wherein the notification information for notifying a rate at which deceleration occurs in the predetermined section is generated.
The vehicle determination unit
Based on the current position of each main line vehicle, determine whether there is a rear main line vehicle traveling diagonally behind the lane change main line vehicle in the merging lane,
The information generator is
If the rear main line vehicle is present, generate instruction information to instruct the rear main line vehicle to change lanes or change the travel speed before reaching the merge point,
The transmitter is
The information processing apparatus according to claim 1, wherein the instruction information is transmitted to an in-vehicle device of the rear main line vehicle.
The receiver is
Receiving identifier number information indicating a vehicle identifier and a vehicle number of the same vehicle;
Receives main line vehicle information indicating the planned travel route and vehicle identifier of the main line vehicle,
Receives the current state information indicating the vehicle number, current position and current traveling speed of the main line vehicle,
The vehicle determination unit
Using the association between the vehicle identifier and the vehicle number indicated in the identifier number information, the vehicle identifier of the same main line vehicle is associated with the vehicle number, and the planned travel route, the current position, and the current travel speed of the same main line vehicle And determining the lane change main vehicle based on the association between the vehicle identifier of the same main line vehicle and the vehicle number, and the association between the planned travel route of the same main line vehicle, the current position, and the current travel speed. The information processing apparatus according to claim 1.
The receiver is
There is a case where main line vehicle information that is transmitted from the in-vehicle device of any main line vehicle and that indicates the planned travel route, vehicle identifier, current position, and current travel speed of the main line vehicle may be received.
The vehicle determination unit
The information according to claim 12, wherein when the main line vehicle information indicating the planned travel route, the vehicle identifier, the current position, and the current travel speed is received by the receiving unit, the association using the identifier number information is not performed. Processing equipment.
The information generator is
The information processing apparatus according to claim 1, wherein the notification information for notifying a scheduled travel route of the lane change main line vehicle is generated.
The planned traveling route of each main line vehicle is transmitted from the in-vehicle device of each of the one or more main line vehicles traveling on the main line toward the merge point where the main lines and the merge line of the plurality of lanes merge. Main line vehicle information received,
The computer identifies the current position of each main line vehicle,
The main line vehicle in which the computer changes the lane from the lane other than the merging lane where the merging line merges among the plurality of lanes of the main line to the merging lane within a predetermined section after passing the merging point. Is determined based on the planned travel route of each main line vehicle and the current position of each main line vehicle,
When it is determined that the lane change main line vehicle exists, notification information for notifying that the lane change main line vehicle exists is generated,
An information processing method in which the computer transmits the notification information to an in-vehicle device of a merging line vehicle traveling on the merging line.
A main line vehicle that indicates a planned travel route of each main line vehicle that is transmitted from each in-vehicle device of one or more main line vehicles that travel on the main line toward a merge point where a main line and a merge line of a plurality of lanes merge. A reception process for receiving information;
Position identification processing for identifying the current position of each main line vehicle;
Lane change which is a main line vehicle in which a lane change from a lane other than the merging lane where the merging lane merges among the plurality of lanes of the main lane to the merging lane is performed within a predetermined section after passing the merging point Vehicle determination processing for determining whether or not a main line vehicle exists based on a planned travel route of each main line vehicle and a current position of each main line vehicle;
An information generation process for generating notification information for notifying that the lane change main line vehicle exists when it is determined by the vehicle determination process that the lane change main line vehicle exists;
An information processing program for causing a computer to execute transmission processing for transmitting the notification information to an in-vehicle device of a merge line vehicle traveling on the merge line.