JP2017107308A - Vehicle control apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle control apparatus capable of transferring a drive authority to a driver at appropriate timing.SOLUTION: A control apparatus includes: a communication machine 13 for receiving a congestion state of an expressway where an own vehicle 10 is to travel and information on a length of an acceleration lane connecting to the expressway; a GPS receiver 14 for detecting an event that the own vehicle 10 is traveling on a junction connecting to the acceleration lane; an information provision part 15 for providing information on transferring a drive authority of the own vehicle 10 to a driver; and a drive support ECU 20 for changing a temporal interval from the information provision part 15 starting to provide the information and disengagement of automatic control of the own vehicle 10 in accordance with the length of the acceleration lane received from the communication machine 13 in the case of the communication machine 13 receiving an event of the expressway being congested, with the GPS receiver 14 detecting an event that the own vehicle 10 is traveling on the junction.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle control device, and more particularly, to delegating driving authority to a driver.

  Currently, various companies and institutions conduct research related to automatic driving such as a vehicle control device that automatically controls acceleration / deceleration operation and steering of a vehicle.

JP 2004-114812 A

  In the above-described vehicle control device, when an uncontrollable situation is detected, the timing for transferring the driving authority from the system to the driver is currently under examination, and there is no appropriate solution (for example, Patent Document 1). For example, if an uncontrollable situation occurs in a scene of merging on a highway, and the driver's authority is transferred suddenly to the driver, the driver may not be able to respond appropriately and may not be able to smoothly join the main road. There is.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a vehicle control device capable of transferring driving authority to a driver at an appropriate timing.

A vehicle control apparatus according to a first invention for solving the above-described problems is
In a vehicle control device that automatically controls acceleration / deceleration operation and steering,
A traffic jam detection means for detecting that the highway on which the vehicle is scheduled to run is jammed;
Lane length receiving means for receiving information on the length of the acceleration lane connected to the highway;
Own vehicle position detecting means for detecting that the vehicle is traveling on a connecting road connected to the acceleration lane;
Information providing means for providing information on delegating the driving authority of the vehicle to the driver;
Information detected by the information providing means when the congestion detecting means detects that the expressway is congested and the vehicle position detecting means detects that the vehicle is traveling on the connecting road. And a control unit that changes a time interval from the start of provision to the cancellation of the automatic control of the vehicle according to the length of the acceleration lane received by the lane length receiving unit.

A vehicle control device according to a second invention for solving the above-mentioned problems is as follows.
In the vehicle control device according to the first invention,
The control means increases the time interval when the acceleration lane is shorter than a predetermined length.

A vehicle control device according to a third aspect of the present invention for solving the above problem is
In the vehicle control device according to the first or second invention,
The control means increases the time interval as the length of the acceleration lane decreases.

A vehicle control device according to a fourth invention for solving the above-described problems is
In the vehicle control device according to any one of the first to third inventions,
The control means sets the length of the acceleration lane to La, sets the speed limit of the connecting road to V1, sets the speed limit of the highway to V2, and travels when accelerating from the speed limit V1 to the speed limit V2. When the distance is Lv, the margin distance Lm is obtained from the following equation (1), the margin time Tm is obtained from the following equation (2), and the length of the acceleration lane La is evaluated by the length of the margin time Tm. Features.
Lm = La−Lv (1)
Tm = Lm / V1 (2)

A vehicle control device according to a fifth aspect of the present invention for solving the above problem is
In the vehicle control device according to any one of the first to fourth inventions,
The information providing means provides information on the length of the acceleration lane.

A vehicle control apparatus according to a sixth invention for solving the above-described problem is
In the vehicle control device according to any one of the first to fifth inventions,
The information providing means is a navigation system, and the color of the acceleration lane displayed on the navigation system is changed according to the length of the acceleration lane.

  According to the first aspect of the invention, the time interval from the start of information provision to the delegation of driving authority to the driver is changed according to the length of the acceleration lane, so that the driver can appropriately start the driving operation. Can be secured. As a result, it is possible to prevent dangerous events such as accidents and to achieve smooth running.

  According to the second invention, when the length of the acceleration lane is shorter than the predetermined length, the time interval from the start of information provision to the transfer of driving authority to the driver is increased. When it is shorter than the length, it is possible to secure more time margin for the driver to appropriately start the driving operation.

  According to the third invention, as the length of the acceleration lane becomes shorter, the time interval from the start of provision of information to the transfer of driving authority to the driver is increased. Therefore, as the length of the acceleration lane becomes shorter, the driver Therefore, it is possible to secure more time margin for appropriately starting the driving operation.

  According to the fourth invention, since the length of the acceleration lane La is evaluated by the length of the margin time Tm, the time interval from the start of information provision to the transfer of driving authority to the driver according to the margin time Tm. Can be set appropriately to ensure a sufficient time margin for the driver to start the driving operation.

  According to the fifth aspect of the invention, since the information on the length of the acceleration lane is provided, the driver can recognize the length of the acceleration lane and appropriately start the driving operation.

  According to the sixth invention, since the color of the acceleration lane displayed on the navigation system is changed according to the length of the acceleration lane, the driver visually recognizes the length of the acceleration lane and appropriately performs the driving operation. Can start.

It is a block diagram explaining an example of an embodiment of a vehicle control device concerning the present invention. It is a flowchart explaining the procedure of the driving authority transfer implemented with the vehicle control apparatus shown in FIG. It is a figure explaining the length of the acceleration lane in the flowchart shown in FIG. It is a figure explaining an example of driving authority transfer in case an acceleration lane is long. It is a figure explaining other examples of transfer of driving authority when an acceleration lane is long. It is a figure explaining an example of driving authority transfer when an acceleration lane is short. It is a figure explaining other examples of driving authority transfer in case an acceleration lane is short.

  Hereinafter, an embodiment of a vehicle control device according to the present invention will be described with reference to FIGS. Here, the driving authority transfer in a scene where the vehicle joins from the acceleration lane to the main road on the expressway will be described, but the present invention can be applied to any scene equivalent to this.

  Since the present invention relates to “driving authority transfer” of the vehicle control device, detailed description of the acceleration / deceleration operation and steering automatic control of the vehicle will be omitted, but the configuration will be briefly described. The vehicle control device, for example, controls a vehicle speed, a steering amount, and the like based on a road condition, a position of the own vehicle, a driving state, etc. The controller includes a controller that determines a value, and an actuator that drives an accelerator, a brake, a steering, and the like based on the control value.

[Example 1]
FIG. 1 is a block diagram illustrating a vehicle control apparatus according to the present embodiment. FIG. 2 is a flowchart for explaining the procedure for transferring the driving authority performed by the vehicle control apparatus shown in FIG. 1, and FIG. 3 is a diagram for explaining the length of the acceleration lane in the flowchart shown in FIG. is there.

  The vehicle control apparatus of the present embodiment (hereinafter referred to as the host vehicle 10) is assumed to perform automatic control of acceleration / deceleration operation and steering, although illustration and description are omitted. As a configuration for transferring the driving authority, as shown in FIG. 1, a vehicle speed sensor 11, a radar 12, a communication device 13, a GPS (Global Positioning System) receiver 14, an information providing unit 15, The vehicle control unit 16 and a driving support ECU (Electronics Control Unit) 20 are included.

  The vehicle speed sensor 11 detects the vehicle speed of the host vehicle 10 based on a pulse signal output in proportion to the rotation speed of the axle of the host vehicle 10.

  Further, the radar 12 measures the inter-vehicle distance with the surrounding vehicle that travels around the host vehicle 10 using millimeter waves or the like. Note that other means may be used as long as the inter-vehicle distance with the surrounding vehicle can be measured. For example, the inter-vehicle distance with the surrounding vehicle may be measured by image processing of a captured image using a camera.

  Further, the communication device 13 (congestion detecting means, lane length receiving means) receives road information such as the length of the acceleration lane and traffic information such as the presence or absence of traffic on the main road. As the communication device 13, for example, a Wi-Fi (registered trademark: Wireless Fidelity) standard wireless LAN communication device or the like can be used, and road information and traffic information are received by wireless communication from a wireless LAN spot. If only traffic information is available, a VICS (registered trademark: Vehicle Information and Communication System) communication device can be used as the communication device 13, and the traffic information is wirelessly transmitted from FM multiplex broadcasting or a beacon installed on the road. It will be received by communication.

  The GPS receiver 14 (own vehicle position detecting means) detects the position of the own vehicle using radio waves from an artificial satellite.

  Further, the information providing unit 15 (information providing means) provides information that the driving authority is transferred to the driver when the driving support ECU 20 determines that the driving authority is transferred to the driver. The information providing unit 15 corresponds to, for example, a navigation system (hereinafter referred to as “navigation”). Information on driving authority delegation to the driver may be provided by using sound or voice together with the screen display on the navigation.

  In addition, the vehicle control unit 16 controls the acceleration and deceleration of the host vehicle 10 based on the target acceleration / deceleration information calculated by the driving support ECU 20 and the system state. The vehicle control unit 16 is, for example, an engine ECU, and includes a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like.

  The driving support ECU 20 (control means) includes a CPU, a RAM, a ROM, and the like, which will be described later based on road information and traffic information received by the communication device 13, vehicle position information detected by the GPS receiver 14, and the like. As described above, the driving authority delegation timing is calculated, and based on the calculated timing, the information providing unit 15 is used to provide driving authority delegation information to the driver, and then the driving authority is delegated to the driver. Yes.

  Here, although the communication device 13, the GPS receiver 14, and the information providing unit 15 are independent devices, it is possible to carry these devices with one navigation. In that case, traffic information such as the presence or absence of traffic congestion is obtained using the VICS function of the navigation, road information such as the length of the acceleration lane is obtained based on the map information of the navigation, and the vehicle is used using the GPS function of the navigation. When the position is acquired and the driving authority is transferred to the driver, the driving authority transfer may be provided on the navigation screen or the like.

  Next, with reference to FIG. 1 together with FIG. 2 and FIG. 3, a procedure for driving authority transfer performed in the host vehicle 10 of this embodiment will be described.

(Step S1)
The driving support ECU 20 receives the traffic information by wireless communication using the communication device 13, and determines whether the main road of the highway on which the host vehicle 10 is scheduled to travel is in a congested state based on the received traffic information. If it is in a traffic jam state, the process proceeds to step S2, and if it is not in a traffic jam state, reception of traffic information and traffic jam determination are repeated. That is, it is determined whether or not automatic driving can be controlled by detecting the presence or absence of traffic jams. At this time, not only the presence or absence of traffic jams, but also the vehicle speed detected by the vehicle speed sensor 11 and the inter-vehicle distance measured by the radar 12 are taken into consideration, and it is determined whether or not the automatic driving can be controlled. good.

(Step S2)
The driving assistance ECU 20 uses the GPS receiver 14 to detect the position of the host vehicle, and based on the detected position of the host vehicle, the host vehicle 10 is traveling on a junction (or a ramp) that is a connection road connecting to the acceleration lane. If the vehicle is traveling at the junction, the process proceeds to step S3. If the vehicle is not traveling at the junction, the detection of the vehicle position and the determination of the traveling lane are repeated.

(Step S3)
The driving support ECU 20 confirms whether or not the information on the length of the acceleration lane has been received by wireless communication by the communication device 13, and if the information is received, the process proceeds to step S4, and if the information is not received. The process proceeds to step S5.

(Step S4)
The driving support ECU 20 checks whether or not the surplus time Tm is 5 seconds or more. If Tm ≧ 5 seconds, the process proceeds to step S5, and if Tm <5 seconds, the process proceeds to step S6.

  Here, the margin time Tm will be described with reference to FIG. In FIG. 3, the junction Rj is connected to the acceleration lane Ra, the acceleration lane Ra is connected to the main lane Rm of the expressway, and the host vehicle 10 enters the main lane Rm via the junction Rj and the acceleration lane Ra. Will join. In FIG. 3, La is the length of the acceleration lane Ra, V1 is the speed limit of the junction Rj (for example, 40 km / h), V2 is the speed limit of the main road Rm of the expressway (for example, 100 km / h), When Lv is a travel distance when accelerating from the speed limit V1 to the speed limit V2, the margin distance Lm is obtained from the following equation (1), and the margin time Tm is obtained from the following equation (2).

Lm = La−Lv (1)
Tm = Lm / V1 (2)

  Here, the threshold value of the margin time Tm is 5 seconds, but this is calculated and set based on the following condition 4 based on the following conditions 1-3.

(Condition 1) Speed limit V1 of junction Rj = 40 [km / h]
(Condition 2) Speed limit V2 of main road Rm on the expressway V2 = 100 [km / h]
(Condition 3) ACCS upper limit acceleration a = 0.4 G = 3.9 m / s ²
(Condition 4) Time Tv required to accelerate from the speed limit V1 to V2 in the acceleration lane Ra
In addition, ACCS (Adaptive Cruise Control System) is a cruise control system with an inter-vehicle distance control function, and G is gravitational acceleration.

For example, as shown in Table 1 below, the speed limit V1 of the junction Rj = 40 km / h, the speed limit V2 of the main road Rm on the highway is 100 km / h, and the acceleration a = 3 from the speed limit V1 to the speed limit V2 When calculated as .9 m / s ² , the travel distance Lv is 84.0 m, and the time Tv is 4.3 seconds (see the portion surrounded by the thick line in Table 1). Based on the above conditions and calculations, the threshold of the margin time Tm is 5 seconds.

  Thus, here, the threshold value of the margin time Tm is set to 5 seconds. However, for example, the condition 1 and the condition 2 change depending on the place, so the threshold value is also changed according to the speed limits V1 and V2 at the place. Just do it. For example, when V1 = 40 km / h → V2 = 80 km / h, the calculation shown in Table 1 above results in Lv = 48.6 m and Tv = 2.9 seconds. In such a case, the threshold value of the margin time Tm may be set to 7 seconds, for example. In other words, about 10 seconds are secured as the time from delegation of driving authority, which will be described later, to joining the main road Rm.

  That is, here, the length La of the acceleration lane Ra is evaluated by the length of the margin time Tm with respect to the threshold.

(Step S5)
When Tm ≧ 5 seconds, the driving support ECU 20 determines that the acceleration lane Ra is long, and information that “delegation of driving authority after 5 seconds” is 5 seconds before the start position Ps of the acceleration lane Ra. Information is provided using the providing unit 15. That is, at the position 5 seconds before the start position Ps of the acceleration lane Ra, information is provided that “the driving authority is delegated after 5 seconds”, and at the start position Ps of the acceleration lane Ra that is 5 seconds after the information provision, Driving authority will be transferred to the driver. In this case, 5 seconds is secured as the time interval from the provision of information to the transfer of driving authority, and the time interval from the provision of information to the merge onto the main road Rm is about 15 seconds or More time is secured.

  Here, although the driving authority is delegated to the driver at the start position Ps of the acceleration lane Ra, the driving authority is delegated to the driver and then joined to the main road Rm as described later with reference to FIG. If sufficient time is secured, the driving authority may be transferred to the driver after entering the acceleration lane Ra (after the start position Ps).

(Step S6)
On the other hand, when Tm <5 seconds, the driving support ECU 20 determines that the acceleration lane Ra is short, and information that “the driving authority is transferred after 5 + α seconds” is 5 + α seconds before the start position Ps of the acceleration lane Ra. Information is provided using the providing unit 15. That is, at a position 5 + α seconds before the start position Ps of the acceleration lane Ra, information is provided to “delegate the driving authority after 5 + α seconds”, and at the start position Ps of the acceleration lane Ra that is 5 + α seconds after the information provision, Driving authority will be transferred to the driver.

  Here, α is, for example, a constant value of α = 5. This is the minimum value of Tm in the case of step S5. In this case, 10 seconds is secured as the time from providing information to delegating the driving authority, and about 15 seconds or more as the time from providing information to joining the main road Rm. Of time.

  On the other hand, α may be a variable value. For example, α may be set such that 5 + α + Tm = 10. In this case, 5 to 10 seconds is secured as the time from providing the information to delegating the driving authority, and about 15 seconds as the time from providing the information to joining the main road Rm. More time is secured.

  In addition, the information provision mentioned above may provide information continuously until driving assistance ECU20 delegates a driving authority to a driver. For example, in the case of step S5 described above, it is only necessary to start providing information at a position 5 seconds before the start position Ps of the acceleration lane Ra, and to continue providing information for the subsequent 5 seconds. In the case of step S6 described above, Information provision may be started at a position 5 + α seconds before the start position Ps of the acceleration lane Ra, and information provision may be continued for 5 + α seconds thereafter. In that case, you may count down the remaining time until driving authority transfer.

  In addition, when providing the information described above, the information on the length La of the acceleration lane Ra received by the communication device 13 may be provided by using sound or the like together with the screen display on the navigation. Furthermore, the color of the acceleration lane Ra displayed on the navigation may be changed according to the length La of the acceleration lane Ra. For example, when Tm ≧ 5 seconds, the color of the acceleration lane Ra is blue, when 5 seconds> Tm ≧ 0 seconds, the color of the acceleration lane Ra is yellow, and as will be described later with reference to FIG. In the case of <0 seconds, the acceleration lane Ra may be red.

(Step S7)
When Tm ≧ 5 seconds, the driving support ECU 20 delegates the driving authority to the driver at the start position Ps of the acceleration lane Ra 5 seconds after the information provision, and when Tm <5 seconds, 5 + α seconds after the information provision. Then, a series of procedures are completed, and thereafter, the driver's vehicle 10 is driven and operated in the acceleration lane Ra according to the judgment of the driver according to the surrounding situation, and merges with the main lane Rm.

  As described above, in this embodiment, the timing of providing information in advance before transferring the driving authority to the driver is changed in accordance with the length La of the acceleration lane Ra in the scene of merging with the main road Rm on the highway. ing. Specifically, when the length La of the acceleration lane Ra is shorter than a predetermined length, the time interval from the start of information provision to the transfer of driving authority to the driver is increased, and the length La is shortened. The time interval is increased accordingly.

  Usually, in the acceleration lane Ra of the expressway, the driver's psychological state is unstable because he / she refrains from joining the main lane Rm. In such a case, it is not safe to transfer the authority of autonomous driving suddenly. However, as described above, in this embodiment, the time interval from the start of information provision to the delegation of driving authority to the driver is increased, and the timing of information provision is adjusted, so the driver appropriately starts the driving operation. This will ensure time allowance. Therefore, the driver can appropriately start the driving operation. As a result, a dangerous event such as an accident can be prevented in advance and a smooth running can be realized.

  Next, with reference to FIGS. 4 to 7, the driving authority transfer when the acceleration lane Ra is long and the acceleration lane Ra is short will be specifically described. Here, FIG. 4 is a diagram illustrating an example of the transfer of driving authority when the acceleration lane Ra is long, and FIG. 5 is a diagram illustrating another example of the transfer of driving authority when the acceleration lane Ra is long. . FIG. 6 is a diagram illustrating an example of driving authority transfer when the acceleration lane Ra is short, and FIG. 7 is a diagram illustrating another example of driving authority transfer when the acceleration lane Ra is short.

  Case 1-1 shown in FIG. 4 is a case where the acceleration lane Ra is long. Specifically, this is a case where the margin time Tm for evaluating the length La of the acceleration lane Ra is long and Tm ≧ 5 seconds.

  In case 1-1 shown in FIG. 4, the main lane Rm is in a traffic jam state, and the host vehicle 10 is traveling on the junction Rj. When the length La of the acceleration lane Ra is received, the margin time Tm based on the length La is Tm ≧ 5 seconds. Therefore, in the host vehicle 10, as described in step S5, the acceleration lane Ra The information is provided at the position 5 seconds before the start position Ps of "Delegation of driving authority after 5 seconds" (information provision start), and then the automatic driving is canceled at the start position Ps of the acceleration lane Ra (= driving) Delegating authority to the driver).

  Case 1-2 shown in FIG. 5 is the same as FIG. 4 and is a case where the acceleration lane Ra is long. Specifically, this is a case where the margin time Tm for evaluating the length La of the acceleration lane Ra is long and Tm ≧ 5 seconds.

  Also in case 1-2 shown in FIG. 5, the main lane Rm is in a traffic jam state, and the host vehicle 10 is traveling on the junction Rj. When the length La of the acceleration lane Ra is received, the margin time Tm based on the length La is Tm ≧ 5 seconds. In this case, if a sufficient time from the cancellation of the automatic driving to the joining to the main road Rm can be secured (for example, if about 10 seconds or more can be secured), the vehicle enters the acceleration lane Ra as shown in FIG. The automatic operation may be canceled after the start position Ps is passed.

  For example, if Tm = 7 seconds, in FIG. 5, the host vehicle 10 provides information that “delegates the driving authority after 5 seconds” at a position 3 seconds before the start position Ps of the acceleration lane Ra (information Thereafter, automatic driving is canceled at a position 2 seconds after the start position Ps of the acceleration lane Ra.

  Case 2-1 shown in FIG. 6 is a case where the acceleration lane Ra is short. Specifically, this is a case where the margin time Tm for evaluating the length La of the acceleration lane Ra is short and Tm <5 seconds.

  Also in case 2-1 shown in FIG. 6, the main lane Rm is in a traffic jam state, and the host vehicle 10 is traveling on the junction Rj. When the length La of the acceleration lane Ra is received, the margin time Tm based on the length La is Tm <5 seconds. Therefore, in the host vehicle 10, as described in step S6, the acceleration lane Ra Is provided at the position 5 + α seconds before the start position Ps of the vehicle (providing that the driving authority is transferred after 5 + α seconds) (information provision start), and then the automatic driving is canceled at the start position Ps of the acceleration lane Ra. It will be.

  Case 2-2 shown in FIG. 7 is a case where the acceleration lane Ra is short and is shorter than the case of FIG. Specifically, this is a case where the margin time Tm for evaluating the length La of the acceleration lane Ra is further shorter and Tm <0 seconds.

  Also in case 2-2 shown in FIG. 7, the main lane Rm is in a traffic jam state, and the host vehicle 10 is traveling on the junction Rj. When the length La of the acceleration lane Ra is received, the margin time Tm based on the length La is Tm <0 seconds. Therefore, in the host vehicle 10, as described in step S6, the acceleration lane Ra Is provided at the position 5 + α seconds before the start position Ps of the vehicle (providing that the driving authority is transferred after 5 + α seconds) (information provision start), and then the automatic driving is canceled at the start position Ps of the acceleration lane Ra. It will be.

  In this case, since Tm is a negative value, α is larger than that in case 2-1. For example, when α is set such that 5 + α + Tm = 10, when Tm = −2, α = 7. In other words, at the position 12 seconds before the start position Ps of the acceleration lane Ra, it starts to provide information that “the driving authority is delegated after 12 seconds”, and then the automatic operation is canceled at the start position Ps of the acceleration lane Ra. become.

  The present invention is suitable for a vehicle control device that automatically controls acceleration / deceleration operation and steering.

13 Communication Device 14 GPS Receiver 15 Information Providing Unit 20 Driving Support ECU

Claims (6)

In a vehicle control device that automatically controls acceleration / deceleration operation and steering,
A traffic jam detection means for detecting that the highway on which the vehicle is scheduled to run is jammed;
Lane length receiving means for receiving information on the length of the acceleration lane connected to the highway;
Own vehicle position detecting means for detecting that the vehicle is traveling on a connecting road connected to the acceleration lane;
Information providing means for providing information on delegating the driving authority of the vehicle to the driver;
Information detected by the information providing means when the congestion detecting means detects that the expressway is congested and the vehicle position detecting means detects that the vehicle is traveling on the connecting road. A vehicle control apparatus comprising: a control unit that changes a time interval from the start of provision to the cancellation of the automatic control of the vehicle according to the length of the acceleration lane received by the lane length receiving unit. The vehicle control device according to claim 1,
The control means increases the time interval when the length of the acceleration lane is shorter than a predetermined length. In the vehicle control device according to claim 1 or 2,
The vehicle control device, wherein the control means increases the time interval as the length of the acceleration lane becomes shorter. In the vehicle control device according to any one of claims 1 to 3,
The control means sets the length of the acceleration lane to La, sets the speed limit of the connecting road to V1, sets the speed limit of the highway to V2, and travels when accelerating from the speed limit V1 to the speed limit V2. When the distance is Lv, the margin distance Lm is obtained from the following equation (1), the margin time Tm is obtained from the following equation (2), and the length of the acceleration lane La is evaluated by the length of the margin time Tm. A vehicle control device.
Lm = La−Lv (1)
Tm = Lm / V1 (2) In the vehicle control device according to any one of claims 1 to 4,
The information providing means provides information on the length of the acceleration lane. In the vehicle control device according to any one of claims 1 to 5,
The information providing means is a navigation system, and changes the color of the acceleration lane displayed on the navigation system according to the length of the acceleration lane.

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