JP2018081358A - Merging support device, merging support system, on-vehicle unit, and merging support method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow a vehicle traveling on a merging lane to appropriately recognize a situation of vehicles traveling on a main lane.SOLUTION: A merging support device 10 includes: multiple vehicle detection sensors 12 arranged along a main lane L1 of a road so as to detect main lane vehicles A1 traveling on the main lane L1 in each detection range; a control device 11 for generating merging support information that indicates positions of the main lane vehicles A1 on the main lane L1 on the basis of vehicle detection information from the vehicle detection sensors 12; and road side wireless apparatuses 13 for transmitting merging support information to an on-vehicle unit 20 mounted on a merging vehicle A2 traveling on a merging lane L2.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a merge support device, a merge support system, an in-vehicle device, and a merge support method.

At a merging point on an expressway or the like, a driver of a vehicle traveling on a merging lane performs a driving operation while confirming the movement of another vehicle traveling on the main line around the vehicle. In particular, the driver needs to accurately grasp the movement of the vehicle that affects the merging among the surrounding vehicles traveling on the main line.
For example, Patent Literature 1 discloses a merging support device and a merging support method that support a driving operation by giving a driver an indicator of which vehicle to watch out for when the host vehicle merges.

JP 2007-304992 A

For example, a technology has been developed for grasping surrounding vehicles traveling on the main line through video information from an in-vehicle camera or the like mounted on the vehicle.
In addition, a technology has been developed that can grasp each other's position, distance, and the like traveling on the main line by inter-vehicle communication (wireless communication performed between vehicles through an on-vehicle device (wireless communication device)).

However, information that can be acquired from the video information of the in-vehicle camera may be limited before reaching the junction. For example, there may be a case where there is a shield (such as a sound insulation wall) between the merging lane and the main line and the main line cannot be photographed from the merging lane, or the main line becomes a blind spot because the merging lane is uphill.
In addition, when grasping the position of a vehicle traveling on the main line through inter-vehicle communication, etc., it is assumed that the vehicle traveling on the main line is equipped with an on-vehicle device. If is not installed, the existence of the vehicle cannot be grasped.

  An object of the present invention is to provide a merging support device, a merging support system, an in-vehicle device, and a merging support method that allow a vehicle traveling on a merging lane to appropriately recognize the situation of the vehicle traveling on the main lane.

According to the first aspect of the present invention, a plurality of merging support devices (10) are arranged along the main line (L1) of the road and detect a main line vehicle (A1) that travels on the main line in each detection range. A merging support information generating unit (111) for generating merging support information indicating a position of the main vehicle on the main line based on vehicle detection information from the detection sensor (12), and the merging support information; A roadside wireless device (13) that transmits the vehicle-mounted device (20) mounted on the joining vehicle (A2) traveling on the joining lane (L2).
By doing in this way, the merging vehicle can acquire the merging support information indicating the position of the main line vehicle on the main line through the roadside radio. Therefore, even if the field of view to the main line is limited, the merge support can be received. Moreover, even if it is a vehicle which does not mount a specific vehicle equipment through a vehicle detection sensor, presence can be detected.
From the above, it is possible to make the vehicle traveling on the merged lane properly recognize the situation of the vehicle traveling on the main line.

Moreover, according to the 2nd aspect of this invention, the said some vehicle detection sensor is arrange | positioned so that the mutual detection range of the said adjacent vehicle detection sensor may overlap, and the said merge assistance information generation part is In the overlap region, the vehicle detected by one vehicle detection sensor and the vehicle detected by another vehicle detection sensor are associated as the same vehicle.
By setting it as such a structure, when the same vehicle is detected by a different vehicle detection sensor, it can suppress that one vehicle is detected as two different vehicles. As a result, it is possible to provide merge support information with higher accuracy.

According to the third aspect of the present invention, the merging support information generation unit acquires the speed of the main line vehicle based on the vehicle detection information from the vehicle detection sensor, and the main line vehicle on the main line. The merge support information indicating the position and speed is generated.
With such a configuration, the speed of the vehicle traveling on the main line can be specified, so it is possible to recognize how fast the joined vehicle should travel when joining.

Moreover, according to the 4th aspect of this invention, a merging assistance system is provided with the above-mentioned merging assistance apparatus and the onboard equipment mounted in the said merging vehicle, The said onboard equipment received the said merging assistance information received An image information generation unit (201) that generates image information indicating the position of the main line vehicle on the main line and the position of the confluence vehicle on the merge lane.
With such a configuration, the driver of the merging vehicle can grasp the positional relationship between the own vehicle (merging vehicle) and the main vehicle traveling on the main line at a glance by viewing the image information. .

According to the fifth aspect of the present invention, the merging support system includes the above-described merging support device, the vehicle-mounted device mounted on the merging vehicle, and the automatic driving control that performs control related to the automatic driving of the merging vehicle. And the automatic operation control unit adjusts the position and speed in the merging lane based on the merging support information received by the vehicle-mounted device.
With such a configuration, the merging vehicle, which is an autonomous driving vehicle, receives the merging support information provided from the merging support device while traveling in the merging lane, and appropriately merges based on the merging support information. It can be carried out.

  Moreover, according to the 6th aspect of this invention, an onboard equipment is the said main line vehicle based on the receiving part (200) which receives the said joining assistance information from the above-mentioned joining assistance apparatus, and the received said joining assistance information. An image information generation unit (201) that generates image information indicating the position of the merging vehicle on the merging lane of the merging vehicle.

  According to the seventh aspect of the present invention, the merging support system includes a vehicle detection sensor that detects a main line vehicle that is arranged along the main line of the road and travels along the main line in each detection range, and the vehicle detection method. A roadside radio that transmits vehicle detection information from a sensor to an in-vehicle device mounted in a confluence vehicle traveling in a confluence lane, and an in-vehicle device mounted in the confluence vehicle, wherein the in-vehicle device includes the vehicle A merging support information generation unit (211) that generates merging support information based on the position of the main vehicle on the main line based on vehicle detection information from a detection sensor is provided.

  According to an eighth aspect of the present invention, there is provided a vehicle detection step of detecting a main line vehicle traveling on the main line in each detection range through a plurality of vehicle detection sensors arranged along the main line of the road, and the vehicle detection sensor. A merging support information generating step for generating merging support information based on the position of the main vehicle on the main line based on the vehicle detection information of the vehicle, and an in-vehicle device mounted on the merging vehicle that travels the merging support information on the merging lane And a transmission step of transmitting to the merge support method.

  According to the merging support apparatus, the merging support system, the vehicle-mounted device, and the merging support method described above, the vehicle traveling on the merging lane can be appropriately recognized on the situation of the vehicle traveling on the main lane.

It is a figure showing the whole confluence support system composition concerning a 1st embodiment. It is a figure which shows the function structure of the confluence | merging support system which concerns on 1st Embodiment. It is a figure which shows the processing flow of the confluence | merging assistance apparatus which concerns on 1st Embodiment. It is the 1st figure explaining the function of the control device concerning a 1st embodiment. It is a 2nd figure explaining the function of the control apparatus which concerns on 1st Embodiment. It is a 3rd figure explaining the function of the control apparatus which concerns on 1st Embodiment. It is a 4th figure explaining the function of the control apparatus which concerns on 1st Embodiment. It is a figure explaining the function of the onboard equipment concerning a 1st embodiment. It is a figure which shows the function structure of the confluence | merging assistance system which concerns on 2nd Embodiment. It is a figure which shows the function structure of the confluence | merging assistance system which concerns on 3rd Embodiment.

<First Embodiment>
Hereinafter, the merging support system and the merging support device according to the first embodiment will be described with reference to FIGS.

(Overall configuration of confluence support system)
FIG. 1 is a diagram illustrating an overall configuration of a merging support system according to the first embodiment.
The merge support system 1 includes the above-described merge support device 10 and the vehicle-mounted device 20 mounted on the merge vehicle A2.

As shown in FIG. 1, the merging support device 10 is installed around a merging point C where a merging lane L2 merges with a main line L1 of a road (such as a highway). In the following description, a vehicle traveling on the main line L1 is referred to as “main line vehicle A1”, and a vehicle traveling on the merging lane L2 is also referred to as “merging vehicle A2”.
The joining vehicle A2 according to the present embodiment is a manually operated vehicle in which the driver operates the steering wheel, the accelerator, and the brake.

  As shown in FIG. 1, the merging support device 10 includes a control device 11, a vehicle detection sensor 12, and a roadside wireless device 13.

  The control device 11 is an arithmetic processing device that controls the overall operation of the merging support device 10. In particular, the control device 11 generates merging support information for supporting merging for the merging vehicle A2. Details of the function of the control device 11 will be described later.

The vehicle detection sensors 12 are installed at a plurality of locations along the main line L1 from the merging point C to the upstream side of the main line L1 (the front side in the traveling direction of the main line vehicle A1). The vehicle detection sensor 12 detects the main line vehicle A1 that travels on the main line L1 in each detection range.
In the present embodiment, the vehicle detection sensor 12 is a combination of a vehicle shooting camera and a radar. The vehicle photographing camera photographs a detection range (photographing range) on the main line L1 and outputs video information thereof. In addition, the radar transmits radio waves to the detection range, and outputs radar detection information based on the reflected waves that are reflected by the vehicle body. According to this radar detection information, the position and speed of the vehicle (main line vehicle A1) can be identified.
The vehicle detection sensor 12 outputs the video information and radar detection information (hereinafter collectively referred to as “vehicle detection information”) to the control device 11.
In FIG. 1, the vehicle detection sensor 12 is installed on the road side on the overtaking lane (the lane on the right side in the traveling direction of the vehicle A1), but is not limited to this mode. For example, the vehicle detection sensor 12 may be installed on the road side of the traveling lane (the lane on the left side in the traveling direction of the vehicle A1). By doing in this way, it is possible to accurately detect the presence of the vehicle A1 traveling on the traveling lane side, which is important for merging support.

The vehicle detection sensor 12 is installed every 100 m over a wide range (for example, about 500 m to 1 km) on the upstream side of the junction C.
By doing in this way, the situation of main line vehicle A1 can be recognized from the near side rather than merging vehicle A2 reaches merging point C. Therefore, the merging vehicle A2 can make a safer and more accurate determination based on the situation of the main line vehicle A1 that travels in front of the merging point C.
In addition, for example, when the merging vehicle A2 of the autonomous driving vehicle is in an uncontrollable state, the time until the main line vehicle A1 notices an abnormality while traveling at 100 km / h is 10 seconds (traveling about 278 m), and then suddenly Since the distance (500 m to 1 km) until braking (stop at about 112 m) is ensured, the safety of the main line vehicle A1 is also improved.

The roadside radio 13 is installed along the merge lane L2. The roadside wireless device 13 transmits merging support information toward the merging vehicle A2 traveling on the merging lane L2 via wireless communication. Here, as shown in FIG. 1, the joining vehicle A <b> 2 is equipped with an in-vehicle device 20. The vehicle-mounted device 20 can receive the merge support information transmitted from the roadside wireless device 13.
The roadside wireless device 13 and the vehicle-mounted device 20 perform wireless communication based on, for example, a dedicated short range communications (DSRC) technology.
The roadside wireless devices 13 are installed at a plurality of locations from the merging point C to the upstream side of the merging lane L2 (the front side in the traveling direction of the merging vehicle A2).
By doing in this way, the merging vehicle A2 can receive the merging support information from the front side sufficiently to reach the merging point C, and can make a more accurate determination regarding the driving operation related to the merging.

(Functional configuration of confluence support system)
FIG. 2 is a diagram illustrating a functional configuration of the merge support system according to the first embodiment.
As shown in FIG. 2, the control device 11 of the merge support device 10 includes a vehicle detection information acquisition unit 110, a merge support information generation unit 111, and an output unit 112.

The vehicle detection information acquisition unit 110 acquires vehicle detection information from the plurality of vehicle detection sensors 12.
The merging support information generation unit 111 generates merging support information based on the position and speed of the main vehicle A1 on the main line L1 based on the vehicle detection information from the vehicle detection sensor 12.
The output unit 112 outputs the merge support information generated by the merge support information generation unit 111 to the roadside wireless device 13.

The vehicle-mounted device 20 includes a receiving unit 200, an image information generation unit 201, a display panel 202, and a positioning information acquisition unit 203.
The receiving unit 200 receives a wireless signal from the roadside wireless device 13 and obtains merging support information.
The image information generation unit 201 generates image information indicating the position of the main vehicle A1 on the main line L1 and the position of the confluence vehicle A2 on the merge lane L2 based on the received merging support information.
The display panel 202 is a general liquid crystal display panel, organic EL panel, or the like, and displays the image information generated by the image information generation unit 201. The driver of the merging vehicle A2 receives driving assistance at the time of merging by visually recognizing an image (an image based on the image information) displayed on the display panel 202.
The positioning information acquisition unit 203 receives satellite navigation information (positioning information) for specifying the position of the host vehicle from, for example, a satellite based on GNSS (Global Navigation Satellite System).

(Processing flow of the merge support device)
FIG. 3 is a diagram illustrating a processing flow of the merging support apparatus according to the first embodiment.
The processing flow shown in FIG. 3 is executed by the control device 11 of the merge support device 10.

As shown in FIG. 3, the vehicle detection information acquisition unit 110 of the control device 11 acquires vehicle detection information (video information from a vehicle photographing camera and radar detection information from a radar) from each of a plurality of vehicle detection sensors 12. (Step S01).
Next, the merge support information generation unit 111 of the control device 11 acquires the vehicle number of the vehicle that travels based on the video information among the acquired vehicle detection information. Specifically, the merging support information generation unit 111 performs a predetermined image recognition process on the acquired video information, and extracts the vehicle number from the license plate displayed in the video (step S02).
Next, the merge support information generation unit 111 acquires the position and speed of the main line vehicle A1 included in the video information based on the radar detection information (step S03). Specifically, the position of the main vehicle A1 is expressed in plane coordinates (position (X, Y)) according to the time difference between the time when the radar transmits the electromagnetic wave and the time when the reflected wave returns and the arrival direction of the reflected wave. Can be identified. Further, the speed of the main line vehicle A1 can be determined based on the frequency change generated between the electromagnetic wave transmitted by the radar and the reflected wave. Further, the merging support information generation unit 111 superimposes the video information obtained by the vehicle photographing camera on the position of the main line vehicle A1 specified by the radar detection information, so that the position (X, Y) with respect to one main line vehicle A1 is obtained. Associate the speed (V) and vehicle number.
Next, when one main line vehicle A1 is detected by the plurality of vehicle detection sensors 12, the merge support information generation unit 111 and the other vehicle detection sensor 12 are detected by the vehicle detection sensor 12. Is associated with the vehicle detected by (step S04). The merge support information generation unit 111 selects any one of the information related to the main line vehicle A1 detected in duplicate by the association process. By doing in this way, it can prevent actually detecting one main line vehicle A1 as what exists two units | sets.
Next, the merging support information generation unit 111 calculates a merging space based on the position and speed of the main line vehicle A1 traveling on the main line L1 (step S05).
The output unit 112 of the control device 11 includes the merging support information including the position (X, Y), the speed (V), the vehicle number, and the merging space with respect to each main line vehicle A1 specified by the merging support information generating unit 111. It outputs towards the roadside radio | wireless machine 13 (step S06).

  The control device 11 repeatedly executes the above steps S01 to S06 at intervals of 50 to 100 msec. By doing in this way, each position, speed, etc. of the main line vehicle A1 which drive | works the main line L1 can be recognized in real time.

(Function of control device)
4 to 7 are first to fourth diagrams illustrating functions of the control device according to the first embodiment, respectively.
Detailed processing in each processing step of the processing flow shown in FIG. 3 will be described with reference to FIGS.

As shown in FIG. 4, the plurality of vehicle detection sensors 12 are arranged so as to have overlapping regions where the detection ranges of adjacent vehicle detection sensors 12 overlap each other.
Specifically, the vehicle detection sensor 121 is arranged such that the detection range P1 of the vehicle detection sensor 121 partially overlaps the detection range P0 of the vehicle detection sensor 120. Further, the vehicle detection sensor 122 is arranged such that the detection range P2 of the vehicle detection sensor 122 partially overlaps the detection range P1 of the vehicle detection sensor 121. Hereinafter, a range where the detection range P0 and the detection range P1 overlap is expressed as “overlap region P01”, and a range where the detection range P1 and the detection range P2 overlap is expressed as “overlap region P12”. In FIG. 4, the main line vehicle A1 traveling on the main line L1 is individually expressed as vehicles a1, a2,.

According to the example shown in FIG. 4, vehicles a <b> 1 and a <b> 2 exist in the detection range P <b> 0 of the vehicle detection sensor 120. In this case, the vehicle detection information acquisition unit 110 detects the positions and speeds of the vehicles a1 and a2 from the radar detection information received from the vehicle detection sensor 120, and acquires the vehicle numbers of the vehicles a1 and a2 from the video information.
Vehicles a2, a3, and a4 exist in the detection range P1 of the vehicle detection sensor 121. In this case, the vehicle detection information acquisition unit 110 detects the positions and speeds of the vehicles a2, a3, and a4 based on the radar detection information received from the vehicle detection sensor 121, and the vehicle numbers of the vehicles a2, a3, and a4 based on the video information. To get.
Similarly, vehicles a4, a5, and a6 exist in the detection range P2 of the vehicle detection sensor 122. In this case, the vehicle detection information acquisition unit 110 detects the position and speed of the vehicles a4, a5, and a6 from the radar detection information received from the vehicle detection sensor 122, and the vehicle number of the vehicles a4, a5, and a6 from the video information. To get.
In addition, as shown in FIG. 4, the vehicle a2 belongs to the overlap area P01. Therefore, the vehicle a2 is detected by both the vehicle detection sensor 120 and the vehicle detection sensor 121. Further, the vehicle a4 belongs to the overlapping region P12. Therefore, the vehicle a4 is detected by both the vehicle detection sensor 121 and the vehicle detection sensor 122.

  By the way, the radar detection information output from each vehicle detection sensor 120, 121, 122 indicates a relative positional relationship (relative position) with each vehicle based on the installation position of each sensor itself. Here, the merging support information generation unit 111 records in advance the installation positions of the vehicle detection sensors 120, 121, and 122 on the main line L1. The merge support information generation unit 111 adds the relative positions of the vehicles a1 to a6 detected by the vehicle detection sensors 120, 121, and 122 to the installation positions of the vehicle detection sensors 120, 121, and 122, respectively. The absolute positions of the vehicles a1 to a6 on the main line L1 are recognized. The position coordinates shown in the information tables of FIGS. 5 and 6 indicate the absolute positions of the vehicles a1 to a6 on the main line L1.

The information table shown in FIG. 5 is based on the vehicle detection sensor generated by the merging support information generation unit 111 based on the vehicle detection information received from each of the vehicle detection sensors 120, 121, and 122 in step S03 (FIG. 3). Vehicle position speed information (hereinafter referred to as “sensor-specific vehicle position speed information”).
As shown in FIG. 5, the vehicle position speed information for each sensor is information in which position coordinates (absolute position), speed, and vehicle number are associated with each of the vehicles a1 to a6 detected by the vehicle detection sensors 120, 121, and 122. It is a table.

The sensor-specific vehicle position / speed information T0 is vehicle position / speed information related to the vehicle detected by the vehicle detection sensor 120. For example, according to the sensor-specific vehicle position speed information T0, the information of the position coordinates = (X01, Y01), the speed = V01, and the vehicle number = “11-11” is associated with the sensor-specific vehicle ID = “ID01”. It is done. In addition, information of position coordinates = (X02, Y02), speed = V02, and vehicle number = “22-22” is associated with the sensor-specific vehicle ID = “ID02”.
The various information associated with the sensor-specific vehicle ID = “ID01” is information about the vehicle a1 in FIG. 4, and the various information associated with the sensor-specific vehicle ID = “ID02” is the vehicle a2 in FIG. Information about

The sensor-specific vehicle position / speed information T <b> 1 is vehicle position / speed information related to the vehicle detected by the vehicle detection sensor 121. For example, according to sensor-specific vehicle position speed information T1, with respect to sensor-specific vehicle ID = “ID11”, information of position coordinates = (X02 ′, Y02 ′), speed = V02 ′, and vehicle number = “22-22”. Are associated. In addition, regarding the vehicle-specific sensor ID = “ID12”, information such as position coordinates = (X03, Y03), speed = V03, and vehicle number = “33-33” is associated. Further, with respect to the sensor-specific vehicle ID = “ID13”, information such as position coordinates = (X04, Y04), speed = V04, and vehicle number = “44-44” is associated.
Note that the various information associated with the sensor-specific vehicle ID = “ID11” is information about the vehicle a2 in FIG. 4, and the various information associated with the sensor-specific vehicle ID = “ID12” is the vehicle a3 in FIG. Information about In addition, the various information associated with the sensor-specific vehicle ID = “ID13” is information on the vehicle a4 in FIG.

The sensor-specific vehicle position / speed information T <b> 2 is vehicle position / speed information related to the vehicle detected by the vehicle detection sensor 122. For example, according to the sensor-specific vehicle position speed information T2, with respect to the sensor-specific vehicle ID = “ID21”, information of position coordinates = (X04 ′, Y04 ′), speed = V04 ′, vehicle number = “44-44”. Are associated. Further, with respect to the sensor-specific vehicle ID = “ID22”, information such as position coordinates = (X05, Y05), speed = V05, and vehicle number = “55-55” is associated. Further, regarding the vehicle-specific vehicle ID = “ID23”, information such as position coordinates = (X06, Y06), speed = V06, vehicle number = “66-66” is associated.
The various information associated with the sensor-specific vehicle ID = “ID21” is information on the vehicle a4 in FIG. 4, and the various information associated with the sensor-specific vehicle ID = “ID22” is the vehicle a5 in FIG. Information about In addition, the various information associated with the sensor-specific vehicle ID = “ID23” is information on the vehicle a6 in FIG.

  Here, the information related to the sensor-specific vehicle ID = “ID02” shown in the sensor-specific vehicle position / speed information T1 and the information related to the sensor-specific vehicle ID = “ID11” shown in the sensor-specific vehicle position / speed information T2 are: This is information indicating the position, speed, etc. of the same vehicle (vehicle a2). Therefore, ideally, the position (X02, Y02) and the position (X02 ′, Y02 ′) and the speed V02 and the speed V02 ′ should match, but due to the error of the vehicle detection information, Both do not necessarily match. For this reason, in actuality, erroneous detection as if there are two different vehicles may occur for one vehicle a2.

In FIG. 6, the merge support information generation unit 111 integrates a plurality of sensor-specific vehicle position speed information T0, T1, and T2 obtained by the vehicle detection sensors 120, 121, and 122 in step S04 (FIG. 3). Vehicle position speed information (hereinafter also referred to as “integrated vehicle position speed information T”).
In step S04, the merging support information generation unit 111 searches for a combination of vehicle IDs having the same vehicle number by comparing the vehicle position speed information T0, T1, and T2 by sensor. If a plurality of vehicle IDs having the same vehicle number are found, one of them is selected.
For example, the sensor-specific vehicle ID = “ID02” of the sensor-specific vehicle position / speed information T0 and the sensor-specific vehicle ID = “ID11” of the sensor-specific vehicle position / speed information T1 both have the same vehicle number “22-22”. It is. Therefore, the merging support information generation unit 111 determines that the vehicle related to “ID02” and the vehicle related to “ID11” are one detected in duplicate, and one of them (for example, “ID02”) Select information associated with.
Similarly, the vehicle number is “44-44” for both the sensor-specific vehicle ID = “ID13” of the sensor-specific vehicle position / speed information T1 and the sensor-specific vehicle ID = “ID21” of the sensor-specific vehicle position / speed information T2. Are the same. Therefore, the merging support information generation unit 111 determines that the vehicle related to “ID13” and the vehicle related to “ID21” are one detected in duplicate, and one of them (for example, “ID13”) Select information associated with.

As described above, the merge support information generation unit 111 selects a plurality of pieces of vehicle-detected vehicle position / speed information T0 obtained for each of the vehicle detection sensors 120, 121, and 122 while selecting one of various types of information detected in duplicate. , T1 and T2 are integrated to generate integrated vehicle position speed information T as shown in FIG. Various information associated with each of vehicle ID = “IDA01” to “IDA06” shown in FIG. 6 indicates the position and speed (and vehicle number) of the vehicles a1 to a6, respectively.
In the example of the integrated vehicle position speed information T shown in FIG. 6, the merging support information generation unit 111 employs the position and speed detected by the vehicle detection sensor 120 for the vehicle a2, but in other embodiments. The position and speed detected by the vehicle detection sensor 121 may be employed.
In another embodiment, an average value of a plurality of positions and speeds acquired through a plurality of vehicle detection sensors 120, 121, and 122 may be adopted and integrated. For example, the position coordinate of the vehicle a2 is calculated by an average value of the detection result (position (X02, Y02)) by the vehicle detection sensor 120 and the detection result (position (X02 ′, Y02 ′)) by the vehicle detection sensor 121. Also good.

FIG. 7 illustrates the merge space information U generated by the merge support information generation unit 111 based on the positional relationship between the vehicles a1 to a6.
First, the merge support information generation unit 111, based on the position coordinates indicated by the integrated vehicle position speed information T, out of the vehicles a1 to a6 traveling on the main line L1, the lane adjacent to the merge lane L2 (first travel lane). Are extracted as “target vehicles” constituting the merge space. In the example illustrated in FIG. 4, the merging support information generation unit 111 extracts vehicles a1, a3, a4, and a6 as target vehicles.
Next, the merge support information generation unit 111 calculates the start point and end point of the merge space existing between the target vehicles, and the moving speed of the merge space. Here, the position in the lane direction (X coordinate value) indicated in the integrated vehicle position speed information T indicates the position of the front end face of the vehicle body of each of the vehicles a1 to a6. Therefore, the start point of the merge space is calculated by subtracting the vehicle length Δ (predefined offset value) for one vehicle from the position in the lane direction (X coordinate value) of the preceding vehicle. Further, the position (X coordinate value) of the following vehicle in the lane direction is adopted as the end point of the merge space. The moving speed of the joining space is calculated as, for example, the average speed of the preceding vehicle and the succeeding vehicle that form the joining space.

For example, in the example illustrated in FIG. 4, the merging support information generation unit 111 has a start point = “X03−Δ” and an end point = for a merging space (space ID = “SP1”) existing between the vehicle a1 and the vehicle a3. “X01” and moving speed = “Vs1” (= (V01 + V03) / 2) are calculated. In addition, the merging support information generation unit 111 has a start point = “X06-Δ”, an end point = “X04”, and a moving speed = for a merging space (space ID = “SP2”) existing between the vehicle a4 and the vehicle a6. “Vs2” (= (V04 + V06) / 2) is calculated.
The merging support information generation unit 111 determines that the distance between the vehicle a3 and the vehicle a4 is less than a predetermined determination threshold value (threshold value that is defined based on a determination as to whether the vehicle can be safely merged) or not. It is determined that there is no merge space with the vehicle a4.

  As described above, the merge support information generation unit 111 generates the integrated vehicle position speed information T (FIG. 6) indicating the position and speed of the main vehicle A1 and the merge space information U (FIG. 7) as the merge support information. To do.

(Function of OBE)
FIG. 8 is a diagram for explaining functions of the vehicle-mounted device according to the first embodiment.
The receiving unit 200 (FIG. 2) of the vehicle-mounted device 20 receives the merging support information (integrated vehicle position speed information T, merging space information U).
The image information generation unit 201 (FIG. 2) of the vehicle-mounted device 20 is based on the merging support information acquired through the reception unit 200 and the position of the host vehicle acquired through the positioning information acquisition unit 203. Is generated.
As shown in FIG. 8, the image information D is image information in which the position on the main line L1 of each main line vehicle A1 and the position on the merging lane L2 of the merging vehicle A2 (own vehicle) are shown as an overhead view.
As shown in FIG. 8, the image information D includes a main line image DL1, a merged lane image DL2, a host vehicle image Ds, vehicle images Da1 to Da6, and merged space images Dsp1 and Dsp2. The vehicle images Da1 to Da6 are related to the vehicles a1 to a6 (see FIG. 4) traveling on the main line L1, respectively.
Based on the map information recorded in advance in the vehicle-mounted device 20 and the satellite navigation information acquired through the positioning information acquisition unit 203, the image information generation unit 201 is connected to the main line image DL1, the merged lane image DL2, and the host vehicle. An image Ds is generated.
The image information generation unit 201 generates vehicle images Da1 to Da6 based on the integrated vehicle position speed information T, and generates merge space images Dsp1 and Dsp2 based on the merge space information U.
The merge support information generation unit 111 causes the display panel 202 to display the generated image information D. Thereby, the driver | operator of merge vehicle A2 can grasp | ascertain the position, speed, and merge space of main line vehicle A1 by visually recognizing the image information D displayed on the display panel 202. FIG.

(Function, effect)
As described above, the merging support apparatus 10 according to the first embodiment includes the vehicle detection sensors 12 that are arranged along the main line L1 and detect the main vehicle A1 that travels on the main line L1 in each detection range. The merging support apparatus 10 includes a control device 11 (merging support information generating unit 111) that generates merging support information indicating the position of the main vehicle A1 on the main line L1 based on the vehicle detection information from the vehicle detection sensor 12. . In addition, the merging support device 10 includes a roadside radio 13 that transmits the merging support information to the vehicle-mounted device 20 mounted on the merging vehicle A2 traveling on the merging lane L2.
With such a configuration, the merging vehicle A2 can acquire the merging support information indicating the position of the main line vehicle A1 on the main line L1 through the roadside radio device 13. Therefore, even when the field of view is limited at a stage before reaching the junction point C (for example, when there is an obstacle between the junction lane L2 and the main line L1, etc.), the junction support can be received. it can.
Further, since the vehicle detection sensor 12 (vehicle shooting camera, radar) is a sensor that can directly detect the vehicle body through light and radio waves, any vehicle such as a specific vehicle-mounted device can be used. The presence can be detected even if the vehicle is not mounted.
From the above, it is possible to make the vehicle traveling on the merged lane properly recognize the situation of the vehicle traveling on the main line.

Moreover, according to the confluence | merging assistance apparatus 10 which concerns on 1st Embodiment, the several vehicle detection sensor 12 is arrange | positioned so that it may have an overlapping area | region where the mutual detection range of the adjacent vehicle detection sensor 12 overlaps. In addition, the merge support information generation unit 111 associates the vehicle detected by the one vehicle detection sensor 12 and the vehicle detected by the other vehicle detection sensor 12 as the same vehicle in the overlapping region.
By setting it as such a structure, when the same vehicle is detected by a different vehicle detection sensor, it can suppress that one vehicle is detected as two different vehicles. As a result, it is possible to provide merge support information with higher accuracy.

Further, according to the merge support device 10 according to the first embodiment, the merge support information generation unit 111 further acquires the speed of the main vehicle A1 based on the vehicle detection information from the vehicle detection sensor 12, and on the main line L1. The merge support information indicating the position and speed of the main line vehicle A1 is generated.
By setting it as such a structure, since the speed (or moving speed of merge space) of main line vehicle A1 which drive | works the main line L1 can be pinpointed, when the driver of merge vehicle A2 joins, how much It is possible to recognize whether to travel at a speed of.

Moreover, according to the merge support system 1 which concerns on 1st Embodiment, the vehicle equipment 20 is based on the position on the main line L1 of main line vehicle A1, and the merge lane L2 of merge vehicle A2 based on the received merge support information. An image information generation unit 201 that generates image information D indicating the position of the image information D is provided.
With such a configuration, the driver of the own vehicle (merging vehicle A2) can grasp the positional relationship between the own vehicle and the main vehicle A1 traveling on the main line L1 at a glance by viewing the image information D. can do.

(Modification)
As described above, the merging support system 1 and the merging support apparatus 10 according to the first embodiment have been described in detail. However, specific aspects of the merging support system 1 and the merging support apparatus 10 are not limited to those described above. It is possible to add various design changes and the like without departing from the scope of the invention.

For example, the vehicle detection sensor 12 according to the first embodiment has been described as a combination of a vehicle photographing camera and a radar. However, in other embodiments, the vehicle detection sensor 12 is not limited to this mode.
For example, the vehicle detection sensor 12 according to another embodiment may be configured by only one of a vehicle shooting camera and a radar.
For example, when the vehicle detection sensor 12 is only a radar, the merging support information generation unit 111 cannot associate the same vehicle based on the vehicle number. In this case, the merging support information generation unit 111 may associate and associate two vehicle position / velocity information in which the difference between the position and the speed based on the radar detection information falls within a predetermined error range. Good. For example, in FIG. 5, the difference between the position (X02, Y02) detected by the vehicle detection sensor 120 and the position (X02 ′, Y02 ′) detected by the vehicle detection sensor 121 is within a predetermined error range. The merging support information generation unit 111 associates the vehicle position / speed information related to “ID02” with the vehicle position / speed information related to “ID11” as being from the same vehicle.

In the first embodiment, the merging support information generating unit 111 uses the vehicle length Δ that is defined in advance from the position in the lane direction (X coordinate value) of the preceding vehicle as an offset for the start point (FIG. 7) of the merging space. Although it has been described that it is calculated by subtracting, in other embodiments, it is not limited to this aspect.
The merging support information generation unit 111 according to another embodiment may calculate the start point of the merging space by applying the measurement result of the vehicle length for each main line vehicle A1 to the vehicle length Δ described above.
In this case, for example, the control device 11 may include a vehicle length measuring unit that can measure the vehicle length of the main vehicle A1 based on video information acquired by the vehicle detection sensor 12 (imaging camera).

Moreover, although the onboard equipment 20 which concerns on 1st Embodiment was demonstrated as what recognizes the position of the own vehicle by receiving the satellite navigation information (positioning information) based on GNSS through the positioning information acquisition part 203, others However, the present invention is not limited to this aspect.
For example, in other embodiments, a plurality of vehicle detection sensors 12 may be installed along the merging lane L2 as well as the main line L1. The vehicle detection sensor 12 installed along the merge lane L2 can detect the merge vehicle A2 traveling along the merge lane L2. The vehicle-mounted device 20 mounted on the joining vehicle A2 receives vehicle position speed information related to the own vehicle acquired from the roadside wireless device 13 through the vehicle detection sensor 12, and recognizes the position of the own vehicle. Good.

<Second Embodiment>
Next, a merge support system and a merge support apparatus according to the second embodiment will be described with reference to FIG.

(Functional configuration of confluence support system)
FIG. 9 is a diagram illustrating a functional configuration of the merge support system according to the second embodiment.
The joining vehicle A2 according to the second embodiment is assumed to be an autonomous driving vehicle capable of traveling autonomously.
As shown in FIG. 2, the merging vehicle A2 includes an automatic driving control unit 30 that controls automatic driving control. The automatic operation control unit 30 adjusts the position and speed in the merge lane L2 based on the merge support information received by the vehicle-mounted device 20 and the position of the host vehicle acquired through the positioning information acquisition unit 203.
For example, the automatic operation control unit 30 refers to the moving speed (for example, the moving speed Vs1 (FIG. 7)) of the joining space indicated in the joining space information so that the speed of the host vehicle matches the moving speed Vs1. Accelerate / decelerate. In addition, the automatic operation control unit 30 performs position adjustment so that the position of the host vehicle is located between the start point and the end point indicated in the merge space information.

  With such a configuration, the merging vehicle A2, which is an autonomous driving vehicle, receives the merging support information provided from the merging support device 10 while traveling on the merging lane L2, and is appropriately based on the merging support information. Can be joined.

<Third Embodiment>
Next, a merge support system and a merge support apparatus according to a third embodiment will be described with reference to FIG.

(Functional configuration of confluence support system)
FIG. 10 is a diagram illustrating a functional configuration of the merge support system according to the third embodiment.
The joining vehicle A2 according to the third embodiment is assumed to be an autonomous driving vehicle capable of traveling autonomously as in the second embodiment.
Unlike the first and second embodiments, the control device 11 of the merge support apparatus 10 according to the third embodiment does not include the merge support information generation unit 111. The control device 11 according to the third embodiment outputs the vehicle detection information received from the vehicle detection sensor 12 to the roadside radio device 13. The roadside wireless device 13 transmits the vehicle detection information received from the vehicle detection sensor 12 to the vehicle-mounted device 20 wirelessly.
The vehicle-mounted device 20 according to the third embodiment includes a merging support information generation unit 211.
The merge support information generation unit 211 of the vehicle-mounted device 20 has a function equivalent to that of the merge support information generation unit 111 (FIGS. 2 and 9) provided in the control device 11 according to the first and second embodiments. Yes.
That is, the merging support information generation unit 211 generates merging support information indicating the position and speed of the main vehicle A1 based on the vehicle detection information received through the receiving unit 200. Then, the generated merge support information is output to the automatic operation control unit 30.

As described above, the merging support system 1 may be an aspect in which the vehicle-mounted device 20 includes the function of the merging support information generation unit 111 included in the control device 11 in the first and second embodiments.
In the above-described third embodiment, the joining vehicle A2 is an automatic driving vehicle. However, in another embodiment, the joining vehicle A2 may be a manually operated vehicle. In this case, in the vehicle-mounted device 20, the merge support information generation unit 211 included in the vehicle-mounted device 20 generates the merge support information, and the image information generation unit 201 generates the image information D (FIG. 8) based on the generated merge support information. Generate.

  In each of the above-described embodiments, the processes of the merging support apparatus 10 and the vehicle-mounted device 20 described above are stored in a computer-readable recording medium in the form of a program, and the computer reads out this program. The various processes are performed by executing them. The computer-readable recording medium is a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. Alternatively, the computer program may be distributed to the computer via a communication line, and the computer that has received the distribution may execute the program.

  The program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, what is called a difference file (difference program) may be sufficient. Furthermore, the merging support apparatus 10 and the vehicle-mounted device 20 may each be configured by a single computer, or may be configured by a plurality of computers connected so as to be communicable.

  As described above, several embodiments according to the present invention have been described. However, all these embodiments are presented as examples, and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the invention described in the claims and equivalents thereof as well as included in the scope and gist of the invention.

DESCRIPTION OF SYMBOLS 1 Join support system 10 Join support apparatus 11 Control apparatus 12 Vehicle detection sensor 13 Roadside radio | wireless machine 20 Onboard equipment 30 Automatic operation control part 110 Vehicle detection information acquisition part 111 Join support information generation part 112 Output part 200 Reception part 201 Image information generation part 202 Display Panel 203 Positioning Information Acquisition Unit 211 Merge Support Information Generation Unit A1 Main Line Vehicle A2 Merge Vehicle C Merge Point D Image Information L1 Main Line L2 Merge Lane

Claims (8)

A plurality of vehicle detection sensors that are arranged along the main line of the road and detect a main line vehicle traveling on the main line in each detection range;
A merging support information generating unit that generates merging support information indicating a position of the main vehicle on the main line based on vehicle detection information from the vehicle detection sensor;
A roadside radio that transmits the merging support information to a vehicle-mounted device mounted on a merging vehicle traveling in a merging lane;
A confluence support device comprising: The plurality of vehicle detection sensors are arranged so as to have overlapping regions where the detection ranges of the adjacent vehicle detection sensors overlap.
The merge support information generation unit
The merging support device according to claim 1, wherein in the overlapping region, a vehicle detected by one of the vehicle detection sensors and a vehicle detected by another of the vehicle detection sensors are associated as the same vehicle. The merge support information generation unit
The merge support apparatus according to claim 1, wherein the speed of the main vehicle is acquired based on vehicle detection information from the vehicle detection sensor, and the merge support information indicating the position and speed of the main vehicle on the main line is generated. . The merge support device according to any one of claims 1 to 3,
A vehicle-mounted device mounted on the merging vehicle;
With
The in-vehicle device is
A merging support system comprising an image information generating unit that generates image information indicating the position of the main vehicle on the main lane and the position of the merging vehicle on the merging lane based on the received merging support information. The merge support device according to any one of claims 1 to 3,
A vehicle-mounted device mounted on the merging vehicle;
An automatic operation control unit that performs control related to the automatic operation of the merging vehicle;
With
The automatic operation control unit is
A merging support system that adjusts a position and a speed in the merging lane based on the merging assistance information received by the vehicle-mounted device. A receiving unit that receives the joining support information from the joining support device according to any one of claims 1 to 3;
Based on the received merging support information, an image information generating unit that generates image information indicating the position of the main vehicle on the main line and the position of the merging vehicle on the merging lane;
On-vehicle device equipped with. A plurality of vehicle detection sensors that are arranged along the main line of the road and detect a main line vehicle traveling on the main line in each detection range;
A roadside radio that transmits vehicle detection information from the vehicle detection sensor to an in-vehicle device mounted on a confluence vehicle traveling in a confluence lane, and
A vehicle-mounted device mounted on the merging vehicle;
With
The in-vehicle device is
A merging support system comprising a merging support information generating unit that generates merging support information based on a position of the main vehicle on the main line based on vehicle detection information from the vehicle detection sensor. A vehicle detection step of detecting a main line vehicle traveling on the main line in each detection range through a plurality of vehicle detection sensors arranged along the main line of the road;
A merging support information generating step for generating merging support information based on a position of the main vehicle on the main line based on vehicle detection information from the vehicle detection sensor;
A transmission step of transmitting the merging support information to a vehicle-mounted device mounted on a merging vehicle traveling in a merging lane;
A confluence support method.

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