JP2018092669A - Merging support device, merging support method, and merging support program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a merging support device which can smoothen flow of traffic at a junction by making points to merging in congestion to one.SOLUTION: A merging support device is mounted on a moving body to acquire current position information of the moving body. In addition, the merging support device presents a recommended merging area when the moving body is on a merging lane. The recommended merging area is an area on the merging lane which is recommended as a place for merging when the merging lane merges into a specific road, and preferably considered as an area at a predetermined distance from a head position of the merging lane.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a driving support technique at the time of merging of vehicles.

  A car navigation device that supports driving at the time of merging from a merging lane to a main lane has been proposed. For example, Patent Document 1 describes a method of notifying a driver of a joining vehicle when the joining vehicle indicates the intention of joining, and a vehicle traveling on the main line permits or allows joining. Yes.

JP 2012-118870 A

  Patent Document 1 does not describe any place where the merging lanes meet. In addition, when the technique of Patent Document 1 is implemented, for example, when joining a congested road, merging may be performed at a plurality of locations on the merging lane and the main line, which may cause further traffic congestion. Furthermore, when merging is performed at a plurality of places as described above, a vehicle traveling on the main line may have to merge vehicles on the merging lane several times, resulting in inconvenience and unfairness.

  Examples of the problems to be solved by the present invention include those described above. An object of the present invention is to provide a merging support apparatus capable of smoothing the flow of traffic at a merging point by setting one point to merge at a traffic jam.

  The invention described in the claims is a merging support device, wherein when the current position is on a merging lane for merging with a specific road, a current position obtaining unit that obtains current position information of a moving object And a presentation control means for performing a control for presenting a recommended merge area which is an area on the merge lane recommended as a place to perform the performance.

  The invention described in another claim is a merging support method executed by the merging support device, wherein a current position acquisition step of acquiring current position information of a moving body, and the current position for merging with a specific road A presentation control step of performing control for presenting a recommended joining area that is an area on the joining lane recommended as a place for joining when the place is on the joining lane.

  The invention described in another claim is a merge support program executed by a merge support apparatus including a computer, wherein current position acquisition means for acquiring current position information of a moving body, and the current position merges with a specific road The computer is caused to function as presentation control means for performing control for presenting a recommended merge area that is an area on the merge lane recommended as a place to perform merge.

It is a block diagram which shows schematic structure of the confluence | merging assistance apparatus which concerns on the Example of this invention. The recognition range of an image sensor and a radar is shown typically. It is a block diagram which shows the structure of a navigation apparatus. It is a figure explaining the basic method of merge support. It is a flowchart of a merge support process. It is a flowchart of a target vehicle selection process. It is a flowchart of a target vehicle change process. It is a flowchart of a target vehicle change process. The example which changes a target vehicle is shown. The other example which changes a target vehicle is shown.

  In a preferred embodiment of the present invention, the merge support device includes a current position acquisition unit configured to acquire current position information of a moving object, and a merge when the current position is on a merge lane for merging with a specific road. Presentation control means for performing control for presenting a recommended merge area which is an area on the merge lane recommended as a place to perform.

  Said confluence | merging assistance apparatus is mounted in a moving body, and acquires the present position information of a moving body. The merging support apparatus presents a recommended merging area when the moving body is on the merging lane. The recommended merging area is an area on the merging lane recommended as a merging place when the merging lane merges with the specific road, and is preferably an area having a predetermined distance from the head position of the merging lane. According to this merging support device, when the moving body is in the merging lane, the recommended merging area is presented, so that the moving body can join in order in the recommended merging area, thereby preventing congestion at the merging point. it can.

  In one aspect of the merging support apparatus, the presentation control unit performs control for presenting information that prompts the start of a merging operation when the current position is within the recommended merging area. In this aspect, when the current position of the moving body enters the recommended merge area, information that prompts the start of the merge operation, for example, an instruction to issue a turn signal is presented.

  One aspect of the merging support apparatus includes a congestion determination unit that determines whether or not the merging lane is congested, and when the presentation control unit determines that the merging lane is congested, Control for presenting the recommended merge region is performed. In this aspect, the recommended merge area is presented when the merge lane is congested.

  Another aspect of the merging support apparatus includes a designation unit that designates another moving body that is traveling on the specific road as a target moving body, and the presentation control unit is configured to specify the target moving body. When the current position is within the recommended merge area, information for prompting the start of a merge operation for merging behind the target moving body is presented. In this aspect, the moving body that is traveling on the specific road at the junction is designated as the target moving body. Then, when the moving body enters the recommended merging area, information is presented so as to merge behind the target moving body.

  In another preferred embodiment of the present invention, the merge support method executed by the merge support apparatus includes a current position acquisition step of acquiring current position information of a moving body, and a merge for the current position to merge with a specific road. A presentation control step of performing control for presenting a recommended joining area, which is an area on the joining lane recommended as a place to join when it is on the lane. According to this merging support method, the recommended merging area is presented when the moving body is in the merging lane.

  In another preferred embodiment of the present invention, a merging support program executed by a merging support device comprising a computer is a current position acquisition means for acquiring current position information of a moving body, because the current position joins a specific road. The computer is caused to function as presentation control means for performing control for presenting a recommended merge area that is an area on the merge lane recommended as a place where the merge is performed. By executing this program by a computer, the above-described merging support apparatus can be realized. This joining support program can be stored and handled in a storage medium.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[Confluence support device]
FIG. 1 shows a schematic configuration of a merging support apparatus according to the present invention. The merge support device 100 is mounted on a vehicle, and includes a navigation device 1, a front image sensor 15F, a side image sensor 15S, a rear image sensor 15R, a front radar 16F, a side radar 16S, And a rear radar 16R. In the following description, when it is not necessary to distinguish the positions, the front image sensor 15F, the side image sensor 15S, and the rear image sensor 15R are collectively referred to as “image sensor 15”, and the front radar 16F and the side radar are referred to. 16S and the rear radar 16R are collectively referred to as “radar 16”.

  The image sensor 15 includes a photographing device such as a camera and photographs an image around the vehicle. As shown in FIG. 2, a pair of front image sensors 15F are attached to the left and right positions of the front portion of the vehicle 4, and each captures an image in the range 17F. A pair of side image sensors 15S are attached to the left and right positions of the side portion of the vehicle 4, and each captures an image in the range 17S. A pair of rear image sensors 15R are attached to the left and right positions of the rear portion of the vehicle 4, and each captures an image in the range 17R. The detection result by the image sensor 15 is sent to the navigation device 1.

  The radar 16 is a millimeter wave radar, for example, and detects the presence / absence of an obstacle around the vehicle, the distance from the obstacle, the direction of the obstacle, and the like. As shown in FIG. 2, a pair of front radars 16F are attached to the left and right positions of the front part of the vehicle 4, and each detects an obstacle in a range 17F. A pair of side radars 16S are attached to the left and right positions of the side part of the vehicle 4, and each detects an obstacle in the range 17S. A pair of rear image radars 16R are attached to the left and right positions of the rear part of the vehicle 4, and each detects an obstacle in the range 17R. The detection result by the radar 16 is sent to the navigation device 1.

  FIG. 3 shows the configuration of the navigation device 1. As shown in FIG. 3, the navigation device 1 includes a self-supporting positioning device 10, a GPS receiver 18, a system controller 20, a disk drive 31, a data storage unit 36, a communication interface 37, a communication device 38, a display unit 40, a voice output. A unit 50 and an input device 60 are provided.

  The autonomous positioning device 10 includes an acceleration sensor 11, an angular velocity sensor 12, and a distance sensor 13. The acceleration sensor 11 is made of, for example, a piezoelectric element, detects vehicle acceleration, and outputs acceleration data. The angular velocity sensor 12 is composed of, for example, a vibrating gyroscope, detects the angular velocity of the vehicle when the direction of the vehicle is changed, and outputs angular velocity data and relative azimuth data. The distance sensor 13 measures a vehicle speed pulse composed of a pulse signal generated with the rotation of the vehicle wheel.

  The GPS receiver 18 receives radio waves 19 carrying downlink data including positioning data from a plurality of GPS satellites. The positioning data is used to detect the absolute position of the vehicle (hereinafter also referred to as “current position”) from latitude and longitude information.

  The system controller 20 includes an interface 21, a CPU (Central Processing Unit) 22, a ROM (Read Only Memory) 23, and a RAM (Random Access Memory) 24, and controls the entire navigation apparatus 1.

  The interface 21 performs interface operations with the acceleration sensor 11, the angular velocity sensor 12, the distance sensor 13, and the GPS receiver 18. From these, vehicle speed pulses, acceleration data, relative azimuth data, angular velocity data, GPS positioning data, absolute azimuth data, and the like are input to the system controller 20. The interface 21 performs an interface operation with the image sensor 15 and the radar 16, and inputs an image captured by the image sensor 15 and a detection signal from the radar to the system controller 20.

  The CPU 22 controls the entire system controller 20. The ROM 23 includes a nonvolatile memory (not shown) in which a control program for controlling the system controller 20 is stored. The RAM 24 stores various data such as route data preset by the user via the input device 60 so as to be readable, and provides a working area to the CPU 22.

  A system controller 20, a disk drive 31 such as a CD-ROM drive or a DVD-ROM drive, a data storage unit 36, a communication interface 37, a display unit 40, an audio output unit 50, and an input device 60 are mutually connected via a bus line 30. It is connected to the.

  The disc drive 31 reads and outputs content data such as music data and video data from the disc 33 such as a CD, DVD, Blu-ray Disc, etc. under the control of the system controller 20.

  The data storage unit 36 is composed of, for example, an HDD and stores various data used for navigation processing such as map data. The communication device 38 acquires vehicle information 39 managed by an ECU (Electronic Control Unit) through an in-vehicle communication network of the vehicle.

  The display unit 40 displays various display data on a display device such as a display under the control of the system controller 20. Specifically, the system controller 20 reads map data from the data storage unit 36. The display unit 40 displays the map data read from the data storage unit 36 by the system controller 20 on the display screen. The display unit 40 includes a graphic controller 41 that controls the entire display unit 40 based on control data sent from the CPU 22 via the bus line 30 and a memory such as a VRAM (Video RAM), and can display image information that can be displayed immediately. A buffer memory 42 that temporarily stores, a display control unit 43 that controls display of a display 44 such as a liquid crystal display or a CRT (Cathode Ray Tube) based on image data output from the graphic controller 41, and a display 44 are provided. . The display 44 functions as an image display unit, and includes, for example, a liquid crystal display device having a diagonal size of about 5 to 10 inches and is mounted near the front panel in the vehicle.

  The audio output unit 50 is a D / A converter 51 that performs D / A (Digital to Analog) conversion of audio digital data sent from the disk drive 31 or the RAM 24 via the bus line 30 under the control of the system controller 20. , An amplifier (AMP) 52 that amplifies the audio analog signal output from the D / A converter 51, and a speaker 53 that converts the amplified audio analog signal into sound and outputs the sound into the vehicle.

  The input device 60 includes keys, switches, buttons, a remote controller, a voice input device, and the like for inputting various commands and data. The input device 60 is disposed around the front panel and the display 44 of the main body of the in-vehicle electronic system mounted in the vehicle. When the display 44 is a touch panel system, the touch panel provided on the display screen of the display 44 also functions as the input device 60.

  In the above configuration, the CPU 22 functions as a current position acquisition unit, a presentation control unit, and a traffic jam determination unit of the present invention.

[Meeting support method]
(Basic confluence support method)
In the merging support method of the present embodiment, first, a recommended merging area (hereinafter referred to as `` This is characterized in that it is called a “merging zone”. FIG. 4 is a diagram illustrating the merge support method according to the present embodiment. Specifically, FIG. 4A schematically shows a state where the own vehicle 4 merges from the merge lane to the main line when the merge point is congested. In the following description, a “merging point” refers to a region on the main line and a merge lane where a merging lane is provided along the main line and the vehicle can change lanes. Further, the “recommended merging region (merging zone)” refers to a region at a predetermined distance (predetermined length) from the tip position of the merging lane within the merging point, that is, the point where the merging lane ends.

  In the example of FIG. 4A, a plurality of vehicles 5 are present in front of the own vehicle 4 in the merge lane. The main line is congested and a plurality of vehicles 5 are lined up. In this way, if the merging point is congested, if a plurality of vehicles in the merging lane try to merge with the main line at different positions, the merging operation will be performed at the plurality of points, and smooth merging will be performed. It becomes impossible to do it, and traffic congestion on the main line gets worse.

  Therefore, the merging support device 100 sets the merging zone 7 of a predetermined distance near the end position of the merging lane, that is, near the point where the merging lane ends, presents it to the driver, and operates so that the merging zone 7 merges with the main line Guide to the hand. As a result, if vehicles traveling in the merge lane come to merge into the main line in order in the merge zone 7 which is the tip position of the merge lane, the merge with the main line will be smooth, and the congestion on the main line will not deteriorate. Become.

  Furthermore, the merging support apparatus 100 selects a vehicle 5 that is predicted to be on the main line on the side when the own vehicle 4 enters the merging zone 7 as a target vehicle 5T, and selects the target vehicle 5T as the target vehicle 5T. Guidance of confluence is given as a landmark. In other words, the joining support device 100 guides the driver to join the rear of the target vehicle 5T when the own vehicle 4 enters the joining zone 7. Specifically, as shown in FIG. 4A, when the host vehicle 4 is traveling on a merge lane, the merge support apparatus 100 selects the vehicle 5 on the side main line as the target vehicle 5T. . Then, as shown in FIG. 4B, when the own vehicle 4 enters the merging zone 7, the merging support device 100 guides the merging behind the target vehicle 5T. Thereby, when the own vehicle 4 merges, the influence which it has on the flow of the vehicle on the main line can be minimized.

  Further, the merging support device 100 changes the target vehicle 5T as necessary until the own vehicle 4 enters the merging zone 7. That is, there is a speed difference between the flow of vehicles on the merge lane and the flow of vehicles on the main line, and when the own vehicle 4 actually reaches the merge zone, the currently set target vehicle 5T is separated from the own vehicle 4. When it is predicted that the target vehicle 5T will be changed to another vehicle before and after the target vehicle 5T. Thereby, when the own vehicle 4 actually enters the merging zone 7, it is possible to guide the merging with the target vehicle 5T having an appropriate positional relationship as a target.

(Join support processing)
Next, the merge support process of the present embodiment will be described in detail. FIG. 5 is a flowchart of the merge support process. This joining support process is realized by the CPU 22 of the navigation device 1 constituting the joining support device 100 executing a program prepared in advance.

  In FIG. 5, the navigation apparatus 1 first confirms the road condition in the traveling direction (step S10). Specifically, the navigation device 1 includes the current position of the host vehicle, the speed of the host vehicle, map data, traffic information, the speed of the preceding vehicle captured by the front image sensor 15F and the front radar 16F, and road markings (signboards). Get information.

  Next, based on the speed of the own vehicle, traffic information, the image taken by the front image sensor 15F, the detection result of the obstacle by the front radar 16, the navigation device 1 is congested on the road on which the own vehicle is currently traveling. It is determined whether or not (step S11). When the running road is not congested (step S11: No), the navigation device 1 ends the process.

  On the other hand, when the running road is congested (step S11: Yes), the navigation device 1 determines whether the currently running lane decreases based on the map data or the like, that is, currently running. It is determined whether the lane in which the lane is a merging lane (step S12). If the lane does not decrease (step S12: No), the lane currently being traveled is not a merging lane, so the navigation device 1 ends the process.

  On the other hand, when the number of lanes decreases (step S12: Yes), the own vehicle is traveling in the merge lane. Therefore, the navigation device 1 sets the merge zone 7 and presents it to the driver (step S13). Specifically, the navigation device 1 sets a region of a predetermined distance (length) from the front end position of the currently traveling merging lane in the merging zone 7 based on map data or the like. The length of the merging zone 7 can be determined in advance as a distance necessary for one standard size vehicle to merge with the main line. Further, the flow of the vehicle in the merge lane, that is, the speed of the vehicle traveling in the merge lane may be estimated based on the speed of the own vehicle 4, and the length of the merge zone 7 may be changed according to the speed. For example, the merge zone 7 may be lengthened when the vehicle flow in the merge lane is fast, and the merge zone 7 may be shortened when the vehicle flow in the merge lane is slow.

  Then, the navigation device 1 paints the merging zone 7 on the map displayed on the display 44, or outputs the distance from the current position of the host vehicle 4 to the merging zone 7 as a voice to join the driver. Zone 7 is presented. For example, the navigation device 1 outputs a voice announcement such as “Please join in the merge zone 100 m ahead!”.

  In this way, by setting the merge zone 7 and encouraging the driver to merge in the merge zone 7, it is possible to create a state in which a plurality of vehicles in the merge lane merge with the main line in order in the merge zone 7. , It can prevent the congestion at the junction.

  When the merge zone 7 is thus set, the navigation device 1 next selects the target vehicle 5T (step S14). FIG. 6 shows a flowchart of the target vehicle selection process.

  First, the navigation device 1 determines whether or not there is a vehicle on the side of the main vehicle side based on the outputs of the side image sensor 15S and the side radar 16S (step S30). If there is no vehicle (step S30: No), the process proceeds to step S34. When there is a vehicle (step S30: Yes), the navigation apparatus 1 determines whether there are two or more lanes based on the map data or the like (step S31).

  If the main line is not two or more lanes (step S31: No), the main line is one lane, and the vehicle is on the side of the own vehicle on the lane, so the navigation device 1 targets the vehicle detected in step S30. The vehicle 5T is selected (step S33). When a plurality of vehicles are detected in step S30, the navigation device 1 selects a vehicle closest to the host vehicle 4 as the target vehicle 5T.

  On the other hand, when the main line has two or more lanes (step S31: Yes), the navigation apparatus 1 determines the distance from the side vehicle detected in step S30 based on the outputs of the side image sensor 15S and the side radar 16S. It is determined whether or not is one lane or more away (step S32). If the distance from the side vehicle is not more than one lane (step S32: No), the vehicle is in an adjacent lane (hereinafter referred to as “adjacent lane”), so the navigation device 1 identifies the vehicle. The target vehicle 5T is selected (step S33).

  On the other hand, if the distance from the side vehicle is one lane or more (step S32: Yes), the vehicle is not in the adjacent lane to be merged, so the target vehicle 5T is not used, and the process proceeds to step S34. .

  In step S34, the navigation apparatus 1 determines whether there is a vehicle ahead of the adjacent lane based on the outputs of the front image sensor 15F and the front radar 16F. When there is a vehicle ahead of the adjacent lane (step S34: Yes), the navigation device 1 selects the nearest vehicle among the detected forward vehicles as the target vehicle 5T (step S35).

  On the other hand, when there is no vehicle ahead of the adjacent lane (step S34: No), the navigation device 1 determines whether there is a vehicle behind the adjacent lane based on the outputs of the rear image sensor 15R and the rear radar 16R. (Step S36). When there is a vehicle behind the adjacent lane (step S36: Yes), the navigation device 1 selects the nearest vehicle among the detected rear vehicles as the target vehicle 5T (step S37).

  On the other hand, when there is no vehicle behind the adjacent lane (step S36: No), there is no vehicle in the adjacent lane. Therefore, the navigation apparatus 1 determines whether or not the own vehicle 4 has entered the merge zone 7 (step S38). When the own vehicle 4 is not in the merge zone 7 (step S38: No), the process returns to step S30, and the navigation device 1 searches for the target vehicle 5T until the own vehicle 4 enters the merge zone 7. Steps S30 to S37 are repeated. On the other hand, when the own vehicle 4 enters the merging zone 7 (step S38: Yes), the navigation device 1 guides the driver to issue a turn signal (step S39), and the rear image sensor 15R and the rear radar 16R. (Step S40), and the driver is instructed to join (step S41). As a result, the driver performs merging, and the merging support process ends. In this case, the target vehicle 5T is not selected, and the navigation device 1 performs the merge support without using the target vehicle 5T.

  When the target vehicle 5T is selected in step S33, S35, or S37, the process returns to the main routine shown in FIG. 5 and proceeds to step S15. In step S15, the navigation apparatus 1 detects the distance and speed difference between the host vehicle 4 and the target vehicle 5T using the image sensor 15 and the radar 16 (step S15). Specifically, the navigation apparatus 1 can detect the distance between the host vehicle 4 and the target vehicle 5T by the radar 16. In addition, the navigation device 1 can detect the speed difference between the host vehicle 4 and the target vehicle 5T by detecting a change in the relative positional relationship between the host vehicle 4 and the target vehicle 5T using the image sensor 15 and the radar 16.

  In addition, after specifying the target vehicle 5T, the navigation apparatus 1 detects the color of the target vehicle 5T according to the output of the image sensor 15, or detects the change in the distance from the target vehicle 5T according to the output of the radar 16. The target vehicle 5T can be tracked. For example, when the flow of the adjacent lane suddenly becomes faster and a vehicle with a color different from that of the target vehicle 5T appears to the side, or the distance from the target vehicle 5T increases and another vehicle closer to the target vehicle 5T is detected. It can be determined that the target vehicle 5T has gone away.

  Next, based on the distance and speed difference between the host vehicle 4 and the target vehicle 5T, the navigation device 1 determines that the current target vehicle 5T is the target vehicle 5T (hereinafter referred to as “the target vehicle 5T” when the host vehicle 4 enters the merge zone 7) It is determined whether or not it matches (referred to as “final target vehicle”) (step S16).

  In one method for making this determination, the navigation device 1 determines that the host vehicle 4 and the current target when the host vehicle 4 enters the merge zone 7 based on the distance and speed difference between the host vehicle 4 and the target vehicle 5T. An expected distance from the vehicle 5T is calculated, and it is predicted whether another vehicle is present at a position closer to the distance. The navigation device 1 determines that the current target vehicle 5T does not coincide with the final target vehicle when it is predicted that another vehicle is present at a position closer than the expected distance, and separates it from a position closer than the expected distance. When it is predicted that there is no vehicle, it is determined that the current target vehicle 5T matches the final target vehicle.

  In another method, the navigation device 1 calculates an expected distance between the host vehicle 4 and the current target vehicle 5T when the host vehicle 4 enters the merge zone 7, and the predicted distance is determined in advance. If the distance is greater than or equal to the distance, it is determined that the current target vehicle 5T does not match the final target vehicle. Since the merge support process of the present embodiment is executed in a situation where the merge point is congested, it is considered that there are other vehicles with a standard inter-vehicle distance before and after the current target vehicle 5T. Therefore, for example, when the predicted distance is equal to or greater than the distance of one standard vehicle, the navigation device 1 is configured so that the vehicle ahead or behind the current target vehicle 5T is the vehicle 4 And the current target vehicle may be determined not to match the final target vehicle.

  When it is determined that the current target vehicle 5T does not coincide with the final target vehicle (step S16: No), the navigation device 1 executes a target vehicle change process (step S17). The target vehicle change process will be described in detail later. On the other hand, when it is determined that the current target vehicle 5T matches the final target vehicle (step S16: Yes), the current target vehicle 5T is an appropriate target vehicle 5T even when the own vehicle enters the merge zone 7. Conceivable. Therefore, the navigation device 1 determines whether or not the own vehicle 4 has entered the merge zone 7 (step S18). When the own vehicle 4 is not in the merge zone 4 (step S18: No), the process returns to step S15. Steps S15 to S17 are repeated until the own vehicle 4 enters the merge zone 4, and the target vehicle 5T is changed as necessary.

  On the other hand, when the own vehicle 4 enters the merging zone 7 (step S18: Yes), the navigation device 1 determines that the target vehicle 5T at that time (this is the final target vehicle) is located on the side of the own vehicle 4 or in the adjacent lane. It is determined whether or not the vehicle is ahead (step S19).

  When the target vehicle 5T is not on the side of the own vehicle 4 or in front of the adjacent lane (step S19: No), since the target vehicle 5T is behind the own vehicle 4, the navigation device 1 decelerates the own vehicle 4 to the driver. (Step S20). In this way, the navigation apparatus 1 provides guidance so that the own vehicle 4 can join the rear of the target vehicle 5T. Then, the process returns to step S19.

  When the target vehicle 5T is on the side of the host vehicle or in front of the adjacent lane (step S19: Yes), the navigation device 1 guides the driver to issue a turn signal to prompt the start of the merging operation (step S21). ). Subsequently, the navigation device 1 uses the image sensor 15 and the radar 16 to provide a vehicle with a predetermined interval behind the target vehicle 5T, that is, the vehicle immediately after the target vehicle 5T when the own vehicle 4 outputs a turn signal. Confirms that the vehicle 4 is spaced from the target vehicle 5T in order to join the own vehicle 4 (step S22), and instructs the driver to join (step S23). In response to this, the driver joins the own vehicle 4. Thus, the merge support process ends.

  As described above, in this embodiment, the target vehicle 5T is set, and the merging timing is informed to the driver in an easy-to-understand manner by instructing the merging with the target vehicle 5T as a target. Further, by joining the own vehicle 4 to the rear of the target vehicle 5T, priority can be given to the flow of vehicles on the main line, and deterioration of traffic congestion at the junction can be prevented.

  Next, the target vehicle change process in step S17 will be described. 7 and 8 are flowcharts of the target vehicle change process. In FIG. 7, the navigation device 1 first determines whether or not the target vehicle 5T has changed lanes based on the outputs of the image sensor 15 and the radar 16 (step S50). For example, the navigation device 1 can determine that the target vehicle 5T has changed lanes when the distance from the target vehicle 5T becomes one or more lanes.

  When the target vehicle 5T has not changed the lane (step S50: No), the navigation device 1 determines that the own vehicle 4 has entered the merging zone 7 based on the outputs of the image sensor 15 and the radar 16. It is determined whether or not the vehicle predicted to be on the side is on the main line (step S51). When the vehicle predicted to be on the side when the own vehicle 4 enters the merge zone 7 is on the main line (step S51: Yes), the navigation device 1 changes the vehicle to the target vehicle 5T (step S52). ). Then, the process returns to the main routine of FIG.

  On the other hand, if the vehicle that is predicted to be on the side when the host vehicle 4 enters the merge zone 7 is not on the main line (step S51: No), the navigation device 1 determines that the current target vehicle 5T and the host vehicle It is determined whether or not there is a vehicle between the side position of the own vehicle 4 when 4 enters the merge zone 7 (step S53). When there is a vehicle between the current target vehicle 5T and the side position of the host vehicle 4 when the host vehicle 4 enters the merging zone 7 (step S53: Yes), the navigation apparatus 1 has such a vehicle. It is determined whether or not there are a plurality (step S54). When there are not a plurality of such vehicles (step S54: No), that is, when there is only one such vehicle, the navigation device 1 changes the vehicle to the target vehicle 5T (step S55). Then, the process returns to the main routine of FIG.

  On the other hand, when there are a plurality of such vehicles (step S54: Yes), the navigation apparatus 1 is the closest to the side position of the own vehicle 4 when the own vehicle 4 enters the merge zone 7 among the plurality of vehicles. A nearby vehicle is changed to the target vehicle 5T (step S56). Then, the process returns to the main routine of FIG.

  When there is no vehicle between the current target vehicle 5T and the side position of the own vehicle 4 when the own vehicle enters the merging zone 7 (step S53: No), the navigation device 1 selects the target vehicle. No change is made (step S57). Then, the process returns to the main routine of FIG.

  In step S50, when the target vehicle has changed lanes (step S50: Yes), the navigation device 1 basically changes the target vehicle by the same method as the target vehicle selection process shown in FIG. That is, in FIG. 8, the navigation device 1 first determines whether or not there is a vehicle on the side of the own vehicle 4 (step S61), and if there is a vehicle (step S61: Yes), The vehicle is changed to the target vehicle 5T (step S62). Then, the process returns to the main routine of FIG.

  If there is no vehicle on the side of the vehicle (step S61: No), the navigation device 1 determines whether there is a vehicle in front of the adjacent lane (step S63), and if there is a vehicle (step S63). : Yes), the vehicle ahead of the adjacent lane is changed to the target vehicle 5T (step S64). Then, the process returns to the main routine of FIG.

  If there is no vehicle in front of the adjacent lane (step S63: No), the navigation device 1 determines whether there is a vehicle behind the adjacent lane (step S65). If there is a vehicle (step S65: Yes), the vehicle behind the adjacent lane is changed to the target vehicle 5T (step S66). Then, the process returns to the main routine of FIG.

  If there is no vehicle behind the adjacent lane (step S65: No), the navigation device 1 determines whether or not the own vehicle 4 has entered the merge zone 7 (step S67). When the own vehicle 4 is not in the merge zone 7 (step S67: No), the process returns to step S61, and the processes of steps S61 to S66 for searching for the target vehicle are performed until the own vehicle 4 enters the merge zone 7. repeat.

  On the other hand, when the own vehicle 4 enters the merging zone 7 (step S67), the set target vehicle 5T should move to another lane by changing lanes, and then become the target vehicle 5T in the adjacent lane instead. There is no vehicle. Therefore, the navigation apparatus 1 performs merge guidance without using the target vehicle 5T. Specifically, the navigation device 1 guides the driver to issue a turn signal (step S68), confirms the rear by the rear image sensor 15R and the rear radar 16R (step S69), and then instructs the driver. A merge is instructed (step S70). As a result, the driver performs merging, and the merging support process ends.

  As described above, in the present embodiment, even after the target vehicle 5T is once set, the vehicle 4 and the vehicle on the main line depend on the flow of the vehicle on the main line until the vehicle 4 actually enters the merge zone 7. By changing the target vehicle 5T, the host vehicle 4 can be merged behind the appropriate target vehicle 5T.

(Example of target vehicle change)
Next, an example of changing the target vehicle by the target vehicle change process will be described. FIG. 9 shows an example of changing the target vehicle when the host vehicle 4 is faster than the target vehicle 5T. Now, as shown in FIG. 9A, it is assumed that the own vehicle 4 enters the merge lane, and the vehicle 5d on the side main line is set as the target vehicle 5T.

  The navigation apparatus 1 calculates the distance and speed difference between the host vehicle 4 and the target vehicle 5T using the image sensor 15 and the radar 16. Further, the navigation device 1 determines the estimated time required for the vehicle 4 to enter the merge zone 7 and the target vehicle 5T from the merge zone from the current position and speed of the vehicle 4 and the distance to the merge zone 7. Estimated time required until is calculated. Now, it is assumed that the own vehicle 4 enters the merging zone 7 after 5 seconds, and the target vehicle 5T is estimated to reach the side of the merging zone 7 after 10 seconds. In this case, the navigation apparatus 1 regards the current speed of the target vehicle 5T as the speed of the vehicle flow on the main line, and as shown in FIG. 9B, is 5 seconds ahead of the current target vehicle 5T (5d). The vehicle 5c at the position is set as a new target vehicle 5T. That is, the navigation device 1 changes the target vehicle 5T from the vehicle 5d to the vehicle 5c.

  Thereafter, as shown in FIG. 9 (c), when the own vehicle 4 reaches the merge zone 7, the new target vehicle 5T (5c) is on the main line on the side of the own vehicle 4, so the navigation device 1 The guidance is performed so as to join the rear of the target vehicle 5T (5c).

  In the above example, when there is no vehicle at a position 5 seconds ahead of the current target vehicle 5T, the navigation device 1 determines whether the current target vehicle 5T is between the current target vehicle 5T and a position 5 seconds ahead of the current target vehicle 5T. And the vehicle closer to the position 5 seconds ahead of the current target vehicle 5T is defined as a new target vehicle 5T. In addition, when there is no vehicle between the current target vehicle 5T and the position 5 seconds ahead of the current target vehicle 5T, the navigation device 1 does not change the target vehicle 5T and continues the current target vehicle 5T. Target vehicle.

  FIG. 10 shows an example of changing the target vehicle when the host vehicle 4 is slower than the target vehicle 5T. Now, as shown in FIG. 10A, it is assumed that the own vehicle 4 enters the merge lane and the vehicle 5c on the side main line is set as the target vehicle 5T.

  As in the case of FIG. 9, the navigation device 1 calculates an estimated required time until the host vehicle 4 enters the merge zone 7 and an estimated required time until the target vehicle 5T enters the merge zone. Now, it is assumed that the own vehicle 4 is predicted to enter the merge zone 7 after 10 seconds, and the target vehicle 5T is predicted to reach the side of the merge zone 7 after 5 seconds. In this case, the navigation device 1 regards the current speed of the target vehicle 5T as the speed of the vehicle flow on the main line, and as shown in FIG. 10B, is 5 seconds behind the current target vehicle 5T (5c). The vehicle 5d at the position is set as a new target vehicle 5T. That is, the navigation device 1 changes the target vehicle 5T from the vehicle 5c to the vehicle 5d.

  Thereafter, as shown in FIG. 10 (c), when the own vehicle 4 reaches the merge zone 7, the new target vehicle 5T (5d) is on the main line on the side of the own vehicle 4, so the navigation device 1 The guidance is performed so as to join the rear of the target vehicle 5T (5d).

  In the above example, when there is no vehicle at a position 5 seconds behind the current target vehicle 5T, the navigation device 1 determines whether the current target vehicle 5T is between the current target vehicle 5T and a position 5 seconds behind the current target vehicle 5T. And the vehicle closer to the position 5 seconds behind the current target vehicle is defined as a new target vehicle 5T. When there is no vehicle between the current target vehicle 5T and the position 5 seconds behind the current target vehicle 5T, the navigation device 1 does not change the target vehicle 5T and continues to the current target vehicle 5T. Target vehicle.

[Modification]
In the above embodiment, the merging support device presents the merging zone 7 when the merging lane is congested, but may also present the merging zone 7 even when the merging lane is not congested. Good.

  In the above-described embodiment, the merging support device 100 is configured by the in-vehicle navigation device 1, but the present invention is also applied to the case where the navigation device is configured by executing a navigation application on a mobile terminal such as a smartphone. Can do.

DESCRIPTION OF SYMBOLS 1 Navigation apparatus 4 Own vehicle 5, 5a-5e Vehicle 5T Target vehicle 7 Junction zone 15 Image sensor 16 Radar 20 System controller

Claims (1)

Current position acquisition means for acquiring current position information of the moving body;
When the current position is on a merge lane that merges with a specific road in a traffic jam, presentation control means for controlling presentation of a recommended merge area on the recommended merge lane;
A merging support apparatus comprising:

Images