JP2019021120A - Confluence support apparatus and confluence support method - Google Patents

Abstract

To provide a confluence support device and a confluence support method capable of satisfactorily supporting a lane change of a vehicle traveling on a road.SOLUTION: A confluence support device is comprised of: an acquisition unit for acquiring a position and a speed of a confluent destination vehicle which is a vehicle heading to a confluence point on a confluent destination lane; and a calculation unit for calculating at least one of a target speed, a target position, and a target timing when a confluent source vehicle, which is such a vehicle in a lane of the confluent source, changes a lane, based on the position and the speed acquired by the acquisition unit.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a merge support device and a merge support method.

  In recent years, in-vehicle radars used for preventing collision of automobiles have been developed. For example, Japanese Patent Laid-Open No. 2006-308542 (Patent Document 1) discloses the following electronic scanning millimeter wave radar device. That is, the electronic scanning millimeter-wave radar device performs Fourier transform on the digitized beat signal, and generates a beam signal at a predetermined pitch angle based on the Fourier transform. Next, the electronic scanning millimeter-wave radar device detects the azimuth and distance of the object from the generated beam signal. The electronic scanning millimeter-wave radar device detects whether or not there are a plurality of objects at substantially the same distance in beat signals corresponding to the respective Fourier-transformed receiving antennas based on the detected direction and distance of the object. Then, separation processing is performed on the beat signal.

  In addition, Non-Patent Document 1 (“Dorapura E-NEXCO Drive Plaza”, [online], NEXCO East Japan, [Search June 29, 2017], Internet <URL: http://www.driveplaza.com/traffic /Roadinfo/cause/jyutai01.html>) describes the mechanism of traffic congestion in the vicinity of a junction on an expressway. More specifically, in the first step, the inflowing vehicle joins the main line from the ramp at the interchange. In the second step, the subsequent vehicle in the travel lane decreases the speed in accordance with the merged vehicle, so the flow of the travel lane is stagnant. In the third step, since the flow of the traveling lane is slow, a vehicle that changes the lane to the overtaking lane is generated. In the fourth step, the succeeding vehicle in the overtaking lane reduces the catch-up speed to the vehicle whose lane has been changed. Then, in the fifth step, in the overtaking lane, the subsequent vehicles decrease the speed one after another, so the flow is stagnated and a traffic jam occurs.

JP 2006-308542 A Japanese Patent Laying-Open No. 2015-52902

“Dorapura E-NEXCO Drive Plaza”, [online], NEXCO East Japan, [Search June 29, 2017], Internet <URL: http: // www. driveplaza. com / traffic / roadinfo / cause / jyutai01. html> Eugin Hyun, 2 others, “A Pedestrian Detection Scheme Using a Coherent Phase Difference Method Based on 2D Range-Doppler FMCW Radar,” Vol. 16, 2016. 124 Koji Yoichi and two others, “Application of Expanding Millimeter-Wave Technology”, Shimada Rika Technical Review, 2011, No. 21, 37-48 Takayuki Inaba, Tetsuro Kirimoto, “Automotive Millimeter Wave Radar”, Automotive Technology, February 2010, Vol. 64, No. 2, p. 74-79 Edited and published by the Institute of Electronics, Information and Communication Engineers Supervised by Takashi Yoshida, “Revised Radar Technology”, revised edition, Corona, October 1996, P275-276

  An electronic scanning millimeter-wave radar device described in Patent Document 1 or a vehicle equipped with a camera or the like is becoming popular. However, in a vehicle alone, for example, in an environment where many blind spots are generated, such as a junction of an expressway described in Non-Patent Document 1, it is not possible to sufficiently grasp the surrounding vehicle situation. There is a need for technology for more safely and smoothly supporting a lane change to another lane of a vehicle traveling in a lane.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a merging support apparatus and a merging support method capable of favorably supporting a lane change of a vehicle traveling on a road. is there.

  (1) In order to solve the above-described problem, a joining support device according to an aspect of the present invention includes an acquisition unit that obtains a position and a speed of a joining destination vehicle that is a vehicle heading to a joining point in a joining destination lane, Based on the position and speed acquired by the acquisition unit, at least one of a target speed, a target position, and a target timing when the merging source vehicle that is a vehicle in the merging source lane changes the lane is calculated. A calculating unit for calculating.

  (6) In order to solve the above-described problem, the merge support device according to another aspect of the present invention includes an acquisition unit that acquires the position and speed of a merger vehicle that is a vehicle heading to a merge point in the merger lane, A calculating unit that calculates at least one of a target speed, a target position, and a target timing of a vehicle in a lane of a merging destination of the merging source vehicle based on the position and the speed acquired by the acquiring unit; Is provided.

  (7) In order to solve the above-described problem, a joining support method according to an aspect of the present invention is a joining support method in a joining support device, and is a vehicle of a joining vehicle that is a vehicle heading to a joining point in a joining lane. Acquiring at least one of a target speed, a target position, and a target timing when the merging source vehicle, which is a vehicle in the merging source lane, changes the lane based on the acquired position and speed; Calculating any one of them.

  (8) In order to solve the above-described problem, a merging support method according to another aspect of the present invention is a merging support method in a merging support device, and is a merging source vehicle that is a vehicle heading to a merging point in a merging source lane. And at least one of a target speed, a target position, and a target timing of the vehicle in the lane of the merging destination of the merging source vehicle based on the acquired position and the speed Calculating.

  The present invention can be realized not only as a merging support apparatus including such a characteristic processing unit, but also as a program for causing a computer to execute such characteristic processing steps. It can be realized as a safe driving support system provided. Further, the present invention can be realized as a semiconductor integrated circuit that realizes part or all of the merging support apparatus.

  ADVANTAGE OF THE INVENTION According to this invention, the lane change of the vehicle which drive | works a road can be favorably supported.

FIG. 1 is a diagram showing a configuration of a safe driving support system according to a first embodiment of the present invention. FIG. 2 is a diagram illustrating a state in which an example of installation on the road of the safe driving support system according to the first embodiment of the present invention is viewed from above. FIG. 3 is a diagram showing an example of a sequence when the radio wave sensor detects a detection target vehicle in the safe driving support system according to the first embodiment of the present invention. FIG. 4 is a diagram showing a configuration of the merging support apparatus in the safe driving support system according to the first embodiment of the present invention. FIG. 5 is a flowchart that defines an operation procedure when the merge support apparatus according to the first embodiment of the present invention transmits merge support information. FIG. 6 is a flowchart defining an operation procedure when the merging support apparatus according to the first embodiment of the present invention creates merging support information. FIG. 7 is an example of a graph used by the calculation unit in the merging support apparatus according to the first embodiment of the present invention to determine whether the support target vehicle can be merged. FIG. 8 is a diagram showing a configuration of a safe driving support system according to the second embodiment of the present invention. FIG. 9 is a diagram illustrating an example of a sequence when the radio wave sensor detects a detection target vehicle in the safe driving support system according to the second embodiment of the present invention. FIG. 10 is a diagram illustrating a configuration of a merging support apparatus in the safe driving support system according to the second embodiment of the present invention. FIG. 11 is a diagram illustrating an installation example of a safe driving support system according to the third exemplary embodiment of the present invention on a road as viewed from above. FIG. 12 is a flowchart that defines an operation procedure when the merge support apparatus according to the third embodiment of the present invention transmits merge support information. FIG. 13: is the flowchart which defined the operation | movement procedure at the time of the merging assistance apparatus which concerns on the 3rd Embodiment of this invention producing merging assistance information.

  First, the contents of the embodiment of the present invention will be listed and described.

  (1) The merge support device according to the embodiment of the present invention includes an acquisition unit that acquires a position and a speed of a merge destination vehicle that is a vehicle heading to a merge point in a merge destination lane, and the acquisition unit that acquires the position and speed A calculation unit that calculates at least one of a target speed, a target position, and a target timing when the merging source vehicle that is a vehicle in the merging source lane changes lanes based on the position and the speed. .

  With such a configuration, for example, even in an environment where there are many blind spots and the surrounding vehicle situation cannot be sufficiently grasped, the target speed, target position and target calculated based on the position and speed of the joining vehicle Using at least one of the timings, it is possible to achieve a state in which the joining source vehicle can join the joining destination lane more safely and smoothly. Therefore, it is possible to favorably support the lane change of the vehicle traveling on the road.

  (2) Preferably, the acquisition unit acquires the positions and the speeds of a plurality of the joining destination vehicles, and the calculation unit is configured to obtain the joining destination vehicle based on the positions acquired by the obtaining unit. An inter-vehicle distance is calculated, and at least one of the target speed, the target position, and the target timing is calculated based on the calculated inter-vehicle distance, each position, and each speed.

  With such a configuration, even when there are a plurality of merging destination vehicles, the merging source vehicle can be guided between the merging destination vehicles having a sufficient inter-vehicle distance. It can be merged safely and smoothly.

  (3) Preferably, the merging support device is included in a roadside sensor that measures the position of the merging destination vehicle or the position and speed of the merging destination vehicle, and the acquisition unit is configured to measure the roadside sensor. The position and the speed are acquired based on the result.

  With such a configuration, the joining support device can be efficiently accommodated, and the position and speed of the joining vehicle can be easily obtained.

  (4) Preferably, the said junction assistance apparatus is contained in the roadside transmitter which transmits the information based on the calculation result by the said calculation part to the said junction origin vehicle or the said junction destination vehicle.

  With such a configuration, the merging support apparatus can be accommodated efficiently, and information based on the calculation result by the calculation unit can be efficiently transmitted.

  (5) Preferably, the merging support device is included in an in-vehicle device mounted on the merging source vehicle, and the acquisition unit receives the position and the position of the merging destination vehicle from the roadside sensor that measures the position and the speed. Get the speed.

  With such a configuration, the merging support apparatus can be accommodated efficiently, and at least one of the target speed, the target position, and the target timing can be efficiently provided to the driver.

  (6) The merging support device according to the embodiment of the present invention includes an acquisition unit that acquires a position and a speed of a merging source vehicle that is a vehicle heading to a merging point in the merging source lane, and the acquisition unit that acquires the position and speed. And a calculation unit that calculates at least one of a target speed, a target position, and a target timing of the vehicle in the lane of the merging destination of the merging source vehicle based on the position and the speed.

  With such a configuration, for example, even in an environment where many blind spots are generated and the surrounding vehicle situation cannot be sufficiently grasped, the target speed, target position and target calculated based on the position and speed of the joining vehicle By using at least one of the timings, the vehicle in the lane at the joining destination of the joining source vehicle can be brought into a state in which the joining source vehicle can be joined to the joining lane more safely and smoothly. Therefore, it is possible to favorably support the lane change of the vehicle traveling on the road.

  (7) The joining support method according to the embodiment of the present invention is a joining support method in the joining support device, and the step of acquiring the position and speed of a joining vehicle that is a vehicle heading to the joining point in the joining lane. Then, based on the acquired position and speed, at least one of a target speed, a target position, and a target timing when the merging source vehicle that is a vehicle in the merging source lane changes lanes is calculated. Steps.

  With such a configuration, for example, even in an environment where there are many blind spots and the surrounding vehicle situation cannot be sufficiently grasped, the target speed, target position and target calculated based on the position and speed of the joining vehicle Using at least one of the timings, it is possible to achieve a state in which the joining source vehicle can join the joining destination lane more safely and smoothly. Therefore, it is possible to favorably support the lane change of the vehicle traveling on the road.

  (8) The merging support method according to the embodiment of the present invention is a merging support method in the merging support device, and the step of acquiring the position and speed of the merging source vehicle that is a vehicle heading to the merging point in the merging source lane. And calculating at least one of a target speed, a target position, and a target timing of the vehicle in the lane of the merging destination of the merging source vehicle based on the acquired position and the speed.

  With such a configuration, for example, even in an environment where many blind spots are generated and the surrounding vehicle situation cannot be sufficiently grasped, the target speed, target position and target calculated based on the position and speed of the joining vehicle By using at least one of the timings, the vehicle in the lane at the joining destination of the joining source vehicle can be brought into a state in which the joining source vehicle can be joined to the joining lane more safely and smoothly. Therefore, it is possible to favorably support the lane change of the vehicle traveling on the road.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals and description thereof will not be repeated. Moreover, you may combine arbitrarily at least one part of embodiment described below.

<First Embodiment>
[Configuration and basic operation]
FIG. 1 is a diagram showing a configuration of a safe driving support system according to a first embodiment of the present invention.

  FIG. 2 is a diagram illustrating a state in which an example of installation on the road of the safe driving support system according to the first embodiment of the present invention is viewed from above.

  With reference to FIG. 1 and FIG. 2, the safe driving support system 301 includes a wireless terminal device 111, a roadside wireless communication device 151, and a radio wave sensor 161. The roadside wireless communication device 151 includes a merging support device 101. The wireless terminal device 111 is mounted on the support target vehicle 181.

  The road Rd includes a merging road Rdb and a main road Rdm. The road Rd is a highway. The road Rd may be a general road.

  The main road Rdm includes a lane 11L that is the lane 11 and a lane 11R. The lane 11L and the lane 11R are lanes having the same traveling direction. Specifically, the lanes 11L and 11R are, for example, a traveling lane and an overtaking lane, respectively.

  The merge road Rdb includes the lane 11J that is the lane 11 and merges with the lane 11L of the main road Rdm. In this example, a support target vehicle 181 that is an example of a merging source vehicle travels on a lane 11J on the merging road Rdb. The detection target vehicle 171 travels on the lanes 11L and 11R on the main road Rdm.

  The roadside wireless communication device 151 and the radio wave sensor 161 are an example of infrastructure equipment, and are installed in the vicinity of the road Rd. The radio wave sensor 161 and the roadside radio communication device 151 are connected to each other by, for example, a signal line (not shown).

  A roadside wireless communication device 151 that is an example of a roadside transmitter is, for example, an ITS (Intelligent Transport Systems) spot, and can transmit traffic jam information, safe driving support information, and the like.

  The roadside wireless communication device 151 is not limited to the ITS spot, and may be an optical beacon, a radio beacon, or the like.

  The wireless terminal device 111, which is an example of the in-vehicle device, is a car navigation device capable of communicating with the roadside wireless communication device 151, for example. The wireless terminal device 111 is not limited to a car navigation device, and may be a smart phone or the like.

  The radio wave sensor 161 which is an example of a roadside sensor is, for example, a millimeter wave radar, and non-patent document 1 (Eugin Hyun, two others, “A Pedestrian Detection Scheme Using a Coherent Method Rd. ”, Sensros, 2016, Vol. 16, P. 124), which operates according to the 2D Range-Doppler FM-CW scheme.

  Note that the radio wave sensor 161 is not limited to the above-mentioned method, and is not limited to Non-Patent Document 3 (Koji Yoichi, two others, “Application of Expanding Millimeter Wave Technology”, Shimada Rika Technical Report, 2011, No. 21, P. 37). -48) and Non-Patent Document 4 (Takayuki Inaba, Tetsuro Kirimoto, “Automotive Millimeter Wave Radar”, Automotive Technology, February 2010, Vol. 64, No. 2, P. 74-79). -CW method and two-frequency CW method, and non-patent document 5 (edited and published by the Institute of Electronics, Information and Communication Engineers, supervised by Takashi Yoshida, “Revised Radar Technology”, revised edition, Corona, October 1996, P275-276) You may operate | move according to a pulse compression system.

[Flow of operation]
Each device in the safe driving support system 301 includes a computer, and an arithmetic processing unit such as a CPU in the computer reads a program including a part or all of each step of the following sequence diagram or flowchart from a memory (not shown). Run. Each of the programs of the plurality of apparatuses can be installed from the outside. The programs of the plurality of apparatuses are distributed while being stored in a recording medium.

  FIG. 3 is a diagram showing an example of a sequence when the radio wave sensor detects a detection target vehicle in the safe driving support system according to the first embodiment of the present invention.

  Referring to FIG. 3, first, radio wave sensor 161 transmits a radio wave to target area A1, and receives a radio wave from target area A1 or the like (step S102).

  More specifically, the radio wave sensor 161 transmits a millimeter wave to the downstream side of the main road Rdm, for example. The radio wave sensor 161 may transmit a millimeter wave to the upstream side of the main road Rdm.

  The target area A1 is at least a part of the irradiation range of the radio wave transmitted from the radio wave sensor 161. The target area A1 includes, for example, a part of the lanes 11L and 11R, and is located on the downstream side of the lanes 11L and 11R with respect to the radio wave sensor 161.

  The radio wave sensor 161 can receive a reflected wave from an object in the target area A1. More specifically, radio waves received by the radio wave sensor 161 include radio waves reflected by the detection target vehicle 171, structures that are objects other than the detection target vehicle 171, such as radio waves reflected by guardrails and poles, and radio waves. Radio waves from the radio wave transmitter to be transmitted are included.

  Next, the radio wave sensor 161 processes a received signal based on the received radio wave (step S104).

  More specifically, the radio wave sensor 161 processes the received signal according to the method described in Non-Patent Document 1, for example, and detects the detection target vehicle 171 traveling in the lanes 11L and 11R as a detection target. The radio wave sensor 161 measures the measurement target distance, the measurement target azimuth angle, and the measurement target speed of the detected vehicle 171 to be detected based on the received signal.

  Here, the measurement target distance is a distance from the radio wave sensor 161 to the detection target vehicle 171 in the sensor coordinate system with the radio wave sensor 161 as an origin. The measurement target azimuth is an angle indicating the azimuth from the radio wave sensor 161 to the detection target vehicle 171 in the sensor coordinate system when the radio wave sensor 161 is viewed from above. The measurement target speed is the moving speed of the detection target vehicle 171 along the direction approaching or moving away from the radio wave sensor 161.

  Next, the radio wave sensor 161 creates sensor information based on the detection result (step S106).

  More specifically, for example, when the detection target vehicle 171 is not detected, the radio wave sensor 161 creates sensor information indicating null.

  For example, when the radio wave sensor 161 detects one or a plurality of detection target vehicles 171, for each detected detection target vehicle 171, the position of the detection target vehicle 171 represented by absolute coordinates and the detection target vehicle 171. Create sensor information indicating speed.

  More specifically, the radio wave sensor 161 converts the position of the detection target vehicle 171 based on the measurement target distance and the measurement target azimuth into coordinates (hereinafter also referred to as absolute coordinates) represented by latitude and longitude, for example. .

  For example, the radio wave sensor 161 creates sensor information indicating the measurement target speed as a speed and indicating absolute coordinates.

  Next, the radio wave sensor 161 transmits the created sensor information to the roadside wireless communication device 151 via a signal line (not shown) (step S108).

  Next, when the roadside wireless communication device 151 receives the sensor information from the radio wave sensor 161, the roadside wireless communication device 151 performs a creation process for creating merging support information based on the received sensor information (step S110). Details of the merge support information and the creation process will be described later.

  The roadside wireless communication device 151 broadcasts the created merge support information (step S112).

  Then, the wireless terminal device 111 receives the merge support information from the roadside wireless communication device 151.

  More specifically, the wireless terminal device 111 receives the merge support information from the support target vehicle 181 when the support target vehicle 181 on which the wireless terminal device 111 is mounted enters the radio wave irradiation range by the roadside wireless communication device 151, for example.

  Next, the wireless terminal device 111 performs driving support of the support target vehicle 181 based on the merge support information received from the roadside wireless communication device 151 (step S114).

  More specifically, the wireless terminal device 111 notifies the driver, for example, by outputting the contents of the merge support information as audio or displaying it on a display.

  In addition, when the support target vehicle 181 is an autonomous driving vehicle, the support target vehicle 181 controls its own driving using the merge support information received by the wireless terminal device 111.

  The operations in steps S102 to S114 are repeated, for example, every predetermined cycle, specifically every several hundred milliseconds.

[Combination support device configuration]
FIG. 4 is a diagram showing a configuration of the merging support apparatus in the safe driving support system according to the first embodiment of the present invention.

  With reference to FIG. 4, the merge support apparatus 101 includes an acquisition unit 6, a calculation unit 7, and an output unit 8.

  The acquisition unit 6 in the merging support apparatus 101 acquires the position and speed of a merging destination vehicle that is a vehicle heading to the merging point in the lane 11L that is the merging destination of the support target vehicle 181.

  In addition, for example, when the plurality of detection target vehicles 171 travels in the lane 11L in the target area A, the acquisition unit 6 acquires the positions and speeds of the plurality of merging destination vehicles toward the merging point in the lane 11L.

  More specifically, the acquisition unit 6 monitors the operation of the roadside wireless communication device 151 and acquires the sensor information received by the roadside wireless communication device 151 when the roadside wireless communication device 151 receives the sensor information.

  This sensor information may include the position and speed for one detection target vehicle 171 depending on the traffic situation of the target area A1, or may include the position and speed for a plurality of detection target vehicles 171. There is a case.

  When the acquired sensor information indicates null, the acquisition unit 6 outputs detection result information Nd indicating that the joining vehicle does not exist to the calculation unit 7.

  Further, when the acquired sensor information includes the position and speed of one or more detection target vehicles 171, the acquisition unit 6 determines the lane 11 on which the detection target vehicle 171 travels based on the positions.

  As a result of the determination, the acquisition unit 6 outputs detection result information Nd to the calculation unit 7 when there is no detection target vehicle 171 traveling in the lane 11L.

  On the other hand, when there is a detection target vehicle 171 that travels in the lane 11L, that is, a joining vehicle, the acquisition unit 6 calculates detection result information Dt that indicates the position and speed of one or more joining vehicles that travel in the lane 11L. 7 is output.

  Based on the position and speed of the destination vehicle acquired by the acquisition unit 6, the calculation unit 7 sets the target when the support target vehicle 181 in the lane of the merging source, in this example, the lane 11J, changes the lane to the main road Rdm. Speed, target position and target timing are calculated.

  More specifically, the calculation unit 7 calculates the inter-vehicle distance between the joining destination vehicles based on, for example, the positions and speeds of the plurality of joining destination vehicles acquired by the acquisition unit 6.

  For example, the calculation unit 7 calculates the target speed, the target position, and the target timing based on the calculated inter-vehicle distance and the positions and speeds of a plurality of joining destination vehicles acquired by the acquisition unit 6.

  Specifically, the calculation unit 7 calculates the target speed, target position, and target timing of the lane change of the support target vehicle 181 based on the detection result information received from the acquisition unit 6, and creates merging support information indicating the calculation result To do. The calculation unit 7 outputs the created merge support information to the output unit 8. Details of the creation of the merge support information will be described later.

  Upon receiving the merge support information from the calculation unit 7, the output unit 8 outputs the received merge support information to the roadside wireless communication device 151.

  When the roadside wireless communication device 151 receives the merge support information from the output unit 8 in the merge support apparatus 101, the roadside wireless communication device 151 broadcasts the received merge support information.

  FIG. 5 is a flowchart that defines an operation procedure when the merge support apparatus according to the first embodiment of the present invention transmits merge support information.

  Referring to FIG. 5, first, merging support apparatus 101 monitors the operation of roadside wireless communication device 151 and waits until roadside wireless communication device 151 receives sensor information (NO in step S202).

  Then, when the roadside wireless communication device 151 receives the sensor information (YES in step S202), the merge support apparatus 101 acquires the sensor information received by the roadside wireless communication device 151, and the position of the joining vehicle from the acquired sensor information. And the speed are extracted (step S204).

  Next, the merging support apparatus 101 performs a creation process for creating merging support information based on the extracted position and speed of the merging destination vehicle (step S206).

  Next, the merge support device 101 outputs the created merge support information to the roadside wireless communication device 151 (step S208).

  FIG. 6 is a flowchart defining an operation procedure when the merging support apparatus according to the first embodiment of the present invention creates merging support information. FIG. 6 shows details of the operation in step S206 of FIG.

  Referring to FIG. 6, first, when calculating unit 7 in merging support apparatus 101 receives detection result information Nd from acquisition unit 6 (NO in step S302), merging destination vehicle does not exist and merging safely into lane 11L. The merge support information DS1 indicating that it can be generated is created, and the created merge support information DS1 is output to the output unit 8 (step S316).

  On the other hand, when receiving the detection result information Dt indicating the position and speed of one joining destination vehicle from the acquisition unit 6 (YES in step S302 and NO in step S304), the calculation unit 7 is based on the received detection result information Dt. The merge support information DS2 is created, and the created merge support information DS2 is output to the output unit 8 (step S318).

  More specifically, for example, based on the detection result information Dt, the calculation unit 7 is an area where a joining source vehicle traveling in the lane 11J can join the lane 11L, and the joining vehicle reaches the area Am in the lane 11L. And the speed of the joining vehicle in the area Am are estimated (see FIG. 2).

  Based on the estimation result, the calculation unit 7 is an area included in the merging road Rdb that can change the lane from the lane 11J to the lane 11L while securing a safe inter-vehicle distance from the merging destination vehicle. The absolute coordinates of the region At for joining, the target timing to reach the region At, and the target speed to be secured in the region At are calculated.

  This target speed is larger than the speed of the joining vehicle, for example. Thereby, when the support target vehicle 181 joins the lane 11L, it is possible to prevent the destination vehicle from decelerating and causing traffic congestion in the lane 11L.

  The calculation unit 7 is not limited to the configuration for calculating the target timing, and may be configured to calculate a target period to reach the region At.

  The calculation unit 7 creates merging support information DS2 indicating the calculated absolute coordinates, target timing, and target speed, and outputs the created merging support information DS2 to the output unit 8.

  Further, when the calculation unit 7 receives detection result information Dt indicating the position and speed of a plurality of joining destination vehicles from the acquisition unit 6 (YES in step S302 and YES in step S304), the calculation unit 7 is included in the received detection result information Dt. A set of two consecutive joining destination vehicles is selected from the plurality of joining destination vehicles (step S306).

  Next, the calculation unit 7 calculates the inter-vehicle distance Dcc between the two joining destination vehicles based on the positions of the two joining destination vehicles included in the selected set (see FIG. 2) (step S308).

  Next, the calculation unit 7 determines whether or not the support target vehicle 181 can join the lane 11L based on the calculated inter-vehicle distance Dcc and the detection result information Dt (step S310).

  FIG. 7 is an example of a graph used by the calculation unit in the merging support apparatus according to the first embodiment of the present invention to determine whether the support target vehicle can be merged. In FIG. 7, the horizontal axis indicates the speed of the following vehicle in the set (hereinafter also referred to as the rear vehicle speed), and the vertical axis indicates the inter-vehicle distance Dcc.

  FIG. 7 shows a mergeable region and a non-mergeable region separated by a boundary line B1.

  The boundary line B1 indicates, for example, a constant inter-vehicle distance Dcc, here 42.5 meters, in the range where the rear vehicle speed is zero to 60 kilometers per hour.

  The boundary line B1 is, for example, a point based on a distance Dcc of 42.5 meters and a rear vehicle speed of 60 kilometers per hour and a distance Dcc of 50.0 meters in a range where the rear vehicle speed is greater than 60 kilometers per hour. And a straight line connecting points based on the rear vehicle speed of 80 kilometers per hour.

  The calculation unit 7 acquires the rear vehicle speed from the detection result information Dt, and when the point based on the calculated inter-vehicle distance Dcc and the acquired rear vehicle speed is included in the mergeable region, the support target vehicle 181 joins the lane 11L. Judge that it is possible.

  On the other hand, when the point based on the calculated inter-vehicle distance Dcc and the acquired rear vehicle speed is not included in the mergeable region, the calculation unit 7 determines that the support target vehicle 181 cannot merge in the lane 11L. .

  Referring to FIG. 6 again, when the calculation unit 7 determines that the support target vehicle 181 cannot join the lane 11L (NO in step S310), the calculation unit 7 joins a plurality of joins included in the detection result information Dt. It is checked whether or not all the sets of two consecutive joining destination vehicles among the preceding vehicles have been selected (step S312).

  When there is an unselected group among two consecutive joining destination vehicles among the plurality of joining destination vehicles (NO in step S312), the calculation unit 7 is not selected in the plurality of joining destination vehicles. One set is selected (step S306).

  On the other hand, when all the combinations are selected in the plurality of merging destination vehicles (YES in step S312), the calculation unit 7 determines that the merging destination vehicles should be merged into the lane 11L while paying attention to safety. The merge support information DS4 shown is created, and the created merge support information DS4 is output to the output unit 8 (step S314).

  On the other hand, when the calculation unit 7 determines that the support target vehicle 181 can join the lane 11L (YES in step S310), the calculation unit 7 creates and creates the join support information DS3 based on the detection result information Dt. The merge support information DS3 is output to the output unit 8 (step S320).

  More specifically, for example, based on the detection result information Dt, the calculation unit 7 calculates the timing at which two joining destination vehicles included in the set reach the area Am and the speeds of the two joining destination vehicles in the area Am. Estimate (see FIG. 2).

  Based on the estimation result, the calculation unit 7 secures a safe inter-vehicle distance from both the following vehicle and the preceding vehicle in the set, and can change the lane from the lane 11J to the lane 11L. The target timing that should be reached and the target speed that should be secured in the region At are calculated.

  This target speed is larger than the rear vehicle speed, for example. Thereby, when the support target vehicle 181 joins the lane 11L, it is possible to prevent the subsequent vehicle in the set from decelerating and causing a traffic jam in the lane 11L.

  The calculation unit 7 is not limited to the configuration for calculating the target timing, and may be configured to calculate a target period to reach the region At.

  The calculation unit 7 creates merging support information DS3 indicating the calculated absolute coordinates, timing, and target speed, and outputs the created merging support information DS3 to the output unit 8.

  The merging support apparatus according to the first embodiment of the present invention is configured to support merging from the lane 11J to the lane 11L at the merging portion of the merging road Rdb and the main road Rdm. It is not limited. The merging support device 101 is not limited to the merging portion, and may be configured to support merging from one lane to the other lane on the main road Rdm, for example.

  In the merging support apparatus according to the first embodiment of the present invention, the calculation unit 7 is configured to calculate the target speed, the target position, and the target timing based on the position and speed of the merging destination vehicle. However, the present invention is not limited to this. The calculation unit 7 may be configured to calculate a part of the target speed, the target position, and the target timing based on the position and speed of the joining vehicle.

  In the merging support apparatus according to the first embodiment of the present invention, the acquisition unit 6 is configured to acquire the position measured by the radio wave sensor 161 and the measurement target speed, but the present invention is not limited to this. is not. The acquisition unit 6 may be configured to acquire the position and speed of the detection target vehicle 171 by using the following method, for example.

  That is, the radio wave sensor 161 measures the position of the detection target vehicle 171 regularly or irregularly, and transmits the measurement result to the roadside wireless communication device 151. The acquisition unit 6 acquires the position measured by the radio wave sensor 161 from the roadside wireless communication device 151 regularly or irregularly. And the acquisition part 6 calculates the speed of the detection object vehicle 171 based on the time series change of the acquired position.

  In the safe driving support system according to the first embodiment of the present invention, the radio wave sensor 161 is provided as an example of a roadside sensor. However, the present invention is not limited to this. For example, the safe driving support system 301 may have a configuration in which an image sensor that captures an image of the main road Rdm and measures the position and speed of the joining vehicle based on the captured image is provided as a roadside sensor.

  Moreover, although the confluence | merging assistance apparatus which concerns on the 1st Embodiment of this invention was set as the structure contained in the roadside radio | wireless communication apparatus 151, it is not limited to this. The merge support apparatus 101 may be configured to be provided independently in the vicinity of the road Rd.

  Moreover, although the confluence | merging assistance apparatus which concerns on the 1st Embodiment of this invention was set as the structure contained in the roadside radio | wireless communication apparatus 151, it is not limited to this. For example, the merge support device 101 may be included in the radio wave sensor 161. In this case, the acquisition unit 6 acquires the position and speed of the joining vehicle based on the sensor information created by the radio wave sensor 161. Further, the joining support device 101 may be configured to be included in infrastructure equipment other than the roadside wireless communication device 151 and the radio wave sensor 161, for example.

  In the safe driving support system according to the first embodiment of the present invention, the roadside wireless communication device 151 is configured to transmit the merging support information to the support target vehicle 181 by broadcasting. It is not limited. The roadside wireless communication device 151 may be configured to transmit, for example, some useful information based on the calculation result by the calculation unit 7 in the merging support apparatus 101 to the merging destination vehicle by broadcasting.

  By the way, an electronic scanning millimeter wave radar device described in Patent Document 1 or a vehicle equipped with a camera or the like is becoming widespread. However, in a vehicle alone, for example, in an environment where many blind spots are generated, such as a junction of an expressway described in Non-Patent Document 1, it is not possible to sufficiently grasp the surrounding vehicle situation. There is a need for technology for more safely and smoothly supporting a lane change to another lane of a vehicle traveling in a lane.

  On the other hand, in the merging support apparatus according to the first embodiment of the present invention, the acquisition unit 6 acquires the position and speed of a merging destination vehicle that is a vehicle heading to the merging point in the lane of the merging destination. Based on the position and speed acquired by the acquisition unit 6, the calculation unit 7 includes the target speed, the target position, and the target timing when the merging source vehicle that is a vehicle in the merging source lane changes lanes. At least one of them is calculated.

  With such a configuration, for example, even in an environment where there are many blind spots and the surrounding vehicle situation cannot be sufficiently grasped, the target speed, target position and target calculated based on the position and speed of the joining vehicle Using at least one of the timings, it is possible to achieve a state in which the joining source vehicle can join the joining destination lane more safely and smoothly. Therefore, it is possible to favorably support the lane change of the vehicle traveling on the road.

  Moreover, in the merging support apparatus according to the first embodiment of the present invention, the acquisition unit 6 acquires the positions and speeds of a plurality of merging destination vehicles. Then, the calculation unit 7 calculates the inter-vehicle distance between the merging destination vehicles based on each position acquired by the acquisition unit 6, and calculates the target speed based on the calculated inter-vehicle distance and each position and each speed. At least one of the target position and the target timing is calculated.

  With such a configuration, even when there are a plurality of merging destination vehicles, the merging source vehicle can be guided between the merging destination vehicles having a sufficient inter-vehicle distance Dcc. It can be merged more safely and smoothly.

  In addition, the joining support apparatus according to the first embodiment of the present invention is included in a roadside sensor that measures the position and speed of the joining vehicle, for example, radio wave sensor 161. And the acquisition part 6 acquires the position and speed which were measured by the roadside sensor.

  With such a configuration, the merging support apparatus 101 can be accommodated efficiently, and the position and speed of the merging destination vehicle can be easily acquired.

  Further, the merging support apparatus according to the first embodiment of the present invention is included in a roadside transmitter that transmits information based on the calculation result by the calculation unit 7 to the merging source vehicle or the merging destination vehicle, for example, the roadside wireless communication device 151. It is.

  With such a configuration, the merge support apparatus 101 can be accommodated efficiently, and information based on the calculation result by the calculation unit 7 can be transmitted efficiently.

  Next, another embodiment of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals and description thereof will not be repeated.

<Second Embodiment>
This embodiment relates to a safe driving support system in which a merging support device is included in a wireless terminal device, as compared to the safe driving support system according to the first embodiment. The contents other than those described below are the same as those in the safe driving support system according to the first embodiment.

[Configuration and basic operation]
FIG. 8 is a diagram showing a configuration of a safe driving support system according to the second embodiment of the present invention.

  With reference to FIG. 8, the safe driving support system 302 includes a wireless terminal device 111, a roadside wireless communication device 151, and a radio wave sensor 161. The wireless terminal device 111 is mounted on the support target vehicle 181. The wireless terminal device 111 includes a joining support device 102.

[Flow of operation]
FIG. 9 is a diagram illustrating an example of a sequence when the radio wave sensor detects a detection target vehicle in the safe driving support system according to the second embodiment of the present invention.

  Referring to FIG. 9, the operations in steps S402 to S408 are the same as the operations in steps S102 to S108 shown in FIG.

  Next, when the roadside wireless communication device 151 receives the sensor information from the radio wave sensor 161, the roadside wireless communication device 151 performs a format conversion process for storing the received sensor information in a format for road-to-vehicle communication (step S410).

  Next, the roadside wireless communication device 151 broadcasts the sensor information after the format conversion process (step S412).

  Next, when the wireless terminal device 111 receives the sensor information from the roadside wireless communication device 151, the wireless terminal device 111 performs a creation process for creating merging support information based on the received sensor information (step S414). Details of the merge support information and the creation process will be described later.

  The operations in steps S402 to S414 are repeated, for example, every predetermined cycle, specifically every several hundred milliseconds.

[Combination support device configuration]
FIG. 10 is a diagram illustrating a configuration of a merging support apparatus in the safe driving support system according to the second embodiment of the present invention.

  With reference to FIG. 10, the merge support device 102 includes an acquisition unit 6, an output unit 8, and a calculation unit 17.

  The operation of the output unit 8 in the joining support device 102 is the same as that of the output unit 8 in the joining support device 101 shown in FIG.

  The acquisition unit 6 in the joining support device 102 monitors the operation of the wireless terminal device 111 and acquires the sensor information received by the wireless terminal device 111 when the wireless terminal device 111 receives the sensor information.

  When the acquired sensor information indicates null, or when the detection target vehicle 171 that travels in the lane 11L does not exist, the acquisition unit 6 outputs detection result information Nd that indicates that the joining vehicle does not exist to the calculation unit 17. .

  On the other hand, when the detection target vehicle 171 traveling in the lane 11L exists, the acquisition unit 6 outputs detection result information Dt indicating the position and speed of the joining vehicle to the calculation unit 17.

  Moreover, the acquisition part 6 acquires the own vehicle position information which shows the position of the own assistance object vehicle 181, for example.

  More specifically, the wireless terminal device 111 acquires the position of its own support target vehicle 181 based on radio waves from a GPS (Global Positioning System) satellite, for example, at predetermined intervals, and indicates the acquired vehicle. The position information is output to the merge support device 102.

  When the acquisition unit 6 receives the vehicle position information from the wireless terminal device 111, the acquisition unit 6 outputs the received vehicle position information to the calculation unit 17.

  Moreover, the acquisition part 6 acquires the own vehicle speed information which shows the speed of the own vehicle 181 for assistance, for example.

  More specifically, for example, the acquisition unit 6 acquires the speed of the own support target vehicle 181 measured by the in-vehicle ECU (Electronic Control Unit) in the own support target vehicle 181 from the in-vehicle ECU, and indicates the acquired speed. The own vehicle speed information is output to the calculation unit 17.

  For example, based on the position and speed of the destination vehicle acquired by the acquisition unit 6 and the position and speed of the own support target vehicle 181, the calculation unit 17 determines that the own support target vehicle 181 is in the lane to the main road Rdm. The target speed, target position, and target timing when changing are calculated.

  Referring to FIG. 6 again, upon receiving detection result information Dt indicating the position and speed of one joining vehicle from acquisition unit 6 (YES in step S302 and NO in step S304), calculation unit 17 receives the detection. The merge support information DS2 is created based on the result information Dt, and the created merge support information DS2 is output to the output unit 8 (step S318).

  More specifically, for example, based on the detection result information Dt, the calculation unit 17 estimates the timing at which the joining vehicle reaches the area Am and the speed of the joining vehicle in the area Am (see FIG. 2).

  The calculation unit 17 secures a safe inter-vehicle distance from the destination vehicle based on the position and speed of its own support target vehicle 181 and the estimation result, and can change the lane from the lane 11J to the lane 11L. Absolute coordinates, target timing to reach the region At, and target speed to be secured in the region At are calculated.

  The calculation unit 17 creates merging support information DS2 indicating the calculated absolute coordinates, target timing, and target speed, and outputs the created merging support information DS2 to the output unit 8.

  Further, when the calculation unit 17 determines that the support target vehicle 181 can join the lane 11L (YES in step S310), the calculation unit 17 creates and creates the join support information DS3 based on the detection result information Dt. The merge support information DS3 is output to the output unit 8 (step S320).

  More specifically, for example, based on the detection result information Dt, the calculation unit 17 calculates the timing at which the two joining destination vehicles included in the set reach the area Am and the speeds of the two joining destination vehicles in the area Am. Estimate (see FIG. 2).

  The calculation unit 17 changes the lane from the lane 11J to the lane 11L after securing a safe inter-vehicle distance from both the following vehicle and the preceding vehicle in the set based on the position and speed of the own support target vehicle 181 and the estimation result. The absolute coordinates of the region At that enables the target, the target timing to reach the region At, and the target speed to be secured in the region At are calculated.

  The calculation unit 7 creates merging support information DS3 indicating the calculated absolute coordinates, target timing, and target speed, and outputs the created merging support information DS3 to the output unit 8.

  Since other configurations and operations are the same as those of the safe driving support system according to the first embodiment, detailed description thereof will not be repeated here.

  As described above, the joining support device according to the second embodiment of the present invention is included in the in-vehicle device mounted on the joining source vehicle, for example, the wireless terminal device 111. And the acquisition part 6 acquires a position and speed from the roadside sensor which measures the position and speed of a joining vehicle.

  With such a configuration, the merging support device 102 can be efficiently accommodated, and at least one of the target speed, the target position, and the target timing can be efficiently provided to the driver.

  Next, another embodiment of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals and description thereof will not be repeated.

<Third Embodiment>
The present embodiment relates to a safe driving support system in which the target area A1 is provided on the junction road Rdb as compared to the safe driving support system according to the first embodiment. The contents other than those described below are the same as those in the safe driving support system according to the first embodiment.

[Configuration and basic operation]
FIG. 11 is a diagram illustrating an installation example of a safe driving support system according to the third exemplary embodiment of the present invention on a road as viewed from above.

  With reference to FIG. 1 and FIG. 11, in this example, a support target vehicle 181 which is an example of a destination vehicle travels on lanes 11L and 11R on a main road Rdm. A detection target vehicle 171 that is an example of a merging source vehicle travels on a lane 11J on the merging road Rdb.

  The radio wave sensor 161 transmits radio waves to the target area A1 and receives radio waves from the target area A1 and the like.

  More specifically, the radio wave sensor 161 transmits a millimeter wave to the downstream side of the junction road Rdb, for example. The radio wave sensor 161 may transmit a millimeter wave to the upstream side of the junction road Rdb.

  The target area A1 is at least a part of the irradiation range of the radio wave transmitted from the radio wave sensor 161. The target area A1 includes, for example, a part of the lane 11J and is located on the downstream side of the lane 11J with respect to the radio wave sensor 161.

  Referring to FIG. 4 again, acquisition unit 6 acquires the position and speed of detection target vehicle 171 that is a vehicle heading to the confluence on merging lane 11J.

  More specifically, the acquisition unit 6 monitors the operation of the roadside wireless communication device 151 and acquires the sensor information received by the roadside wireless communication device 151 when the roadside wireless communication device 151 receives the sensor information.

  When the acquired sensor information indicates null, the acquisition unit 6 outputs detection result information Nd2 indicating that the joining source vehicle does not exist to the calculation unit 7.

  In addition, when the acquired sensor information includes the position and speed of the one or more detection target vehicles 171, the acquisition unit 6 detects the detection result information indicating the position and speed of the one or more junction source vehicles that travel on the lane 11J. Dt2 is output to the calculation unit 7.

  Based on the position and speed acquired by the acquisition unit 6, the calculation unit 7 calculates the target speed, target position, and target timing of the vehicle in the lane 11L that is the lane change destination of the detection target vehicle 171.

  Specifically, the calculation unit 7 calculates the target speed, target position, and target timing of the support target vehicle 181 based on the detection result information received from the acquisition unit 6, and creates merging support information indicating the calculation result. The calculation unit 7 outputs the created merge support information to the output unit 8. Details of the creation of the merge support information will be described later.

  FIG. 12 is a flowchart that defines an operation procedure when the merge support apparatus according to the third embodiment of the present invention transmits merge support information.

  Referring to FIG. 12, first, merging support apparatus 101 monitors the operation of roadside wireless communication device 151 and waits until roadside wireless communication device 151 receives sensor information (NO in step S502).

  When the roadside wireless communication device 151 receives the sensor information (YES in step S502), the merging support apparatus 101 acquires the sensor information received by the roadside wireless communication device 151, and the position of the merging source vehicle from the acquired sensor information. And the speed are extracted (step S504).

  Next, the merging support apparatus 101 performs a creation process for creating merging support information based on the extracted position and speed of the merging source vehicle (step S506).

  Next, the merge support apparatus 101 outputs the created merge support information to the roadside wireless communication device 151 (step S508).

  FIG. 13: is the flowchart which defined the operation | movement procedure at the time of the merging assistance apparatus which concerns on the 3rd Embodiment of this invention producing merging assistance information. FIG. 13 shows details of the operation in step S506 of FIG.

  Referring to FIG. 13, first, calculation unit 7 in merging support apparatus 101 receives detection result information Nd2 from acquisition unit 6 (NO in step S602), and therefore safely travels on lane 11L because there is no merging source vehicle. The merge support information DS5 indicating that it can be created is created, and the created merge support information DS5 is output to the output unit 8 (step S606).

  On the other hand, when the calculation unit 7 receives the detection result information Dt2 indicating the position and speed of one or more merging source vehicles from the acquisition unit 6 (YES in step S602), the calculation support information is based on the received detection result information Dt2. DS6 is created, and the created merge support information DS6 is output to the output unit 8 (step S604).

  More specifically, for example, based on the detection result information Dt2, the calculation unit 7 is an area where a joining vehicle that travels in the lane 11J can join the lane 11L, and the joining vehicle reaches the area Am2 in the lane 11J. And the speed of the joining vehicle in the area Am2 are estimated (see FIG. 11).

  The calculation unit 7 is a region where the joining vehicle can secure a safe inter-vehicle distance from the joining vehicle when the joining vehicle changes the lane from the lane 11J to the lane 11L based on the estimation result. The absolute coordinates of At2, the target timing to reach the area At2, and the target speed to be secured in the area At2 are calculated.

  This region At2 may be included in the lane 11L or may be included in the lane 11R. For example, when the region At2 is included in the lane 11R, the support target vehicle 181 traveling in the lane 11L is requested to change the lane to the lane 11R.

  The calculation unit 7 is not limited to the configuration for calculating the target timing, and may be configured to calculate the target period to reach the region At2.

  The calculation unit 7 creates merging support information DS6 indicating the calculated absolute coordinates, target timing, and target speed, and outputs the created merging support information DS6 to the output unit 8.

  In the safe driving support system according to the third embodiment of the present invention, the merging support apparatus 101 is configured to be included in the roadside wireless communication device 151, but is not limited thereto. The merge support apparatus 101 may be configured independently in the vicinity of the road Rd, may be included in the radio wave sensor 161, or may be included in the wireless terminal apparatus 111 as illustrated in FIG. It may be included. When the join support device 101 is included in the wireless terminal device 111, the join support device 101 further determines the target speed, target position, and target timing of the support target vehicle 181 based on the position and speed of the support target vehicle 181. Is calculated.

  In the merging support apparatus according to the third embodiment of the present invention, the calculation unit 7 is configured to calculate the target speed, the target position, and the target timing based on the position and speed of the merging source vehicle. However, the present invention is not limited to this. The calculation unit 7 may be configured to calculate a part of the target speed, the target position, and the target timing based on the position and speed of the joining source vehicle.

  In the safe driving support system according to the third embodiment of the present invention, the roadside wireless communication device 151 is configured to transmit the merging support information to the support target vehicle 181 by broadcasting. It is not limited. The roadside wireless communication device 151 may be configured to transmit, for example, some useful information based on the calculation result by the calculation unit 7 in the merging support apparatus 101 to the merging source vehicle by broadcasting.

  As described above, in the merging support apparatus according to the third embodiment of the present invention, the acquisition unit 6 acquires the position and speed of the merging source vehicle that is a vehicle heading to the merging point in the merging source lane. Then, the calculation unit 7 calculates at least one of the target speed, the target position, and the target timing of the vehicle in the lane of the merging destination of the merging source vehicle based on the position and speed acquired by the acquiring unit 6. To do.

  With such a configuration, for example, even in an environment where many blind spots are generated and the surrounding vehicle situation cannot be sufficiently grasped, the target speed, target position and target calculated based on the position and speed of the joining vehicle By using at least one of the timings, the vehicle in the lane at the joining destination of the joining source vehicle can be brought into a state in which the joining source vehicle can be joined to the joining lane more safely and smoothly. Therefore, it is possible to favorably support the lane change of the vehicle traveling on the road.

  Note that some or all of the components and operations of the devices according to the first to third embodiments of the present invention can be combined as appropriate.

  Specifically, in the safe driving support system, for example, a radio wave sensor 161 for detecting a vehicle traveling on the junction road Rdb and a radio wave sensor 161 for detecting a vehicle traveling on the main road Rdm are provided. Also good. The merging support apparatus 101 determines, for example, such information comprehensively based on the position and speed of each vehicle measured by these radio wave sensors 161, so that the target speed when the merging source vehicle changes lanes. Then, at least one of the target position and the target timing and at least one of the target speed, the target position, and the target timing of the joining vehicle are calculated.

  The above embodiment should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

  The above description includes the following features.

[Appendix 1]
An acquisition unit for acquiring the position and speed of a destination vehicle, which is a vehicle heading to the junction in the lane of the destination;
Based on the position and the speed acquired by the acquisition unit, at least one of a target speed, a target position, and a target timing when the merging source vehicle that is a vehicle in the merging lane changes lanes A calculation unit for calculating
The destination lane is included in the main road,
The merging lane is included in a road that merges with the main road,
The main road is provided with a radio wave sensor that operates according to a 2D Range-Doppler FM-CW (Frequency Modulated-Continuous Wave) system, an FM-CW system, a 2-frequency CW system, or a pulse compression system,
The radio wave sensor measures the position and speed of a vehicle traveling on the main road, transmits sensor information indicating the measurement result,
The said acquisition part is a joining assistance apparatus which extracts the position and speed of the said joining vehicle from the said sensor information transmitted by the said radio wave sensor.

[Appendix 2]
An acquisition unit for acquiring the position and speed of a joining vehicle, which is a vehicle heading to a joining point in the joining lane;
A calculating unit that calculates at least one of a target speed, a target position, and a target timing of a vehicle in a lane of a merging destination of the merging source vehicle based on the position and the speed acquired by the acquiring unit; With
The destination lane is included in the main road,
The merging lane is included in a merging road that is a road that merges with the main road,
The junction road is provided with a radio wave sensor that operates according to a 2D Range-Doppler FM-CW system, an FM-CW system, a 2-frequency CW system, or a pulse compression system,
The radio wave sensor measures the position and speed of a vehicle traveling on the merging road, transmits sensor information indicating the measurement result,
The acquisition unit is a merging support device that extracts the position and speed of the merging source vehicle from the sensor information transmitted by the radio wave sensor.

DESCRIPTION OF SYMBOLS 6 Acquisition part 7 Calculation part 8 Output part 11 Lane 17 Calculation part 101,102 Junction assistance apparatus 111 Wireless terminal apparatus 151 Roadside radio communication device 161 Radio wave sensor 171 Detection target vehicle 181 Support target vehicle 301,302 Safe driving support system

Claims (8)

An acquisition unit for acquiring the position and speed of a destination vehicle, which is a vehicle heading to the junction in the lane of the destination;
Based on the position and the speed acquired by the acquisition unit, at least one of a target speed, a target position, and a target timing when the merging source vehicle that is a vehicle in the merging lane changes lanes A merging support apparatus comprising: a calculation unit that calculates The acquisition unit acquires the position and the speed of a plurality of the destination vehicles,
The calculation unit calculates an inter-vehicle distance between the merging destination vehicles based on the respective positions acquired by the acquisition unit, and based on the calculated inter-vehicle distance, the respective positions, and the respective speeds, The merging support apparatus according to claim 1, wherein at least one of a target speed, the target position, and the target timing is calculated. The joining support device is included in a roadside sensor that measures the position of the joining destination vehicle, or the position and the speed of the joining destination vehicle,
The merge support device according to claim 1 or 2, wherein the acquisition unit acquires the position and the speed based on a measurement result of the roadside sensor.   The merging support apparatus according to claim 1 or 2, wherein the merging support apparatus is included in a roadside transmitter that transmits information based on a calculation result by the calculation unit to the merging source vehicle or the merging destination vehicle. The joining support device is included in an in-vehicle device mounted on the joining source vehicle,
The merging support device according to claim 1 or 2, wherein the acquisition unit acquires the position and the speed from a roadside sensor that measures the position and the speed of the merging destination vehicle. An acquisition unit for acquiring the position and speed of a joining vehicle, which is a vehicle heading to a joining point in the joining lane;
A calculating unit that calculates at least one of a target speed, a target position, and a target timing of a vehicle in a lane of a merging destination of the merging source vehicle based on the position and the speed acquired by the acquiring unit; A confluence support device. A joining support method in a joining support device,
Obtaining a position and speed of a destination vehicle, which is a vehicle heading to a junction point in the destination lane;
Calculating at least one of a target speed, a target position, and a target timing when the merging source vehicle that is a vehicle in the merging source lane changes lanes based on the acquired position and the speed; Including merge support methods. A joining support method in a joining support device,
Obtaining a position and speed of a joining vehicle, which is a vehicle heading to a joining point in the joining lane;
And a step of calculating at least one of a target speed, a target position, and a target timing of the vehicle in the lane of the merging destination of the merging source vehicle based on the acquired position and the speed. .

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