JP2019032675A - Recommended lane provision system and recommended lane provision method - Google Patents

Abstract

To provide a recommended lane provision system and recommended lane provision method capable of recommending as a recommended lane a lane making it possible to inhibit plural times of lane changes due to overtaking over a short period of time while inhibiting a vehicle from unnecessarily traveling in a rightward lane.SOLUTION: A recommended lane provision server 2 stores an overtaking tendency speed that is a speed of another vehicle which a user tends to overtake when driving a vehicle. The recommended lane provision server 2 acquires a current position of the user-related vehicle, and determines whether an overtaking enabling vehicle, which is traveling at a speed equal to or lower than the overtaking tendency speed, exists within a predetermined range encompassing a position separated by a certain distance or more from the current position of the vehicle. If the vehicle exists, the recommended lane provision server provides as a recommended lane a lane on the right side of the lane in which the overtaking enabling vehicle is traveling. If the vehicle does not exist, the recommended lane provision server provides as a recommended lane a leftward lane among lanes on a road.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a recommended lane providing apparatus and a recommended lane providing method, and is particularly suitable for use in a recommended lane providing apparatus and a recommended lane providing method for providing a recommended lane.

  Conventionally, during guidance of a guidance route, when the vehicle approaches the next guidance point (intersection or branch point) through which the vehicle passes on the guidance route, the direction in which the vehicle travels at the guidance point (straight line, right turn, left turn) ), A navigation device that presents recommended lanes that are recommended to travel among lanes provided on the road is known. For example, when a right turn is performed at the next intersection on the guidance route, the conventional navigation device presents the rightmost lane suitable for the right turn as a recommended lane when the vehicle approaches the intersection.

  Patent Document 1 includes a manual operation mode that travels according to the driver's operation and an automatic operation mode that travels without the driver's operation as the operation mode, and the driver performed in the manual operation mode. Learns driving, memorizes specific vehicle driving paths that express the driving characteristics of the driver for each driving scene based on the learning results, and detects that the driving scene becomes one driving scene in the automatic driving mode In this case, a vehicle traveling route that is close to the specific vehicle traveling route corresponding to the one traveling scene is selected from a plurality of vehicle traveling routes that are generated as candidates for a route on which the vehicle travels, and along the selected vehicle traveling route. A control device for an autonomous driving vehicle that performs autonomous driving is described.

JP 2017-013749 A

  The conventional recommended lane providing device, when the current position of the vehicle approaches the next guide point, presents the recommended lane according to the direction in which the vehicle travels at the guide point, while the current position of the vehicle and the guide point In the case where there are a plurality of lanes, the travel lane excluding the rightmost lane which is the overtaking lane is usually presented as the recommended lane. In addition, when there are a plurality of travel lanes, the conventional recommended lane providing device presents all travel lanes as recommended lanes, or presents the leftmost travel lane as a recommended lane in accordance with the principle of key preft.

  Under such circumstances, when a driver drives a road having a plurality of lanes, the driver usually travels in a driving lane excluding the overtaking lane according to the recommended lane provided, while the other in the same lane. Each time you approach a vehicle, you pass the other vehicle by changing the lane to the right lane, passing the other vehicle in the right lane, and changing the lane to the original lane. I do. In this way, in the situation where all the driving lanes or the leftmost driving lane is presented as the recommended lane, multiple lane changes are usually made for a short time each time approaching another vehicle on the same lane. In the meantime, the other vehicle is overtaken. For this reason, due to the fact that a plurality of lane changes are performed in a short period of time, there has been a problem that the load on the driver may be increased and fuel efficiency may be deteriorated.

  In addition, even when automatic driving of a vehicle is performed, if a plurality of lane changes are performed in a short period of time, an increase in processing load of a control device that controls the automatic driving is caused. It is required to make as few lane changes as possible during a short period of time.

  Note that the purpose of suppressing a plurality of lane changes during a short period of time can be achieved by always providing a lane on the right side (for example, a right-handed overtaking lane) as a recommended lane. However, on a road provided with a plurality of lanes, overtaking of vehicles is a rule that is performed from the right side, and it is required that the lane on the right side as much as possible be free. For this reason, it is unnecessary to prevent the vehicle from traveling in the lane on the right side.

  The present invention was made to solve such a problem, and for a recommended lane providing device that provides a recommended lane, after suppressing the vehicle from traveling unnecessarily in a lane on the right side, It is an object of the present invention to provide a recommended lane that can suppress a plurality of lane changes in a short period of time due to overtaking.

  In order to solve the above-described problem, the recommended lane providing apparatus of the present invention stores an overtaking tendency speed, which is the speed of another vehicle that tends to overtake when a user drives the vehicle. In addition, the recommended lane providing apparatus of the present invention acquires the current position of the vehicle related to the user, and includes a predetermined position including a position in front of the vehicle related to the user and separated from the current position of the vehicle by a certain distance or more. It is determined whether there is an overtaking vehicle that travels at a speed below the overtaking tendency speed within the range, and if so, the lane on the right side of the lane in which the overtaking vehicle runs is set as the recommended lane. On the other hand, if the vehicle does not exist, the left lane of the vehicles provided on the road is provided as the recommended lane.

  According to the present invention configured as described above, there is another vehicle that travels at a speed equal to or less than the overtaking tendency speed within a predetermined range including a position that is separated from the current position of the vehicle related to the user by a certain distance or more. In this case, the lane on the right side of the lane in which other vehicles are traveling is provided as the recommended lane. For this reason, when the vehicle related to the user does not change lanes when approaching another vehicle, the other vehicle is moved from the right side when the distance from the other vehicle is more than a certain distance. A lane change to a passable lane is possible, and it is possible to suppress a plurality of lane changes in a short period of time with overtaking. Furthermore, according to the present invention configured as described above, a vehicle traveling at a speed equal to or lower than the overtaking tendency speed in front of the vehicle related to the user, in other words, can be overtaken when the user drives the vehicle. The lane on the right side of the lane in which the vehicle is traveling is provided as the recommended lane only when there is a highly reliable vehicle. If there is no such vehicle, the left side of the lanes on the road This lane is provided as the recommended lane, so that the vehicle can be prevented from traveling unnecessarily in the lane on the right side. That is, according to the present invention configured as described above, the vehicle is prevented from traveling unnecessarily in the lane on the right side, and a plurality of lane changes are performed in a short period of time with overtaking. Suppressable lanes can be provided as recommended lanes.

It is a figure which shows the structure of the recommended lane provision system which concerns on one Embodiment of this invention. It is a block diagram which shows the function structural example of the vehicle-mounted apparatus which concerns on one Embodiment of this invention. It is a figure which shows the information contained in vehicle relevant information. It is a block diagram which shows the function structural example of the recommended lane provision server which concerns on one Embodiment of this invention. It is a figure which shows an example of the content of the overtaking tendency database. It is a figure which shows an example of the map around a vehicle. It is a figure used for explanation of processing of a recommended lane providing part. It is a figure used for explanation of processing of a recommended lane providing part. It is a figure used for description of the case where the frequency | count of a lane change is reduced. It is a flowchart which shows the operation example of the overtaking tendency speed calculation part which concerns on one Embodiment of this invention. It is a flowchart which shows the operation example of the recommended lane provision server which concerns on one Embodiment of this invention.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a diagram illustrating a configuration example of a recommended lane providing system 1 according to the present embodiment. As shown in FIG. 1, the recommended lane providing system 1 includes a recommended lane providing server 2 (corresponding to a “recommended lane providing device” in the claims) and an in-vehicle device 3. Each of these apparatuses can access a network N configured to include the Internet, a telephone network, and other communication networks. The functional configuration and processing of these devices will be described later.

  In the following description, the driver of the vehicle on which the in-vehicle device 3 is mounted is expressed as “user” for convenience. As will be described later, in the recommended lane providing system 1, the in-vehicle device 3 periodically transmits vehicle related information to the recommended lane providing server 2. This vehicle related information includes a user ID. This user ID is identification information for identifying the user. The user ID only needs to be information that can identify the user. For example, an ID given to the user according to user registration can be used as the user ID, and information that identifies the in-vehicle device 3 can be used. (Serial number or MAC address) can be used.

  FIG. 2 is a block diagram illustrating a functional configuration example of the in-vehicle device 3. The in-vehicle device 3 is a so-called navigation device provided in the vehicle, and has a function of detecting the current position of the vehicle (hereinafter referred to as “own vehicle position”) and a route to the destination (hereinafter referred to as “guidance route”). ) And the like. The in-vehicle device 3 does not have to be a device fixed to the vehicle, and may be, for example, a mobile terminal (for example, a smartphone, a tablet PC, or a notebook PC) owned by a passenger of the vehicle. In other words, the in-vehicle device 3 may be any device that can execute processing to be described later. In the following description, a vehicle on which the in-vehicle device 3 is mounted is referred to as “own vehicle”.

  As shown in FIG. 2, an in-vehicle device 3 is connected to another vehicle detection device 5, a vehicle state detection device 6, a road traffic information acquisition device 7, and a touch panel 8.

  The other vehicle detection device 5 includes a front camera that photographs the front of the vehicle. The front camera is a stereo camera, and images of the front of the vehicle are generated at a predetermined cycle by each of two cameras separated in the left-right direction to generate captured image data. The other vehicle detection device 5 includes cameras that photograph the right side, the left side, and the rear of the host vehicle, and each of these cameras photographs the right side, the left side, and the rear of the vehicle at a predetermined cycle. Generate data. The other vehicle detection device 5 outputs each of the captured image data to the overtaking detection unit 13 (described later) and the overtaken vehicle speed detection unit 14 (described later).

  The vehicle state detection device 6 includes a GPS unit, an acceleration sensor, a gyro sensor, a vehicle speed sensor, a gear state detection sensor, a brake state detection sensor, and a steering state detection sensor. The GPS unit detects the own vehicle position and the traveling direction of the own vehicle based on the GPS radio wave. The acceleration sensor detects acceleration acting on the host vehicle. The gyro sensor detects the turning amount in the yaw axis direction and detects the relative direction of the host vehicle. The vehicle speed sensor receives a vehicle speed pulse and detects the vehicle speed of the host vehicle based on the vehicle speed pulse. The gear state detection sensor, the brake state detection sensor, and the steering state detection sensor detect a gear state, a brake state, and a steering state, respectively.

  The vehicle state detection device 6 outputs information indicating the vehicle speed of the host vehicle detected by the vehicle speed sensor (hereinafter referred to as “host vehicle speed information”) to the overtaken vehicle speed detection unit 14 (described later). In addition, the vehicle state detection device 6 outputs detection results of the GPS unit, the acceleration sensor, and the gyro sensor to the own vehicle position detection unit 11 (described later) and also outputs own vehicle speed information. Further, the vehicle state detection device 6 outputs detection results of the gear state detection sensor, the brake state detection sensor, and the steering state detection sensor to a condition satisfaction determination unit 17 (described later). Moreover, the vehicle state detection apparatus 6 outputs own vehicle speed information to the vehicle related information transmission part 18 (after-mentioned) by the period S1.

  The road traffic information acquisition device 7 includes a beacon receiving device and an FM multiplex broadcast wave receiving device. The beacon receiving device receives road traffic information emitted by beacons (radio wave beacons, optical beacons, etc.) provided on the road, and acquires road traffic information. The road traffic information is, for example, VICS (registered trademark), and includes information on traffic jams, information on traffic restrictions, and the like. The FM multiplex broadcast wave receiving apparatus receives FM multiplex broadcast waves, decodes a reception signal superimposed on the broadcast waves, and acquires road traffic information. The road traffic information acquisition device 7 outputs the road traffic information acquired by the beacon reception device and the FM multiplex broadcast wave reception device to the condition establishment determination unit 17.

  The touch panel 8 includes a display panel such as a liquid crystal display panel or an organic EL panel, and displays an image on the display panel. The touch panel 8 includes a touch sensor arranged on the display panel and detects a touch operation of the driver or the like on the touch panel 8. The touch panel 8 is provided at a position where the driver can visually recognize the display area of the display panel, such as the center of the dashboard of the vehicle.

  As shown in FIG. 2, the in-vehicle device 3 has, as its functional configuration, an in-vehicle device side communication unit 10, a host vehicle position detection unit 11, a route guidance unit 12, an overtaking detection unit 13, and an overtaking vehicle speed detection unit 14. , A travel road information acquisition unit 15, a weather information acquisition unit 16, a condition establishment determination unit 17, and a vehicle related information transmission unit 18. The in-vehicle device 3 includes a map data storage unit 20 as a storage medium.

  Each of the functional blocks 10 to 18 can be configured by any of hardware, DSP (Digital Signal Processor), and software. For example, when configured by software, each of the functional blocks 10 to 18 is actually configured by including a CPU, RAM, ROM, etc. of a computer, and is stored in a recording medium such as RAM, ROM, hard disk, or semiconductor memory. Is realized by operating. The same applies to other functional blocks described later.

  The map data storage unit 20 stores map data. Map data includes data used for drawing a map, such as data used for drawing a background, data used for drawing a road, data used for drawing a character string such as a road name, an intersection name, and a place name. It is out. The map data includes facility information regarding facilities on the map. Further, the map data includes road data used for searching for guidance routes. The road data includes a node table related to nodes and a link table related to links. A node is a point defined for each intersection or other node in the road network, and a link is a line defined for each road section between nodes. Each node is given a node ID for identifying the node, and each link is given a link ID for identifying the link.

  The in-vehicle device side communication unit 10 accesses the network N according to a predetermined communication standard and communicates with devices (including the recommended lane providing server 2) connected to the network N. In the present embodiment, the in-vehicle device 3 has a function of accessing the network N, but the in-vehicle device 3 does not have the function but communicates with a terminal having a function of accessing the network N, and through the terminal. The network N may be accessed.

  The vehicle position detection unit 11 inputs the detection results of the GPS unit, acceleration sensor, gyro sensor, and vehicle speed sensor from the vehicle state detection device 6, and automatically detects the vehicle position based on the detection results and the map data stored in the map data storage unit 20. Detect the vehicle position. The detection of the vehicle position is appropriately performed based on the existing technology.

  In addition, the host vehicle position detection unit 11 outputs host vehicle position information indicating the host vehicle position to the vehicle related information transmission unit 18 in the cycle S1.

  The route guidance unit 12 searches for and guides the guidance route based on an instruction from a user or another vehicle occupant such as a touch operation on the touch panel 8. The route guidance unit 12 searches for a guidance route based on the vehicle position detected by the vehicle position detection unit 11 and the road data of the map data stored in the map data storage unit 20. The search for the guidance route is appropriately performed based on the existing technology. In addition, the route guidance unit 12 displays a map around the own vehicle position where the own vehicle position is clearly indicated on the touch panel 8 and also displays an image indicating the guidance route on the touch panel 8 to guide the searched guidance route. The guidance route guidance may be performed in any manner. For example, when the guidance route has a function of outputting voice, guidance by voice may be appropriately performed.

  In particular, the route guidance unit 12 according to the present embodiment cooperates with the recommended lane providing server 2 to recommend a recommended lane that the host vehicle travels in a predetermined case described later during guidance of the guidance route. Present. The process of the route guidance unit 12 when presenting the recommended lane will be described later.

  Further, the route guidance unit 12 outputs guidance route information indicating the guidance route to the vehicle related information transmission unit 18 in a cycle S1 during guidance of the guidance route. The guide route information is information including a link ID and a node ID of a link and a node constituting a route from the vehicle position to the destination.

  The overtaking detection unit 13 detects that when another vehicle located ahead is overtaken by the own vehicle based on the captured image data input from the other vehicle detection device 5. In the present embodiment, the overtaking of the object detected by the overtaking detection unit 13 is performed once when the own vehicle and another vehicle located in front of the own vehicle are traveling in the same lane. Is the overtaking performed by changing the lane to the lane on the right side of the lane, passing the other vehicle in the lane after the lane change, and then changing the lane to the original lane. It can be presumed that the overtaking performed in this manner is performed with the intention of the user overtaking the other vehicle.

  The overtaking detection unit 13 according to the present embodiment detects that when overtaking is performed by the host vehicle by performing the following processing. That is, the overtaking detection unit 13 determines whether there is another vehicle ahead of the same lane as the own vehicle based on the captured image data input from the front camera of the other vehicle detection device 5. The determination is performed by detecting a vehicle image and a white line image formed on the road in the captured image data by image recognition. The overtaking detection unit 13 continuously analyzes the captured image data input from the front camera, the left side camera, the right side camera, and the rear camera when there is another vehicle in front of the host vehicle. It is determined whether or not the vehicle has been overtaken by the host vehicle in the manner described above.

  More specifically, the overtaking detection unit 13 recognizes each of the captured image data input at a predetermined cycle, and detects the transition of the relative position of the other vehicle with respect to the own vehicle. Further, the overtaking detection unit 13 detects the lane in which the host vehicle is traveling by recognizing the captured image data of the front camera that is input at a predetermined period, thereby detecting a change in the lane in which the host vehicle is traveling. To detect. Then, the overtaking detection unit 13 is based on the transition of the relative position of the other vehicle with respect to the own vehicle and the change of the lane in which the own vehicle travels, and when the overtaking is performed in the above-described manner, Detect that.

  As described above, overtaking is performed by once changing the lane to the right lane, passing the other vehicle in the lane after the lane change, and then changing the lane to the original lane. The overtaking detection unit 13 determines that overtaking has been performed by the own vehicle when the own vehicle returns to the original lane after the series of lane changes, and detects this.

  Note that the method of detecting overtaking is not limited to the method described above, and any method may be used. A sensor other than the camera may be used when detecting overtaking. The sensor other than the camera is, for example, a radar device (laser radar device, millimeter wave radar device, or the like) used for detecting the position of another vehicle relative to the host vehicle. The method of detecting overtaking is, for example, a method of detecting the overtaking by acquiring the trajectory of the own vehicle and the trajectory of another vehicle by a predetermined means and comparing these trajectories.

  The overtaken vehicle speed detection unit 14 detects the vehicle speed of another overtaken vehicle when the overtaking detection unit 13 detects that the overtaking is performed by the own vehicle. Hereinafter, the vehicle speed of other vehicles overtaken by the host vehicle is referred to as “passed vehicle speed”.

  More specifically, the overtaken vehicle speed detection unit 14 performs the same processing as the overtaking detection unit 13 while the host vehicle is traveling, and whether or not another vehicle exists in front of the same lane as the host vehicle. Determine. When another vehicle exists in front of the same lane as the own vehicle, the overtaken vehicle speed detection unit 14 detects the vehicle speed of the other vehicle.

  In the present embodiment, the overtaken vehicle speed detection unit 14 is based on a pair of captured image data input at a predetermined cycle from the front camera during a period in which the host vehicle and the other vehicle are traveling in the same lane. The distance between the own vehicle and the other vehicle is measured. Distance measurement of the separation distance between the host vehicle and the other vehicle is appropriately performed by an existing technique based on a difference in position (parallax) between images indicating the other vehicle in the pair of captured image data. Thereafter, when the own vehicle changes lanes and the lane in which the host vehicle travels and the lane in which the other vehicle travels are different, the host vehicle and the other vehicle travel in the same lane. The amount of change in the separation distance per unit time is calculated on the basis of the separation distance measured at a predetermined period during the period. Further, the overtaken vehicle speed detection unit 14 is based on the own vehicle speed information input from the vehicle state detection device 6 while the own vehicle and the other vehicle are traveling in the same lane. The average vehicle speed is calculated. Next, the overtaken vehicle speed detection unit 14 determines that the own vehicle and the other vehicle are in the same lane based on the amount of change in the separation distance per unit time during the period and the average vehicle speed of the host vehicle during the period. The speed of the other vehicle during the period of traveling is calculated.

  When the overtaking detection unit 13 detects that the overtaking vehicle speed detection unit 14 detects that the overtaking vehicle 13 has been overtaken, the overtaking vehicle speed detection unit 14 calculates the vehicle speed calculated in advance by the above-described method for the other overtaken vehicles. Detect as passing vehicle speed. As described above, the overtaking means that the own vehicle traveling in the same lane as the other vehicle temporarily changes the lane to the right lane, passes through the other vehicle in the lane after the lane change, and then returns to the original lane. This is done by changing lanes to lanes. For this reason, there is a period in which the host vehicle and the other vehicle are traveling in the same lane before the host vehicle changes to the right lane. This is a state in which the speed is calculated by the above-described method at the time when overtaking is detected by the passing detector 13 (when the lane change to the original lane by the host vehicle is completed).

  When overtaking is performed, the vehicle on the overtaking side has a small change in speed and tends to travel at a substantially constant speed. For this reason, the speed calculated by the above-described method can be regarded as the speed of the other vehicle (passed vehicle speed) when the host vehicle overtakes the other vehicle.

  In addition, the method of detecting the overtaken vehicle speed is not limited to the method described above, and any method may be used. For example, when the own vehicle and another vehicle have a function of performing inter-vehicle communication between the vehicles, the overtaken vehicle speed detection unit 14 communicates with the overtaken vehicle between the vehicles, The vehicle speed may be detected.

  The overtaken vehicle speed detection unit 14 outputs the detection result information to the vehicle related information transmission unit 18 in the cycle S1. When the overtaken vehicle speed is detected using the overtaking detection unit 13 as a trigger when the overtaken vehicle speed is detected, the overtaken vehicle speed detection unit 14 detects detection result information having the detected overtaken vehicle speed as a value. On the other hand, in other cases, null value detection result information is output. As a result, the detection result information output by the overtaken vehicle speed detection unit 14 immediately after overtaking is detected by the overtaking detection unit 13 has the detected overtaken vehicle speed as a value, otherwise , Has a null value as value.

  The traveling road information acquisition unit 15 is configured to determine the road attributes of the road on which the vehicle is traveling while the vehicle is traveling, regardless of whether the route guidance unit 12 is guiding the guidance route. And road speed limit information indicating the speed limit of the road. The road attribute is an attribute of a road such as an expressway or a general road.

  The processing of the traveling road information acquisition unit 15 will be described in detail. The traveling road information acquisition unit 15 detects the position of the host vehicle while the vehicle is traveling based on the road data of the map data stored in the map data storage unit 20. The vehicle position detected by the unit 11 is map-matched to a road network constructed by a combination of links and nodes, and a link corresponding to a road section where the vehicle travels is specified. Next, the traveling road information acquisition unit 15 refers to the link table and acquires road attribute information and speed limit information of the specified link. The link table stores various information related to the road section corresponding to the link in association with the link ID for each link. The various information related to the road section includes at least road attribute information and speed limit information. include.

  The traveling road information acquisition unit 15 outputs the acquired road attribute information and speed limit information to the vehicle-related information transmission unit 18 in the cycle S1.

  The weather information acquisition unit 16 acquires weather information indicating the weather in the area in which the vehicle is traveling while the vehicle is traveling, regardless of whether the route guidance unit 12 is guiding the guidance route. To do. More specifically, the network N is connected to a predetermined server that responds to weather information indicating the weather in the region to which the specific position belongs in response to an inquiry including information indicating the specific position. The weather information acquisition unit 16 controls the in-vehicle device side communication unit 10 in a predetermined cycle S1, and provides vehicle position information indicating the vehicle position detected by the vehicle position detection unit 11 to a predetermined server. Make inquiries and get weather information. The method by which the weather information acquisition unit 16 acquires the weather information may be any method, for example, based on various sensors provided in the host vehicle.

  The weather information acquisition unit 16 outputs the acquired weather information to the vehicle-related information transmission unit 18 in the cycle S1.

  The condition establishment determination unit 17 determines whether or not the condition J1 is satisfied while the vehicle is traveling, regardless of whether the guidance route 12 is guiding the guidance route. The condition J1 is a condition that is satisfied when the vehicle is traveling stably at a speed desired by the user in an environment where the vehicle travels. In the present embodiment, when a factor causing the user to decelerate or accelerate is generated, there is a high possibility that the vehicle is not traveling stably at a speed desired by the user in an environment where the vehicle travels. Paying attention, the condition J1 is a condition that even one of the following matters does not apply.

  Item 1: The vehicle is traveling on a road section where traffic congestion occurs. Item 2: a predetermined period after starting, a predetermined period before stopping, a predetermined period before turning right / left, a period during turning right / left, and a predetermined period after turning right / left. Item 3: A predetermined period after getting off the expressway. The condition establishment determination unit 17 includes road traffic information input from the road traffic information acquisition device 7, map data stored in the map data storage unit 20, own vehicle position detected by the own vehicle position detection unit 11, and vehicle state detection device 6. Based on the detection results of the various sensors input from, it is determined whether or not each item is applicable.

  Note that the content of the condition J1 of this embodiment is merely an example. The condition J1 may be a condition that is satisfied when the vehicle is traveling stably at a speed desired by the user in an environment where the vehicle is traveling.

  The condition establishment determination unit 17 outputs information indicating the determination result to the vehicle related information transmission unit 18 in the cycle S1.

  The vehicle-related information transmission unit 18 generates vehicle-related information in a cycle S1 while the vehicle is traveling, regardless of whether the guidance route is being guided by the route guidance unit 12, and performs in-vehicle device side communication. The unit 10 is controlled to transmit the generated vehicle related information to the recommended lane providing server 2. Hereinafter, the process of the vehicle related information transmission part 18 is explained in full detail.

  FIG. 3 is a diagram illustrating information included in the vehicle-related information. As shown in FIG. 3, the vehicle related information includes a user ID. As described above, the user ID is identification information for identifying the user. The vehicle related information transmission unit 18 acquires the user ID stored in the predetermined storage area and includes it in the vehicle related information.

  As shown in FIG. 3, the vehicle related information includes host vehicle position information, road attribute information, speed limit information, and weather information. The vehicle-related information transmission unit 18 acquires the vehicle position information, road attribute information, speed limit information, and weather information input in the cycle S1 from the vehicle position detection unit 11, the traveling road information acquisition unit 15, and the weather information acquisition unit 16. And included in vehicle-related information.

  As shown in FIG. 3, the vehicle related information includes a condition establishment flag and own vehicle speed information. The condition satisfaction flag is a flag that is turned on when the above-described condition J1 is satisfied, and is turned off when the condition J1 is not satisfied. The vehicle related information transmission unit 18 switches on / off of the condition establishment flag based on the information indicating the determination result input from the condition establishment determination unit 17 in the cycle S1. Moreover, the vehicle related information transmission part 18 acquires the own vehicle speed information input with the period S1 from the vehicle state detection apparatus 6, and includes it in vehicle related information.

  As shown in FIG. 3, the vehicle related information includes an overtaking flag and overtaken vehicle speed information. The overtaking flag is a flag that is turned on when overtaking is performed and is turned off in other cases. In the present embodiment, the case where overtaking is performed is a case where the overtaking detection unit 13 detects that overtaking has been performed. Further, the overtaken vehicle speed information is information indicating the speed of another vehicle that has been overtaken (overtaken vehicle speed) when overtaking is performed by the host vehicle.

  Regarding the overtaking flag and the overtaken vehicle speed information, the vehicle-related information transmission unit 18 executes the following processing based on the detection result information input from the overtaken vehicle speed detection unit 14 in the cycle S1. That is, when the detection result information is a null value, the vehicle related information transmission unit 18 turns off the overtaking flag and includes the null value of the overtaken vehicle speed information in the vehicle related information. On the other hand, when the detection result information is not a null value, the vehicle related information transmission unit 18 turns on the overtaking flag, and the value of the detection result information (the overtaken vehicle speed detected by the overtaken vehicle speed detection unit 14). Vehicle-accompanied vehicle speed information having the same value as in the vehicle-related information.

  As shown in FIG. 3, the vehicle related information includes a guidance flag and guidance route information. The guidance-in-progress flag is a flag that is turned on while guidance route guidance is being performed by the route guidance unit 12 and turned off in other cases. The vehicle related information transmission unit 18 turns on the guidance flag when the guidance of the guidance route is performed by the route guidance unit 12, and turns off the guidance flag in other cases. In addition, when guidance of the guidance route is performed by the route guidance unit 12, the vehicle related information transmission unit 18 includes guidance route information input from the route guidance unit 12 in the cycle S <b> 1 in the vehicle related information and guidance is performed. If not, null-value guidance route information is included in the vehicle-related information.

  In the present embodiment, during guidance of the guidance route, vehicle-related information including guidance route information indicating the guidance route being guided is transmitted to the recommended lane providing server 2, This is because the guidance route may be changed during guidance of the guidance route by re-searching the guidance route or the like. At the start of the guidance route guidance, vehicle related information including guidance route information indicating the guidance route is transmitted. Thereafter, vehicle related information including null value guidance route information is transmitted, and the guidance route information When there is a change, a configuration may be used in which vehicle-related information including guide route information indicating the changed guide route is transmitted. In this case, the recommended lane providing server 2 manages the guide route of the vehicle based on the guide route information received at the start of the guide route and the guide route information received when the guide route is changed.

  As described above, the vehicle-related information transmission unit 18 generates vehicle-related information at a predetermined cycle S1, controls the in-vehicle device side communication unit 10, and transmits the generated vehicle-related information to the recommended lane providing server 2. . As a result, the vehicle-related information is transmitted from the in-vehicle device 3 to the recommended lane providing server 2 in the cycle S1 regardless of whether or not the guidance route guidance is performed by the route guidance unit 12 while the vehicle is traveling. . In addition, transmission of the vehicle related information by the in-vehicle device 3 is performed only when the user of the user ID included in the vehicle related information drives the vehicle, and when a person other than the user is driving the vehicle, It is not performed because the corresponding function is turned off.

  FIG. 4 is a block diagram illustrating a functional configuration example of the recommended lane providing server 2. The recommended lane providing server 2 is a server connected to the network N. 1 and 4, the recommended lane providing server 2 is represented by one block, but this does not mean that the recommended lane providing server 2 is configured by a single server device. The recommended lane providing server 2 may be configured by a plurality of server devices, or may be a part of a predetermined system. That is, the recommended lane providing server 2 only needs to have a function to be described later, and the form thereof may be any.

  As shown in FIG. 4, the recommended lane providing server 2 has, as its functional configuration, a server-side communication unit 30, a vehicle-related information acquisition unit 31, a user optimum speed calculation unit 32, an overtaking tendency speed calculation unit 33, and a guidance route acquisition. Unit 34, vehicle position acquisition unit 35, vehicle speed acquisition unit 36, environment pattern acquisition unit 37, passable vehicle presence / absence determination unit 38, and recommended lane providing unit 39. The recommended lane providing server 2 includes a vehicle-related information storage unit 50, an overtaking tendency speed storage unit 51, and a road data storage unit 52 as storage media.

  The server-side communication unit 30 accesses the network N according to a predetermined communication standard and communicates with devices (including the in-vehicle device 3) connected to the network N.

  The vehicle related information storage unit 50 stores a vehicle related information database DB1 for each user. The vehicle related information database DB1 associated with each user is stored in the vehicle related information storage unit 50 in a state associated with the user ID of each user. The contents of the vehicle related information database DB1 will be described later.

  The vehicle related information acquisition unit 31 controls the server side communication unit 30 to receive and acquire the vehicle related information transmitted by the in-vehicle device 3. The vehicle-related information acquisition unit 31 includes the vehicle-related information associated with the user ID included in the acquired vehicle-related information in the vehicle-related information database DB1 stored in the vehicle-related information storage unit 50. Register in database DB1. Hereinafter, the process of the vehicle related information acquisition part 31 is explained in full detail.

  As described above, vehicle-related information is transmitted to the recommended lane providing server 2 from a plurality of different in-vehicle devices 3 as needed. The vehicle related information acquisition unit 31 performs the following processing for each of the acquired vehicle related information. That is, the vehicle related information acquisition unit 31 recognizes the user ID included in the vehicle related information when acquiring the vehicle related information. Next, the vehicle-related information acquisition unit 31 identifies a database associated with the recognized user ID in the vehicle-related information database DB1. Next, the vehicle related information acquisition unit 31 additionally registers the vehicle related information in the specified vehicle related information database DB1. As a result of the above processing performed by the vehicle-related information acquisition unit 31, the vehicle-related information transmitted by the in-vehicle device 3 driven by the one user is cumulatively stored in the vehicle-related information database DB1 related to the one user. It will be in the state.

  Furthermore, the vehicle related information acquisition unit 31 sends the acquired vehicle related information to the guidance route acquisition unit 34, the vehicle position acquisition unit 35, the vehicle speed acquisition unit 36, and the environment pattern acquisition unit 37 in response to reception of the vehicle related information. Output.

  The overtaking tendency speed storage unit 51 stores an overtaking tendency database DB2 for each user. The overtaking tendency database DB2 associated with each user is stored in the overtaking tendency speed storage unit 51 in a state associated with the user ID of each user.

  FIG. 5 is a diagram schematically showing an example of the contents of the overtaking tendency database DB2 relating to one user. As shown in FIG. 5, one record of the overtaking tendency database DB2 includes road attribute information, speed limit information, weather information, user optimum speed information, and overtaking tendency speed information. The overtaking tendency database DB2 has a record for each combination of a value that the road attribute information can take, a value that the weather information can take, and a value that the speed limit information can take.

  For example, there are “highway” and “general road” as road attribute information values, “sunny” and “rain” as weather information values, and “80 km” for highway as speed limit information values. / h ”and“ 60km / h ”in the case of a general road, there are four combinations of each value of each information. Therefore, the overtaking tendency database DB2 has 4 for each combination of each value of each information. Have records. Hereinafter, the combination of the road attribute indicated by the road attribute information, the weather indicated by the weather information, and the speed limit indicated by the speed limit information is referred to as an “environment pattern”. The contents of the overtaking tendency database DB2 will be described later.

  The user optimum speed calculation unit 32 calculates a user optimum speed that is a speed when the user stably drives the vehicle at a speed desired by the user based on the history of the speed of the vehicle driven by the user. More specifically, the user optimum speed calculation unit 32 calculates, for each user, a user optimum speed for each environment pattern based on the vehicle-related information database DB1, and stores the corresponding user optimum speed information in the overtaking tendency database DB2. Update the value. Hereinafter, the process of the user optimum speed calculation unit 32 will be described in detail. In addition, the user optimal speed calculation part 32 performs the following processes for every user for every fixed period. The certain period is, for example, one day or one week. Even in a configuration in which the user optimum speed calculation unit 32 executes the following process for one user each time a predetermined number of vehicle-related information is registered in the vehicle-related information database DB1 related to one user instead of every fixed period. The configuration may be such that the following processing is executed in response to an instruction from an operator or the like.

  Hereinafter, the process which the user optimal speed calculation part 32 performs about one user is demonstrated. The user optimum speed calculation unit 32 refers to the vehicle related information database DB1 associated with the user ID of the one user in the vehicle related information database DB1 stored in the vehicle related information storage unit 50. Next, the user optimum speed calculation unit 32 acquires vehicle related information registered in the vehicle related information database DB1, and acquires the acquired vehicle based on road attribute information, weather information, and speed limit information included in each vehicle related information. Group related information by environmental pattern. And the user optimal speed calculation part 32 performs the following processes based on the vehicle relevant information which belongs to each group for every group.

  Hereinafter, a process executed by the user optimum speed calculation unit 32 for a group related to one environment pattern will be described. The user optimum speed calculation unit 32 specifies vehicle-related information whose condition establishment flag is on among the vehicle-related information belonging to the group related to the one environmental pattern. Next, the user optimum speed calculation unit 32 acquires the own vehicle speed information of the vehicle related information whose condition establishment flag is on. Next, the user optimum speed calculation unit 32 calculates an average value of the acquired own vehicle speed information, and sets the calculated average value as the user optimum speed.

  As described above, the condition satisfaction flag is turned on when the condition J1 that is satisfied when the vehicle is traveling stably at a speed desired by the user in the environment in which the vehicle is traveling is satisfied. Based on this, the user optimum speed calculated by the above-mentioned method is regarded as the approximate speed that the user gives when the vehicle is stably driven at the speed desired by the user in the environment corresponding to the one environmental pattern. be able to. In addition, when calculating a user optimal speed, the structure which uses the vehicle relevant information registered in the fixed period retroactively from the present time may be used. Further, when calculating the average value of the own vehicle speed information, weighting that affects the calculated value may be performed as the own vehicle speed information of the vehicle related information registered at a timing close to the current time. .

  In the present embodiment, the in-vehicle device 3 is configured to determine whether or not the condition J1 is satisfied. However, the user optimum speed calculation unit 32 of the recommended lane providing server 2 analyzes vehicle-related information and other information. Thus, it may be configured to determine whether or not the condition J1 is satisfied.

  After calculating the user optimum speed relating to one user based on the vehicle related information belonging to the group relating to one environment pattern, the user optimum speed calculating unit 32 refers to the additional tendency database DB2 relating to the one user, The record which concerns on the said one environmental pattern is specified among the records which the said database has. Next, the user optimum speed calculation unit 32 updates the value of the user optimum speed information included in the specified record with the calculated user optimum speed information.

  As a result of the above process performed by the user optimum speed calculation unit 32, the value of the user optimum speed information of each record in each overtaking tendency database DB2 is updated at any time with the user optimum speed calculated by the user optimum speed calculation unit 32. Is done. As described above, the user optimum speed for one environment pattern related to one user calculated by the user optimum speed calculation unit 32 is the speed desired by the one user in the environment corresponding to the one environment pattern. This is the approximate speed of the vehicle when the vehicle is traveling stably.

  In this embodiment, for each user, the user optimum speed calculation unit 32 calculates the user optimum speed for each environment pattern that is a combination of road attributes, weather, and speed limit. This is because, when the vehicle is driven stably, the speed that the user feels optimal is determined by the road attribute of the road on which the vehicle travels, the speed limit of the road on which the vehicle travels, This is because it changes depending on the combination with the weather. For example, even if the vehicle is driven on the same speed limit road under the same weather, the speed that the user feels optimal depends on whether the road is an expressway or a general road, and for example, the same Even when the vehicle travels on a road having the same speed limit with the road attribute, the speed that the user feels is optimal depends on whether the weather is fine or rainy.

  The overtaking tendency speed calculation unit 33 calculates the overtaking tendency speed for each environment pattern based on the vehicle-related information database DB1 for each user, and sets the value of the corresponding overtaking tendency speed information in the overtaking tendency database DB2. Update. Hereinafter, the process of the overtaking tendency speed calculation unit 33 will be described in detail. In addition, the overtaking tendency speed calculation unit 33 executes the following process for each user for each predetermined period. The certain period is, for example, one day or one week. A configuration in which the overtaking tendency speed calculation unit 33 performs the following process for a single user every time a predetermined number of vehicle-related information is registered in the vehicle-related information database DB1 related to the one user, not every fixed period. Alternatively, the following processing may be executed according to an instruction from an operator or the like.

  Hereinafter, the process executed by the overtaking tendency speed calculation unit 33 for one user will be described. The overtaking tendency speed calculation unit 33 refers to the vehicle-related information database DB1 associated with the user ID of the one user in the vehicle-related information database DB1 stored in the vehicle-related information storage unit 50. Next, the overtaking tendency speed calculation unit 33 acquires the vehicle related information registered in the referenced vehicle related information database DB1, and based on the road attribute information, weather information, and speed limit information included in each vehicle related information, The acquired vehicle related information is grouped for each environmental pattern. And the overtaking tendency speed calculation part 33 performs the following processes based on the vehicle relevant information which belongs to each group for every group.

  Hereinafter, the process executed by the overtaking tendency speed calculation unit 33 for the group related to one environment pattern will be described. The overtaking tendency speed calculation unit 33 identifies vehicle-related information in which the overtaking flag is on among the vehicle-related information belonging to the group related to the one environmental pattern. Next, the overtaking tendency speed calculation unit 33 identifies N (for example, five) pieces of vehicle-related information in descending order of the value of the overtaken vehicle speed information among the vehicle-related information with the overtaking flag turned on. To do. Next, the overtaking tendency speed calculation unit 33 acquires the overtaken vehicle speed information included in each of the specified N pieces of vehicle related information. The N pieces of overtaken vehicle speed information acquired here are information on other vehicles when one user who is the target of processing actually overtakes in the past in an environment corresponding to one environmental pattern. It is information indicating the speed, and is information indicating the top N speeds having a large value.

  In the present embodiment, the in-vehicle device 3 is configured to determine whether or not another vehicle has been overtaken by the vehicle driven by the user, but the overtaking tendency speed calculating unit 33 of the recommended lane providing server 2. However, the vehicle-related information and other information may be analyzed to calculate whether overtaking has been performed, and the overtaken vehicle speed may be acquired.

  Next, the overtaking tendency speed calculation unit 33 refers to the overtaking tendency database DB2 of the one user who is the object of processing, acquires the user optimum speed information of the one user, and acquires the acquired N number of objects. A difference between the overtaking vehicle speed information and the user optimum speed information (hereinafter referred to as “overtaking speed difference”) is calculated. As described above, the user optimum speed information is an approximate speed of the vehicle when the one user stably drives the vehicle in an environment corresponding to one environment pattern related to the group to be processed. . The overtaking tendency speed calculation unit 33 calculates the overtaking speed difference by subtracting the value of the overtaken vehicle speed information from the value of the user optimum speed information.

  After calculating the N overtaking speed differences, the overtaking tendency speed calculating unit 33 calculates an average value of the N overtaking speed differences (hereinafter referred to as “average overtaking speed difference”). The average overtaking speed difference calculated here can be regarded as an approximate upper limit of the speed difference between the own vehicle and the other vehicle when one user overtakes another vehicle by the own vehicle, The one user can be regarded as having a tendency to overtake when there is another vehicle ahead of the host vehicle and the speed difference between these vehicles exceeds the average overtaking speed difference.

  After calculating the average overtaking speed difference, the overtaking tendency speed calculating unit 33 calculates a value obtained by subtracting the average overtaking speed difference from the value of the corresponding user optimum speed information, and uses the calculated value as the overtaking tendency speed. And The overtaking tendency speed calculated by the above method is the upper limit of the speed of another vehicle in which the one user tends to overtake when there is another vehicle ahead of the vehicle on which the one user runs. Can be regarded as a value. Therefore, when the vehicle ahead is traveling at a speed equal to or less than the overtaking tendency speed, the user tends to overtake the vehicle by the own vehicle, while the front vehicle travels at a speed exceeding the overtaking tendency speed. In the case where the vehicle is running, there is a tendency that the vehicle does not pass the vehicle.

  In addition, when calculating the overtaking tendency speed, the vehicle-related information registered in a certain period from the present time to the past may be used. In addition, when calculating the average value of the overtaken vehicle speed information, the overtaken vehicle speed information of the vehicle-related information registered at a timing close to the current time is weighted so as to affect the calculated value. You may go.

  After calculating the overtaking tendency speed related to one user based on the vehicle related information belonging to the group related to one environmental pattern, the overtaking tendency speed calculating unit 33 refers to the additional tendency database DB2 related to the one user. And the record which concerns on the said one environmental pattern is specified among the records which the said database has. Next, the overtaking tendency speed calculation unit 33 updates the value of the overtaking tendency speed information included in the specified record with the calculated overtaking tendency speed information.

  As a result of the above process performed by the overtaking tendency speed calculation unit 33, the value of the overtaking tendency speed information of each record in each overtaking tendency database DB2 is calculated by the overtaking tendency speed calculation unit 33 as needed. Updated with trend rate. As described above, the overtaking tendency speed for one environment pattern related to one user calculated by the overtaking tendency speed calculation unit 33 is the environment corresponding to the one environment pattern, and the one user is traveling. This is the upper limit value of the speed of another vehicle in which the one user tends to overtake when there is another vehicle in front of the vehicle to be operated.

  In the present embodiment, for each user, the overtaking tendency speed calculation unit 33 calculates the overtaking tendency speed for each environment pattern including a combination of road attributes, weather, and speed limit. This is based on the road attribute of the road on which the vehicle travels, the speed limit of the road on which the vehicle travels, It is because it changes with the combination with the weather when driving.

  The guide route acquisition unit 34 acquires the vehicle related information input from the vehicle related information acquisition unit 31. The guidance route acquisition unit 34 refers to the guidance flag of the acquired vehicle-related information, and when the guidance flag is on, the vehicle that can overtake the combination of the user ID and the guidance route information included in the vehicle-related information. The data is output to the presence / absence determination unit 38. As described above, vehicle-related information is transmitted to the recommended lane providing server 2 from a plurality of different in-vehicle devices 3 as needed, but the guidance route acquisition unit 34 is in the process of guiding each of the acquired vehicle-related information. The state of the flag is determined, and when the guidance flag is on, the combination of the user ID and the guidance route information is output to the overtakeable vehicle presence / absence determination unit 38.

  The vehicle position acquisition unit 35 acquires the vehicle related information input from the vehicle related information acquisition unit 31. The vehicle position acquisition unit 35 refers to the guiding flag of the acquired vehicle-related information, and when the guiding flag is on, it can overtake the combination of the user ID and the vehicle position information included in the vehicle-related information. This is output to the vehicle presence / absence determination unit 38. As described above, vehicle-related information is transmitted to the recommended lane providing server 2 from a plurality of different in-vehicle devices 3 as needed, but the vehicle position acquisition unit 35 is currently providing guidance for each of the acquired vehicle-related information. The state of the flag is determined, and when the guidance flag is on, the combination of the user ID and the vehicle position information is output to the overtakeable vehicle presence / absence determination unit 38.

  The vehicle speed acquisition unit 36 acquires the vehicle related information input from the vehicle related information acquisition unit 31. The vehicle speed acquisition unit 36 refers to the guidance-in-progress flag of the acquired vehicle-related information. When the guidance-in-progress flag is on, the vehicle speed acquisition unit 36 can pass the combination of the user ID and the vehicle speed information included in the vehicle-related information. This is output to the vehicle presence / absence determination unit 38. As described above, vehicle-related information is transmitted to the recommended lane providing server 2 from a plurality of different in-vehicle devices 3 as needed, but the vehicle speed acquisition unit 36 is providing guidance for each of the acquired vehicle-related information. The state of the flag is determined, and when the guidance flag is on, a combination of the user ID and the own vehicle speed information is output to the overtakeable vehicle presence / absence determination unit 38.

  The environment pattern acquisition unit 37 acquires the vehicle related information input from the vehicle related information acquisition unit 31. The environment pattern acquisition unit 37 refers to the guiding flag of the acquired vehicle-related information, and when the guiding flag is on, the user ID, road attribute information, weather information, and speed limit information included in the vehicle-related information. Is output to the overtakeable vehicle presence / absence determination unit 38. Hereinafter, a combination of road attribute information, weather information, and speed limit information is referred to as “environment pattern information”. As described above, the vehicle-related information is transmitted from the plurality of different in-vehicle devices 3 to the recommended lane providing server 2 as needed, but the environment pattern acquisition unit 37 is providing guidance for each of the acquired vehicle-related information. The state of the flag is determined, and when the guidance flag is on, the combination of the user ID and the environmental pattern information is output to the overtakeable vehicle presence / absence determination unit 38.

  As a result of the above processing being performed by the guide route acquisition unit 34, the vehicle position acquisition unit 35, the vehicle speed acquisition unit 36, and the environment pattern acquisition unit 37, the in-vehicle device 3 mounted on the vehicle driven by one user can change the guidance route. When guidance is provided, it is associated with the user ID of the one user, guidance route information indicating the guidance route, own vehicle position information indicating the position of the vehicle, and own vehicle speed information indicating the speed of the vehicle. And the environmental pattern information which shows the environment of the road where the vehicle drive | works is output to the overtakeable vehicle presence determination part 38 by the period S1.

  The road data storage unit 52 stores road data. As described above, the road data includes a node table related to nodes and a link table related to links.

  The overtaking vehicle presence / absence determination unit 38 travels at a speed equal to or lower than the overtaking tendency speed in a predetermined range including a position in front of the vehicle related to the user and separated from the current position of the vehicle by a certain distance or more. It is determined whether or not an overtaking vehicle exists. Hereinafter, the process of the overtakeable vehicle presence / absence determination unit 38 for one user will be described in detail. In the following description, it is assumed that the route guidance unit 12 of the in-vehicle device 3 mounted on a vehicle driven by one user to be processed is performing guidance route guidance.

  As described above, while guidance of the guidance route is performed by the in-vehicle device 3 mounted on the vehicle driven by one user, the overtaking-able vehicle presence / absence determination unit 38 is in the cycle S1 in the cycle of the one user. Corresponding to the user ID, guide route information indicating the guide route, own vehicle position information indicating the position of the vehicle, own vehicle speed information indicating the speed of the vehicle, and an environment of the road on which the vehicle travels The environmental pattern information is output to the overtakeable vehicle presence / absence determination unit 38 in a cycle S1. The overtaking possible vehicle presence / absence determination unit 38 inputs the guidance route information, the own vehicle speed information, the own vehicle position information, and the environment pattern information related to the one user in the cycle S1, and performs the following processing based on these information. Run.

  The overtaking vehicle presence / absence determination unit 38 performs the following determination based on the input own vehicle position information, the road data stored in the road data storage unit 52, and the vehicle related information database DB1 stored in the vehicle related information storage unit 50. I do. That is, the overtakeable vehicle presence / absence determining unit 38 is located in front of the vehicle related to the one user on the one-side road on which the vehicle related to the one user travels, and the distance K1 from the vehicle related to the one user It is determined whether or not another vehicle exists within a range H1 (corresponding to a “predetermined range” in the claims) that is separated by a distance.

  A one-side road expresses for convenience the part which has one or several lanes in one road, and the passage to one direction was permitted. For example, on an expressway or a general road, each of the up line and the down line is a one-side road.

  In the present embodiment, the overtaking-able vehicle presence / absence determination unit 38 stores the vehicle-related information database for each user stored in the vehicle-related information database DB1 for the position of the vehicle other than the vehicle related to the one user to be processed. Specify based on DB1. In addition, since the vehicle related information acquisition part 31 is a structure which acquires vehicle relevant information from the vehicle in driving | running | working in real time, whenever the vehicle relevant information seed | species east part 31 acquires vehicle relevant information, the vehicle presence determination which can be overtaken is determined. The vehicle-related information may be output to the unit 38, and the overtakeable vehicle presence / absence determination unit 38 may acquire the position of each vehicle based on the vehicle-related information input from the vehicle-related information acquisition unit 31.

  The value of the distance K1 is a value larger than a certain distance (for example, 1 kilometer). The significance of setting the distance K1 to a value larger than the certain distance will be described later.

  FIG. 6 is a diagram schematically illustrating an example of a map around a vehicle driven by one user in order to explain the process of the overtaking vehicle presence / absence determining unit 38. In FIG. 6, the azimuth follows the azimuth shown in the figure. In the map illustrated in FIG. 6, the one-side road D1 extends from north to south, and branches at a branch point B1 into a one-side road D2 extending northeast and a one-side road D3 extending northwest. The one-side road D1 is a one-side road that is permitted to pass in the direction toward the north. On one side road D1, lane D1a, lane D1b, and lane D1c are provided in order from the left toward the north. The lane D1c is a “passing lane”, and the lane D1a and the lane D1b are “traveling lanes”.

  In the map shown in FIG. 6, a vehicle driven by one user to be processed is located at a position P1 in the figure, and the guide route travels north on the one-side road D1 from the position P1 and on one side via the branch point B1. It is assumed that the route enters the road D3 and travels along the one-side road D3. In this case, the overtakeable vehicle presence / absence determining unit 38 determines whether or not another vehicle exists within a range H1 that is separated from the position P1 by a distance K1 forward.

  When there is another vehicle in the range H1 on the one-side road on which the vehicle related to the one user who is the processing target travels, the overtakeable vehicle presence / absence determination unit 38 recognizes the current vehicle speed of the other vehicle. To do.

  In the present embodiment, the overtakeable vehicle presence / absence determination unit 38 stores the vehicle-related information database for each user stored in the vehicle-related information database DB1 for the vehicle speeds of vehicles other than the vehicle related to the one user who is the processing target. Recognize based on DB1. The vehicle-related information acquisition unit 31 is configured to acquire vehicle-related information from a running vehicle in real time. Therefore, every time the vehicle-related information type east part 31 acquires vehicle-related information, a vehicle that can be overtaken. The vehicle-related information may be output to the presence / absence determination unit 38, and the overtaking vehicle presence / absence determination unit 38 may recognize the vehicle speed of each vehicle based on the vehicle-related information input from the vehicle-related information acquisition unit 31.

  Next, the overtakeable vehicle presence / absence determination unit 38 refers to the overtaking tendency database DB2 related to the one user who is the processing target, and among the records included in the database, the environmental pattern input from the environmental pattern acquisition unit 37 Identify records with information. Next, the overtaking capable vehicle presence / absence determination unit 38 acquires overtaking tendency speed information of the specified record. The overtaking tendency speed information acquired here is information indicating the speed of another vehicle in which one user who is a processing target tends to overtake in the current environment.

  Next, the overtaking vehicle presence / absence determination unit 38 compares the overtaking tendency speed indicated by the acquired overtaking tendency speed information with the vehicle speeds of other vehicles existing in the range H1, and the speed is equal to or less than the overtaking tendency speed. It is determined whether or not another vehicle traveling in the range H1 exists.

  The overtaking vehicle presence / absence determining unit 38, when there is another vehicle that travels at a speed equal to or lower than the overtaking tendency speed in the range H1, is one user who is a processing target for each of the other vehicles. It is determined whether the vehicle according to can be overtaken before reaching the next guide point on the guidance route.

  Specifically, the guidance point is an intersection or a branch point existing on the guidance route. In the map illustrated in FIG. 6, the branch point B1 corresponds to a guide point. As will be described later, the route guidance unit 12 of the in-vehicle device 3 presents a recommended lane based on the direction in which the vehicle travels at the guidance point when the distance between the guidance point and the host vehicle reaches a predetermined distance. To do. The recommended lane presented here is a lane that is strongly required to travel in order for the vehicle to pass smoothly through the guidance point. Therefore, when overtaking on a one-way road, the recommended lane is separated from the guidance point by a predetermined distance. Before the vehicle reaches the specified position, it is required that the overtaking of the vehicle is completed.

  Based on this, in the present embodiment, the overtaking vehicle presence / absence determination unit 38 further determines a predetermined distance from a position separated from the guidance point by the predetermined distance for each of the other vehicles traveling at a speed equal to or less than the overtaking tendency speed. Before the vehicle related to the one user reaches the position (hereinafter referred to as “determination target point”) to which the margin is added, it is determined whether or not the vehicle related to the one user can be overtaken. The predetermined margin is a margin provided so that the overtaking is completed with a margin until reaching a position separated from the guide point by the predetermined distance.

  The overtaking vehicle presence / absence determination unit 38 determines whether the speed of a vehicle related to one user who is a processing target and the speed of another vehicle that travels at a speed equal to or lower than the overtaking tendency speed, or the one user. The above determination is performed based on the positional relationship between the vehicle driven by the vehicle, the other vehicle, and the determination target point. Hereinafter, on a one-side road on which a vehicle driven by one user to be processed travels, the vehicle is positioned within the range H1, travels at a speed equal to or lower than the overtaking tendency speed, and passes to the determination target point. Other possible vehicles are called “overtaking vehicles”.

  If there is a vehicle that can be overtaken, the overpassable vehicle presence / absence determining unit 38 notifies the recommended lane providing unit 39 to that effect. On the other hand, if there is no vehicle that can be overtaken, the vehicle presence / absence determination unit 38 notifies the recommended lane providing unit 39 to that effect. As a result of the above process being executed by the overtakeable vehicle presence / absence determination unit 38, while guidance of the guidance route is being executed by the in-vehicle device 3 mounted on the vehicle related to one user, the one- It is determined whether or not an overtaking vehicle exists in front of the vehicle related to the user, and the determination result is notified to the recommended lane providing unit 39.

  The recommended lane providing unit 39, when the passable vehicle presence / absence determining unit 38 determines that there is a vehicle that can be overtaken, provides the lane on the right side of the lane in which the vehicle that can be overtaken travels as the recommended lane. If it is determined that there is no vehicle that can pass, the left lane is provided as the recommended lane. Hereinafter, the processing of the recommended lane providing unit 39 will be described in detail.

  Here, the route guidance unit 12 of the in-vehicle device 3 separates the guidance point existing on the guidance route (the intersection or the branch point existing on the guidance route as described above) and the own vehicle during guidance of the guidance route. Lanes provided on one side of the road based on the direction in which the vehicle travels at the guidance point (straight, right turn, left turn, right branch, left branch, etc.) when the distance reaches a predetermined distance (eg, 300 meters) Of these, the recommended lanes recommended for driving are presented. For example, when the guidance point is an intersection and the right turn is performed at the guidance point, the route guidance unit 12 of the in-vehicle device 3 turns right when the distance between the guidance point and the host vehicle becomes a predetermined distance. Present the rightmost lane as the recommended lane.

  And the recommended lane providing unit 39 of the recommended lane providing server 2 according to the present embodiment is such that, for one user, the current position of the vehicle driven by the one user and the guide point exceed the predetermined distance described above. In the separated state, the lane suitable for the one user is provided as the recommended lane to the in-vehicle device 3 from the plurality of lanes on the one-side road on which the vehicle travels, from the viewpoint described later. As will be described later, the route guidance unit 12 of the in-vehicle device 3 determines the recommended lane provided from the recommended lane providing server 2 when the guidance point and the vehicle position are separated beyond the predetermined distance described above. Present to the one user. Based on the above, it is assumed that the recommended lane providing unit 39 provides a recommended lane to the in-vehicle device 3 related to the one user, assuming that the vehicle driven by the one user and the guide point are sufficiently separated from each other. The processing will be described in detail.

  When there is a vehicle that can be overtaken, the recommended lane providing unit 39 specifies the lane on which the overtaking vehicle travels, and determines the lane on the right side of the specified lane as the recommended lane. If a vehicle driven by one user travels in a lane on the right side of the lane in which the vehicle that can be overtaken travels, the vehicle that can be overtaken can pass.

  FIG. 7 is a diagram used for explaining processing when the recommended lane providing unit 39 determines a recommended lane when there is a vehicle that can be overtaken. The map shown in FIG. 7 is the same as a part of the map shown in FIG. 6, and the same reference numerals as those in FIG. In FIG. 7 and FIG. 8 to be described later, symbol Q1 indicates a vehicle that is driven by one user who is a processing target, symbol A indicates a vehicle that travels at a speed that is lower than the overtaking tendency speed, and symbol B indicates , Shows a vehicle traveling at a speed exceeding the overtaking tendency speed. 7 and 8, when the vehicle A is located within the range H1 from the vehicle Q1, it is assumed that the vehicle Q1 can overtake the vehicle A before reaching the determination target point. As described above, a vehicle (vehicle A in FIGS. 7 and 8) traveling at a speed equal to or less than the overtaking tendency speed is within the range H1 from the vehicle driven by one user (vehicle Q1 in FIGS. 7 and 8). A vehicle that is located and can be overtaken before the vehicle driven by the one user reaches the determination target point corresponds to a “passable vehicle”.

  FIG. 7A shows a case C1 in which the vehicle A is traveling in the leftmost lane D1a within the range H1. In this case C1, the recommended lane providing unit 39 determines the lane D1b (center lane) on the right side of the lane D1a in which the vehicle A travels as the recommended lane. In case C1, the right side of the lane D1a includes not only the lane D1b but also the lane D1c that is the overtaking lane (the rightmost lane), but the overtaking lane is required not to travel unnecessarily. Since it is a lane, the recommended lane providing unit 39 determines not the lane D1c but the lane D1b as the recommended lane. That is, the recommended lane providing unit 39 preferentially determines the travel lane as the recommended lane over the overtaking lane.

  FIG. 7B shows a case C2 in which the vehicle A is traveling in each of the leftmost lane D1a and the center lane D1b within the range H1. In the case C2, the recommended lane providing unit 39 determines the lane D1c on the right side of the lane D1b located on the rightmost side of the lane D1a and lane D1b on which the vehicle A travels as the recommended lane. Thus, when there are vehicles that can be overtaken in a plurality of different lanes, the recommended lane providing unit 39 recommends the lane on the right side of the lane on the rightmost side among the lanes on which the overtaking vehicle is traveling. Determine as.

  FIG. 7C shows a case C3 in which the vehicle A travels in the leftmost lane D1a and the vehicle B travels in the central lane D1b within the range H1. In the case C3, the recommended lane providing unit 39 determines the lane D1b (center lane) on the right side of the lane D1a on which the vehicle A travels as the recommended lane.

  The recommended lane providing unit 39 determines the lane in which the vehicle is traveling as the recommended lane for the vehicle when there are vehicles that can be overtaken in all lanes ahead of the vehicle to be processed. To do. In this regard, the configuration may be such that the lane in which the overtaking vehicle that is farthest from the vehicle to be processed travels is determined as the recommended lane.

  On the other hand, when there is no vehicle that can be overtaken, the recommended lane providing unit 39 determines, as a recommended lane, a lane that is as close to the left as possible among lanes in which a vehicle driven by one user to be processed can travel.

  FIG. 8 is a diagram used for explaining processing when the recommended lane providing unit 39 determines a recommended lane when there is no overtaking vehicle. The map shown in FIG. 8 is the same as a part of the map shown in FIG. 6, and the same reference numerals as those in FIG.

  FIG. 8A shows a case C4 in which no other vehicle exists in the range H1, regardless of whether or not the vehicle can be overtaken. In this case C4, the recommended lane providing unit 39 determines the lane D1a that is the lane on the left side as much as possible among the lanes that can be traveled as the recommended lane.

  FIG. 8B shows a case C5 in which the vehicle B travels in the leftmost lane D1a and the center lane D1b at a speed that turns rightward from the overtaking tendency speed. In this case C5, the recommended lane providing unit 39 determines the lane D1a, which is the lane on the left side as much as possible, among the lanes that can be traveled as the recommended lane.

  As described above, in the present embodiment, the recommended lane providing unit 39 determines whether or not an overtaking vehicle exists in front of a vehicle related to one user. While the lane on the right side of the traveling lane is determined as the recommended lane, if it does not exist, the lane on the left side as much as possible is determined as the recommended lane. This produces the following effects.

  In other words, according to the present embodiment, the vehicle according to one user to be processed is set as a base point, and within a range H1 separated by a distance K1 having a value larger than a certain distance (for example, 1 kilometer), the speed is less than the overtaking tendency speed. When there is another vehicle that travels at a speed, the lane on the right side of the lane in which the vehicle travels is determined as the recommended lane. For this reason, the user who recognizes the determined recommended lane does not change the lane when the driving vehicle approaches another vehicle, but the distance from the other vehicle is a certain distance or more. Thus, it is possible to change the lane to a lane that can pass through the other vehicle. Thereby, it can suppress that a lane change is performed in multiple times in a short period with overtaking.

  For example, in the present embodiment, in the case C1 shown in FIG. 7A, when the vehicle A and the vehicle Q1 are sufficiently separated from each other, the lane D1b is determined as the recommended lane for the vehicle Q1, and a method to be described later Provided in. For this reason, the user who drives the vehicle Q1 changes the lane to the lane D1b with a margin when the vehicle Q1 that the user drives is sufficiently away from the vehicle A that travels at a speed that the vehicle Q1 tends to overtake. It can be performed. Therefore, when the vehicle Q1 approaches the vehicle A, the user does not have to execute a lane change from the lane D1a to the lane D1b and a lane change from the lane D1b to the lane D1a in a short period of time.

  For example, in the present embodiment, in the case C2 shown in FIG. 7B, the lane D1c is determined as the recommended lane for the vehicle Q1 when the vehicle Q1 and the vehicle A are sufficiently separated from each other. It is provided by the method described later. For this reason, the user who drives the vehicle Q1 has a margin to the lane D1c at a stage where the vehicle Q1 that the user drives and the vehicle A that travels at a speed that the vehicle Q1 tends to overshoot are sufficiently separated from each other. Lane changes can be made. Particularly in case C2, the lane determined as the recommended lane is a lane that can pass through all the vehicles that can be overtaken in front of the vehicle Q1, and therefore the user causes the vehicle to travel the determined recommended lane. Thus, it is not necessary to change the lane each time the vehicle approaches a plurality of vehicles that can be overtaken, and the burden on the user can be reduced effectively.

  Furthermore, according to the present embodiment, only when there is a vehicle traveling at a speed equal to or lower than the overtaking tendency speed in front of the vehicle driven by one user, in other words, the one user performs overtaking. Only when there is a highly likely vehicle, the lane on the right side of the lane in which the vehicle travels (the lane that can pass through the vehicle) is determined as the recommended lane, while there is no such vehicle The left lane is determined as the recommended lane. For this reason, it can suppress that the lane on the right side is unnecessarily determined as the recommended lane.

  Furthermore, according to the present embodiment, in the following cases, the number of lane changes that are performed along with overtaking of the vehicle driven by the user can be reduced. FIG. 9 is a diagram used for explaining a case C5 in which the number of lane changes performed with overtaking is reduced. The map shown in FIG. 9 is the same as a part of the map shown in FIG. 6, and the same reference numerals as those in FIG.

  As shown in FIG. 9A, the vehicle Q1 is located in the lane D1a, the vehicle Aa traveling at a speed equal to or less than the overtaking tendency speed is located in front of the vehicle Q1 in the lane D1a, and the vehicle Aa in the lane D1a. It is assumed that a vehicle Ab that travels at a speed equal to or less than the overtaking tendency speed is located ahead. In FIG. 9A, the vehicle Aa exists within the range H1 with the vehicle Q1 as a base point.

  In the state shown in FIG. 9A, the recommended lane providing unit 39 determines the lane D1b as the recommended lane. When the vehicle Q1 changes to the lane D1b determined as the recommended lane and travels on the lane D1b, the vehicle Q1 eventually passes the vehicle Aa, and the positional relationship between the vehicle Q1, the vehicle Aa, and the vehicle Ab is The state shown in FIG. 9B is obtained. In FIG. 9B, the vehicle Ab exists in the range H1 with the vehicle Q1 as a base point.

  In the state of FIG. 9B, the recommended lane providing unit 39 determines the recommended lane for the vehicle Q1, not the lane D1a but the lane D1b as the recommended lane. As described above, when there is a vehicle that travels at a speed equal to or lower than the overtaking tendency speed in the range H1 in front of the vehicle Q1, the recommended lane providing unit 39 is on the lane on the right side of the lane on which the vehicle travels. Is determined as a recommended lane. If the vehicle Ab does not exist in the state of FIG. 9B, the recommended lane providing unit 39 determines the lane D1a as the recommended lane. As described above, in such a case, the recommended lane providing unit 39 determines a lane on the left side as much as possible as the recommended lane.

  When the vehicle Q1 travels on the lane D1b determined as the recommended lane, the vehicle Q1 eventually passes the vehicle Ab on the lane D1b, and the positional relationship between the vehicle Q1, the vehicle Aa, and the vehicle Ab is as shown in FIG. It will be in the state shown. The user changes the lane at an appropriate timing after the vehicle Q1 passes the vehicle Ab, and changes the lane in which the vehicle Q1 travels to the lane D1a. In the case described above, the lane change to be performed for the vehicle Q1 to pass through both the vehicles Aa and Ab is one time. Accordingly, the lane change for overtaking is performed when the vehicle Q1 approaches the vehicle Aa, and further, the lane change is performed compared to the case where the lane change for overtaking is performed when the vehicle Q1 approaches the vehicle Ab. The number of changes can be reduced.

  In addition, as described above, in the present embodiment, the overtaking vehicle presence / absence determination unit 38 determines whether or not a vehicle that can be overtaken has reached a vehicle to be processed before reaching the determination target point. It is determined whether or not the condition that overtaking is possible is satisfied. Because of this configuration, the lanes for overtaking other vehicles are presented as recommended lanes, even though other vehicles cannot actually be overtaken before reaching the target point. Can be prevented.

  Now, after the recommended lane providing unit 39 determines a recommended lane for one user, the recommended lane providing unit 39 controls the server-side communication unit 30 to send information indicating the determined recommended lane to the in-vehicle device 3 related to the one user. Send. Transmission of information indicating a recommended lane corresponds to “providing a recommended lane”. The information indicating the recommended lane may be information that allows the in-vehicle device 3 to identify the recommended lane.

  The route guide unit 12 of the in-vehicle device 3 receives and acquires information indicating the recommended lane via the in-vehicle device side communication unit 10. The route guide unit 12 presents a recommended lane based on the received information. The presentation of the recommended lane may be performed in any manner. For example, an image that clearly indicates the recommended lane may be displayed on the map displayed on the touch panel 8, and an enlarged map around the road on which the vehicle is traveling is displayed on the map by pop-up, and the enlarged map is displayed on the map. An image clearly showing the recommended lane may be displayed, and the recommended lane may be presented by voice.

  FIG. 10 is a flowchart showing an example of processing of the overtaking tendency speed calculation unit 33 according to the present embodiment. In particular, in the flowchart of FIG. 10, when calculating the overtaking tendency speed for one user, after grouping the vehicle related information according to the environmental pattern, the overtaking is performed based on the vehicle related information belonging to the one environmental pattern. The process which the overtaking tendency speed calculation part 33 when calculating a tendency speed performs is shown. As described above, in the present embodiment, the overtaking tendency speed calculation unit 33 executes the processing of the flowchart of FIG. 10 at regular intervals.

  As illustrated in the flowchart of FIG. 10, the overtaking tendency speed calculation unit 33 identifies vehicle-related information in which the overtaking flag is on among the vehicle-related information belonging to the group related to the one environmental pattern (step SA1). Next, the overtaking tendency speed calculation unit 33 identifies N (for example, five) pieces of vehicle-related information in descending order of the value of the overtaken vehicle speed information among the vehicle-related information with the overtaking flag turned on. (Step SA2). Next, the overtaking tendency speed calculation unit 33 acquires the overtaken vehicle speed information included in each of the specified N pieces of vehicle-related information (step SA3). As described above, the N pieces of overtaken vehicle speed information acquired in step SA3 have been actually overtaken in the past in an environment corresponding to one environmental pattern by one user who is the object of processing. It is information indicating the speed of other vehicles at the time, and is information indicating the top N speeds having a large value.

  Next, the overtaking tendency speed calculation unit 33 refers to the overtaking tendency database DB2 of the one user who is the object of processing, and acquires the user optimum speed information of the one user (step SA4). Next, the overtaking tendency speed calculation unit 33 calculates an overtaking speed difference that is a difference between the obtained N pieces of overtaken vehicle speed information and the user optimum speed information (step SA5). As described above, the overtaking tendency speed calculation unit 33 calculates the overtaking speed difference by subtracting the value of the overtaken vehicle speed information from the value of the user optimum speed information.

  Next, the overtaking tendency speed calculation unit 33 calculates an average overtaking speed difference that is an average value of the N overtaking speed differences (step SA6). Next, the overtaking tendency speed calculation unit 33 calculates a value obtained by subtracting the average overtaking speed difference from the value of the corresponding user optimum speed information, and sets the calculated value as the overtaking tendency speed (step SA7).

  FIG. 11 is a flowchart showing an example of processing of the recommended lane providing server 2 according to the present embodiment. The flowchart of FIG. 11 shows the recommended lane providing server 2 when receiving vehicle-related information from the in-vehicle device 3 mounted on a vehicle driven by one user, determining a recommended lane for the one user, and providing the recommended lane. Processing is shown.

  As shown in the flowchart of FIG. 11, in response to reception of vehicle-related information related to one user, the guide route acquisition unit 34 acquires guide route information, and the vehicle position acquisition unit 35 acquires vehicle position information (related to the user). Vehicle current position), the vehicle speed acquisition unit 36 acquires host vehicle speed information, and the environment pattern acquisition unit 37 acquires environment pattern information (step SB1).

  Next, the overtakeable vehicle presence / absence determining unit 38 performs the above-described processing based on the information acquired by each functional block in step SB1 to determine whether or not there is a overtakeable vehicle (step SB2). ). As described above, the vehicle that can be overtaken exists on the one-side road on which the vehicle driven by the one user who is the object of processing travels, at a position that can be overtaken before reaching the determination target point within the range H1. It is another vehicle that travels at a speed lower than the overtaking tendency speed.

  Next, the recommended lane providing unit 39 determines a recommended lane based on the determination result of the overtakeable vehicle presence / absence determining unit 38 (step SB3). Next, the recommended lane providing unit 39 controls the server side communication unit 30 to transmit information indicating the recommended lane determined in step SB3 to the in-vehicle device 3 related to the one user (step SB4). As described above, the route guidance unit 12 of the in-vehicle device 3 presents the recommended lane to the user who drives the vehicle in response to receiving the information indicating the recommended lane.

  As described above in detail, the recommended lane providing server 2 according to the present embodiment stores the overtaking tendency speed, which is the speed of another vehicle that tends to overtake when the user drives the vehicle. Then, the recommended lane providing server 2 according to the present embodiment acquires the current position of the vehicle related to the user, and determines a position in front of the vehicle related to the user that is separated from the current position of the vehicle by a certain distance or more. It is determined whether there is an overtaking vehicle that travels at a speed equal to or less than the overtaking tendency speed within a predetermined range, and if so, the lane on the right side of the lane in which the overtaking vehicle travels is determined. While the recommended lane is provided, if it does not exist, the left lane is provided as the recommended lane.

  According to this configuration, as described above, it is possible to suppress a vehicle from traveling unnecessarily in a lane on the right side and to suppress a plurality of lane changes in a short period of time with overtaking. Lanes can be provided as recommended lanes.

<First Modification>
In the embodiment described above, the in-vehicle device 3 to which the recommended lane providing server 3 provides the recommended lane (transmits information indicating the recommended lane) is an apparatus mounted on a vehicle that travels according to the driver's operation. there were. In this regard, the configuration in which the recommended lane providing server 3 provides the recommended lane to the in-vehicle device 3 mounted on the automatic driving vehicle capable of performing automatic driving that automatically performs control related to vehicle travel such as acceleration, steering, and braking. But you can.

  In this example, it is assumed that automatic operation is automatic operation of level 3 and level 4 among so-called automatic operation levels. Level 3 is an automatic driving level in which all control of acceleration, steering, and braking is automatically performed, and the driver needs to drive the vehicle in a predetermined case such as an emergency. Level 4 is an automatic driving level in which all control of acceleration, steering, and braking is performed automatically and the driver is not involved in driving the vehicle. It should be noted that the development of laws, roads, and other environments necessary for automated driving at levels 3 and 4 are properly implemented.

  Now, in the self-driving vehicle in which the in-vehicle device 3 is mounted, the recommended lane providing server 2 and the in-vehicle device 3 related to one user are described above while the user is driving instead of the automatic driving. The same processing as in the embodiment is executed. On the other hand, in the autonomous driving vehicle in which the in-vehicle device 3 is mounted, the recommended lane providing server 2 performs the same processing as in the above-described embodiment to determine the recommended lane and perform the recommendation while the automatic driving is performed. Information indicating the lane is transmitted to the in-vehicle device 3. During the automatic driving, the vehicle-related information received from the in-vehicle device 3 is managed so as not to be used for the calculation of the user optimum speed and the overtaking tendency speed.

  The in-vehicle device 3 that has received the information indicating the recommended lane outputs information indicating the recommended lane to the automatic driving execution device that executes the automatic driving. The automatic driving execution device is a device that executes automatic driving, and includes various sensors that detect the environment of the vehicle (the position of the vehicle, the surrounding conditions in which the vehicle travels, the inter-vehicle distance, etc.) and the state of the vehicle (vehicle speed and , Relative azimuth, gear state, etc.), various ECUs for controlling various mechanisms related to vehicle propulsion (engine, transmission, brake, steering, etc.), etc. In response, various ECUs are controlled to execute automatic operation.

  The automatic driving execution device inputs information indicating a recommended lane, and uses it as useful information when determining the lane in which the vehicle travels in automatic driving. For example, when the lane change to the recommended lane can be executed safely, the automatic driving execution device changes the lane in which the vehicle is traveling to the recommended lane by automatic driving.

  As described above, when the vehicle travels in the recommended lane provided by the recommended lane providing server 2, it is possible to suppress a plurality of lane changes during a short period of time. Based on this, by using the recommended lane provided by the recommended lane providing server 2 for automatic driving, it is possible to suppress multiple lane changes during a short period of time while automatic driving is performed. It is possible to suppress an increase in the processing load of the automatic operation execution device and other control devices that control automatic operation.

<Second Modification>
In the above-described embodiment, a function for determining the presence / absence of an overtaking vehicle (a function of the overtaking vehicle presence / absence determining unit 38) and a function for determining and providing a recommended lane (a function of the recommended lane providing unit 39) are recommended. The lane providing server 2 has a configuration. In this regard, the in-vehicle device 3 may have all of these functions and functions associated with these functions. In this case, the in-vehicle device 3 corresponds to the “recommended lane providing device” in the claims. Moreover, the structure which the vehicle-mounted apparatus 3 has some of these functions and the function accompanying these functions may be sufficient. In this case, the in-vehicle device 3 and the recommended lane providing server 2 cooperate to function as a “recommended lane providing device”.

<Third Modification>
In the above-described embodiment, the overtaking tendency speed calculation unit 33 calculates the user optimum speed and the average overtaking speed difference when calculating the overtaking tendency speed, and calculates the average overtaking speed from the value of the user optimum speed information. The overtaking tendency speed was calculated by subtracting the speed difference. In this regard, the method of calculating the overtaking tendency speed is not limited to the method described in the above embodiment. For example, a configuration in which the overtaking tendency speed calculation unit 33 calculates the overtaking tendency speed by the following method may be used. Hereinafter, a modified example of the process of the overtaking tendency speed calculation unit 33 when calculating the overtaking tendency speed for one user based on the vehicle related information belonging to the group related to the one environmental pattern will be described.

  The overtaking tendency speed calculation unit 33 identifies vehicle-related information in which the overtaking flag is on among the vehicle-related information for the one user belonging to the group related to the one environment pattern. Next, the overtaking tendency speed calculation unit 33 identifies N (for example, five) pieces of vehicle-related information in descending order of the value of the overtaken vehicle speed information among the vehicle-related information with the overtaking flag turned on. To do. Next, the overtaking tendency speed calculation unit 33 acquires the overtaken vehicle speed information included in each of the specified N pieces of vehicle related information. Next, the overtaking tendency speed calculation unit 33 calculates the average value of the acquired N pieces of overtaken vehicle speed information, and sets the calculated average value as the overtaking tendency speed. In addition, when calculating the average value of the overtaken vehicle speed information, the overtaken vehicle speed information of the vehicle-related information registered in a certain period from the present to the past may be used. In addition, when calculating the average value of the overtaken vehicle speed information, the overtaken vehicle speed information of the vehicle-related information registered at a timing close to the current time is weighted so as to affect the calculated value. You may go.

  Even when the overtaking tendency speed is calculated by such a method, the value of the overtaking tendency speed can be appropriately regarded as the upper limit value of the speed of another vehicle in which the user tends to overtake. It can be set to such a value.

  The three modified examples have been described above. In addition to these modifications, in the above-described embodiment, the overtaking vehicle presence / absence determination unit 38 determines whether there is an overtaking vehicle before it reaches the guidance point (strictly, the determination target point before the guidance point). It has been determined whether or not the condition that the vehicle related to the user to be processed can be overtaken is satisfied. In this regard, a configuration in which it is not determined whether or not the condition is satisfied may be employed. Even in this case, the recommended lane providing server 2 can provide useful information regarding the recommended lane. For example, according to the above process, it is possible to provide useful information regarding the recommended lane even when the guidance route is not set.

  In the above-described embodiment, the overtaking tendency speed storage unit 51 stores the overtaking tendency speed for each combination of road attribute, speed limit, and weather for each user. In addition, when determining whether or not there is a vehicle that can be overtaken, the overtaking vehicle presence / absence determination unit 38 includes a road attribute, a speed limit, and a current weather associated with a road on which the vehicle related to the user travels within the range H1. It was determined whether or not there is a vehicle that travels at a speed equal to or lower than the overtaking tendency speed corresponding to the combination. In this regard, the overtaking tendency speed storage unit 51 may be configured to store the overtaking tendency speed for any one of road attributes, speed limit or weather, or any combination of two or more. In this case, the overtaking vehicle presence / absence determination unit 38 determines whether or not there is an overtaking vehicle, one of the road attribute, speed limit, or current weather associated with the road on which the vehicle related to the user travels, or It is determined whether there is a vehicle that travels at a speed equal to or less than the overtaking tendency speed corresponding to any two or more combinations.

  Moreover, the structure which memorize | stores the overtaking tendency speed for every combination of a road section or a road section and the weather may be sufficient as the overtaking tendency speed memory | storage part 51. FIG. In this case, the overtakeable vehicle presence / absence determination unit 38 corresponds to the road section related to the road on which the vehicle related to the user travels, or the combination of the road section and the current weather when determining the presence or absence of the overtakeable vehicle. It is determined whether or not there is a vehicle that travels at a speed equal to or less than the overtaking tendency speed.

  In the above-described embodiment, the recommended lane is provided by the recommended lane providing server 2 when the guidance route is guided by the route guide unit 12 of the in-vehicle device 3. In this regard, the recommended lane providing server 2 may determine and provide a recommended lane when the guidance route is not being guided.

  In the above-described embodiment, in the overtaking tendency database DB2, the user optimum speed information has a value indicating a specific speed as a value. In this regard, the user optimum information may be a value indicating the ratio of the corresponding road to the speed limit. In the above-described embodiment, in the overtaking tendency database DB2, the overtaking tendency speed information has a value indicating a specific speed as a value. In this regard, the overtaking tendency speed information may be a value indicating a ratio to the corresponding user optimum speed information.

  In the above-described embodiment, when determining whether there is a vehicle that can be overtaken, a certain margin is added to the overtaking tendency speed, and a margin is added in front of the user's vehicle to be processed. The structure which determines whether the other vehicle which drive | works at the speed below an overtaking tendency speed exists may be sufficient.

  Further, in the embodiment described above, overtaking, the host vehicle temporarily changes the lane to the right lane with respect to other vehicles traveling in the same lane, passes through the other lane in the lane after the lane change, It is defined as the movement of the host vehicle performed in a manner that changes the lane to the original lane. In this regard, “passing” also includes the movement of the host vehicle performed in such a manner that the lane is temporarily changed to the lane on the right side of the other vehicle traveling in the same lane and the other lane is passed in the lane after the lane change. It may be configured.

  In the above-described embodiment, the following processing may be executed when the recommended lane providing unit 39 determines the recommended lane. In other words, the recommended lane providing unit 39, when the vehicle related to one user who is a processing target is traveling in the leftmost lane of the road, the leftmost lane (the lane in which the vehicle related to the one user is traveling). In the same lane), it is determined whether there is another vehicle in the range H1 ahead of the vehicle related to the one user. If no other vehicle exists in the leftmost lane, the leftmost lane is determined as the recommended lane. Here, when a vehicle related to one user is traveling in the left lane, if there is no other vehicle in the left lane, the speed is less than the overtaking tendency speed in the lane on the right side of the left lane. Even when there is a traveling vehicle, the vehicle related to the one user can travel in the leftmost lane without changing the lane. Based on this, when the recommended lane providing unit 39 executes the above-described processing, it is possible to reduce lane changes that are performed in accordance with overtaking.

  In addition, each of the above-described embodiments is merely an example of a specific example for carrying out the present invention, and the technical scope of the present invention should not be construed in a limited manner. That is, the present invention can be implemented in various forms without departing from the gist or the main features thereof.

2 Recommended lane providing server (recommended lane providing device)
3 In-vehicle device (recommended lane providing device)
33 Passing tendency speed calculation part 34 Guide route acquisition part 35 Current position acquisition part 38 Passable vehicle presence / absence determination part 39 Recommended lane providing part 51 Passing tendency speed storage part

Claims (9)

An overtaking tendency speed storage unit that stores an overtaking tendency speed that is the speed of another vehicle that tends to overtake when the user drives the vehicle;
A vehicle position acquisition unit for acquiring a current position of the vehicle related to the user;
Whether or not an overtaking vehicle that travels at a speed equal to or lower than the overtaking tendency speed exists in a predetermined range that is in front of the vehicle related to the user and that is separated from the current position of the vehicle by a certain distance or more. An overtaking vehicle presence / absence determination unit for determining whether or not
When it is determined that the overtaking vehicle exists within the predetermined range, a lane on the right side of the lane on which the overtaking vehicle travels is provided as a recommended lane, while the additional vehicle within the predetermined range is provided. When it is determined that there is no vehicle that can pass, a recommended lane providing unit that provides a lane on the left side of the vehicles provided on the road as a recommended lane,
A recommended lane providing device comprising: A guidance route acquisition unit for acquiring a guidance route of the vehicle related to the user;
The overtaking vehicle presence / absence determining unit
It is determined whether or not the vehicle that can be overtaken exists at a position within the predetermined range that can be overtaken before the vehicle related to the user reaches the next guide point on the guidance route. The recommended lane providing apparatus according to claim 1. The recommended lane provider is
When the vehicle according to the user passes the one overtaking vehicle in the lane on the right side of the lane in which the one overtaking vehicle travels,
If there is no other vehicle that can be overtaken in the lane on the left side of the traveling lane, the vehicle related to the user provides the recommended lane on the left side of the traveling lane, while the left side of the traveling lane. The lane on the right side of the lane in which the other overtaking vehicle travels is provided as a recommended lane when there is another overtaking vehicle in the lane of claim 1 or 2. The recommended lane providing device described. The recommended lane provider is
When the overtaking vehicle exists in a plurality of different lanes, a lane on the right side of the lane on the rightmost side among the lanes on which the overtaking vehicle travels is provided as a recommended lane. Item 4. The recommended lane providing device according to any one of Items 1 to 3. A user optimum speed calculation unit that calculates a user optimum speed that is a speed when the user stably drives the vehicle at a speed desired by the user based on a history of the speed of the vehicle driven by the user;
When a vehicle driven by a user overtakes another vehicle, the overtaken vehicle speed, which is the speed of the other vehicle, is obtained, and the vehicle is based on the difference between the user optimum speed and the overtaken vehicle speed. An overtaking tendency speed calculation unit for calculating an overtaking tendency speed;
The recommended lane providing device according to any one of claims 1 to 4, further comprising:   When the vehicle driven by the user overtakes another vehicle, the overtaken vehicle speed, which is the speed of the other vehicle, is obtained, and the overtaking tendency is based on the obtained average of the overtaken vehicle speed. The recommended lane providing apparatus according to any one of claims 1 to 4, further comprising an overtaking tendency speed calculation unit that calculates a speed. The overtaking tendency speed storage unit is
Storing the overtaking tendency speed for each of road attribute, speed limit or weather, or any combination of two or more;
The overtaking vehicle presence / absence determining unit
Within the predetermined range, the road attribute related to the road on which the vehicle related to the user travels, any one of the speed limit or the current weather, or the overtaking tendency speed corresponding to any combination of two or more The recommended lane providing device according to any one of claims 1 to 6, wherein it is determined whether or not the overtaking vehicle that travels at the speed of the vehicle exists. The overtaking tendency speed storage unit is
Storing the overtaking tendency speed for each road section or each combination of road section and weather;
The overtaking vehicle presence / absence determining unit
Within the predetermined range, the overtaking is allowed to run at a speed equal to or less than the overtaking tendency speed corresponding to a road section on a road on which a vehicle related to the user travels, or a combination of the road section and the current weather. It is determined whether a vehicle exists. The recommendation lane providing apparatus as described in any one of Claim 1 thru | or 6 characterized by the above-mentioned. A recommended lane providing method by a recommended lane providing device comprising an overtaking tendency speed storage unit that stores an overtaking tendency speed that is a speed of another vehicle that tends to overtake when a user drives a vehicle,
A vehicle position acquisition unit of the recommended lane providing device, a first step of acquiring a current position of a vehicle related to a user;
The overtaking tendency speed is within a predetermined range including a position in front of the vehicle related to the user by the recommended lane providing device and a position separated from the current position of the vehicle by a predetermined distance or more. A second step of determining whether there is an overtaking vehicle traveling at the following speed;
When the recommended lane providing unit of the recommended lane providing device determines that the overtaking vehicle exists within the predetermined range, the lane on the right side of the lane in which the overtaking vehicle travels is provided as the recommended lane. On the other hand, if it is determined that the overtaking vehicle does not exist within the predetermined range, a third step of providing a lane on the left side of the vehicles provided on the road as a recommended lane;
A method of providing a recommended lane characterized by including: