JP2019067038A - Merging support device, merging support system, on-vehicle unit, merging support method, and program - Google Patents

Abstract

To provide a merging support device capable of supporting smooth merging by making a vehicle traveling on a merging lane recognize a position of a main lane vehicle traveling on the main lane; and to provide a merging support system, an on-vehicle unit, a merging support method and a program thereof.SOLUTION: A merging support device 10 comprises a registration processing part 110 for acquiring a first speed which is a speed of a main lane vehicle traveling on a spot on the upstream side of a start point of a merging section on a main lane and registering it in a tracking list, a speed correction part 111 for acquiring a second speed which is a speed of a preceding vehicle at the start point of the merging section, correcting the first speed of a following vehicle traveling on the downstream side of the preceding vehicle based on the second speed, and registering it in the tracking list as an estimated speed of the following vehicle, and a notification processing part 112 for determining an estimated position of the main lane vehicle based on the estimated speed, and notifying a merging vehicle traveling on a merging lane of merging support information including the estimated position.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a merging support device, a merging support system, an on-board unit, a merging support method, and a program.

In a merging section on an expressway or the like, a vehicle traveling on a merging lane (hereinafter, merging vehicle) needs to merge with the main line while confirming the position and speed of a vehicle traveling on the main line (hereinafter, main vehicle).
As a system for supporting the driving operation in such a merging section, for example, according to Patent Document 1, the time when each of the merging vehicle and the main line vehicle reaches the merging section is predicted, and the merging vehicle and the main vehicle collide in the merging section A system is disclosed that prompts a main lane vehicle to change lanes when there is a risk.

JP 2017-97457 A

  However, in the conventional system, although it is possible to cause the main line vehicle to recognize the danger of a collision, it is not possible to allow the merging vehicle to recognize which position the main line vehicle is traveling.

  The present invention has been made in view of such problems, and can smoothly join by causing the vehicle traveling on the merging lane to recognize the position of the main line traveling on the main lane. A merging support apparatus, a merging support system, an on-board unit, a merging support method, and a program are provided.

In order to solve the above-mentioned subject, the present invention adopts the following means.
According to the first aspect of the present invention, the merging support device (10) acquires a first speed, which is the speed of the main line vehicle traveling on a point upstream of the start point of the merging section on the main line. Acquiring a second speed which is a speed at the start point of the merging section of the leading vehicle which is one of the main line vehicles registered in the tracking list and a registration processing unit (110) registered in the tracking list And corrects the first speed of the following vehicle traveling downstream of the leading vehicle among the main line vehicles registered in the tracking list based on the second speed, and the estimated speed of the following vehicle And the estimated position of the main line vehicle registered in the tracking list on the basis of the estimated speed, and the merging support information including the estimated position is used as the merging lane. Joint car traveling Comprising notification processing unit for notifying (112), to.
By doing this, the merging support device corrects the first speed of the following vehicle based on the second speed of the preceding vehicle at the start point of the merging section, and therefore the leading vehicle and the following vehicle traveling on the main line The estimated position can be identified with high accuracy. Then, the merging support device may provide support for the merging vehicle to smoothly merge with the main line by notifying the merging support information and making the merging vehicle recognize the leading vehicle and the following vehicle estimated position traveling on the main line. it can.

According to the second aspect of the present invention, in the merging support device (10) according to the first aspect, the notification processing unit (112) determines the estimated positions of each of the plurality of main line vehicles, and the main line vehicle The merging space existing between the main line vehicles is calculated based on the vehicle length, and the merging support information further includes merging space information indicating the merging space.
By doing this, the merging support apparatus can calculate the merging space existing between the main line vehicles with high accuracy based on the estimated position of the main line vehicle and the vehicle length. Thus, the merging support apparatus can cause the merging vehicle to recognize the merging space that can safely merge with the main line more accurately.

According to the third aspect of the present invention, in the merging support apparatus (10) according to the first or second aspect, the notification processing unit (112) determines that the main line vehicle merges based on the estimated speed. An estimated arrival time to reach the start point of the section is calculated, and the merging support information further includes the estimated arrival time.
As described above, since the merging support information includes the predicted arrival time of each main line vehicle to the merging section, the merging vehicle can be estimated to arrive at the estimated arrival time even if there is a period in which the merging vehicle can not receive the merging support information. It is possible to join safely on the basis.

According to the fourth aspect of the present invention, in the merging support apparatus (10) according to any one of the first to third aspects, the registration processing unit (110) is closer to the start point of the merging section. When it is detected through the camera (13) provided on the upstream side of the main line that the main line vehicle has moved from the lane adjacent to the merging lane to another lane among the plurality of lanes of the main line The main line vehicle is deleted from the tracking list.
By doing so, the merging support apparatus can accurately recognize the main line vehicle traveling in the lane adjacent to the merging lane even when the main line vehicle changes lanes.

According to the fifth aspect of the present invention, in the merging support apparatus (10) according to any one of the first to third aspects, the registration processing unit (110) is more than the start point of the merging section. When it is detected through the camera (13) provided on the upstream side of the main line that the main line vehicle has moved from the lane adjacent to the merging lane to another lane among the plurality of lanes of the main line The main vehicle is deleted from the tracking list of lanes adjacent to the confluence lane, and is added to and updated in the tracking list of the other lanes.
By doing this, even if the main line vehicle changes lanes, the merging support device accurately recognizes which lane among the plurality of lanes the main line vehicle is traveling, and the lanes are separated by lane It can manage the main line vehicle.

According to the sixth aspect of the present invention, the merging support system (1) includes the merging support device (10) according to any one of the first to fifth aspects, and an onboard unit (onboard the merging vehicle). 20) and. The vehicle-mounted device (20) generates a guidance information generation unit (202) for generating guidance information indicating the position of the merging vehicle on the merging lane and the position of the main vehicle on the main line included in the merging support information. ).
By doing so, the merging support system can cause the merging vehicle to appropriately recognize the positions of the merging vehicle and the main line vehicle via the on-board unit.

According to the seventh aspect of the present invention, the merging support system (1) according to the sixth aspect further includes an automatic driving control unit (21) that performs control related to automatic driving of the merged vehicle. The automatic driving control unit (21) adjusts the position and speed of the merging vehicle on the merging lane based on the merging support information.
By doing this, the automatic driving control unit of the joining vehicle can appropriately control the joining vehicle so as to safely join the main line by appropriately determining the timing of joining the main line based on the joining support information. .

According to the eighth aspect of the present invention, the vehicle-mounted device (20) receives the merging support information from the merging support apparatus (10) according to any one of the first to fifth aspects. And a guidance information generation unit (202) for generating guidance information indicating the position of the merging vehicle on the merging lane and the position of the main vehicle on the main line included in the merging support information.
In this way, the on-board unit can cause the driver of the merging vehicle to appropriately recognize the positions of the merging vehicle and the main line vehicle.

  According to the ninth aspect of the present invention, the merging support method acquires the first speed, which is the speed of the main line vehicle traveling on a point on the upstream side of the start point of the merging section on the main line, Acquiring a second speed which is a speed at the start point of the merging section of the leading vehicle which is one vehicle among the main line vehicles registered in the tracking list and a registration process step of registration, and acquires the second speed Corrects the first speed of the following vehicle traveling downstream of the preceding vehicle among the main line vehicles registered in the tracking list based on the following, and registers in the tracking list as the estimated speed of the following vehicle Notification processing for specifying the estimated position of the main line vehicle registered in the tracking list based on the estimated speed and a speed correction step, and notifying merging information including the estimated position to the merging vehicle traveling on the merging lane Has a step, a.

  According to the tenth aspect of the present invention, the program causing the computer of the merging support device (10) causes the computer to operate at the speed of the main line vehicle traveling a point upstream of the start point of the merging section on the main line. Acquiring the first speed which is the first speed, and registering the tracking speed in the tracking list; and the speed at the start point of the merging section of the preceding vehicle which is one of the main vehicles registered in the tracking list. Acquiring a second speed, and correcting the first speed of the following vehicle traveling downstream of the preceding vehicle among the main line vehicles registered in the tracking list based on the second speed; The estimated position of the main line vehicle registered in the tracking list is specified based on the estimated speed and a speed correction step of registering the estimated speed of the following vehicle in the tracking list, and the estimated position is determined And notification process step of notifying the merging vehicle traveling the merging lane merging support information including, to the execution.

  According to the above-described merging support device, merging support system, vehicle-mounted device, merging support method, and program, smooth merging can be achieved by causing the vehicle traveling on the merging lane to recognize the position of the main line vehicle traveling on the main line. Can help.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the whole structure of the merge assistance system which concerns on 1st Embodiment. It is a figure which shows the function structure of the merge assistance system which concerns on 1st Embodiment. It is a 1st flowchart which shows an example of a process of the merge assistance apparatus which concerns on 1st Embodiment. It is a figure which shows an example of the tracking list which concerns on 1st Embodiment. It is a 2nd flowchart which shows an example of a process of the merge assistance apparatus which concerns on 1st Embodiment. It is a figure for demonstrating the function of the merge assistance apparatus which concerns on 1st Embodiment. It is a 3rd flowchart which shows an example of a process of the merge assistance apparatus which concerns on 1st Embodiment. It is a figure which shows an example of the merge assistance information which concerns on 1st Embodiment. It is a 4th flowchart which shows an example of a process of the merge assistance apparatus which concerns on 1st Embodiment. It is a 5th flow chart which shows an example of processing of a merge support device concerning a 1st embodiment. It is a flowchart which shows an example of a process of the onboard equipment which concerns on 1st Embodiment. It is a figure for demonstrating the function of the vehicle-mounted apparatus which concerns on 1st Embodiment. It is a figure which shows the hardware constitutions of the merge assistance apparatus which concerns on at least one embodiment. It is a figure which shows the function structure of the merge assistance system which concerns on 2nd Embodiment.

First Embodiment
Hereinafter, the merging support system 1 according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 13.

(overall structure)
FIG. 1 is a diagram showing an entire configuration of a merging support system according to the first embodiment.
As shown in FIG. 1, the merging support system 1 includes a merging support device 10 and an onboard unit 20 mounted on a vehicle (merged vehicle V2).
The merging support device 10 according to the present embodiment is installed around a merging section in which the merging lane L2 merges with the main line L1 of a road (highway or the like).
In the following description, a vehicle traveling on the main line L1 is also referred to as "main vehicle V1", and a vehicle traveling on the merging lane L2 is also referred to as "merging vehicle V2".
The merging vehicle V2 according to the present embodiment is a manually driven vehicle in which a driver performs driving by scanning a steering wheel, an accelerator, and a brake.
Further, in FIG. 1, the main line L1 is a first lane L1a (a lane adjacent to the merging lane L2) and a second lane L1b (a lane positioned opposite to the merging lane L2 across the first lane L1a). Although an embodiment having two lanes is shown, it is not limited thereto. In another embodiment, the main line L1 may have three or more lanes.

  As shown in FIG. 1, the merging support device 10 includes a control device 11, an upstream sensor 12 (first roadside sensor), an upstream camera 13, a downstream sensor 14 (second road sensor), and a downstream side. A camera 15 and a roadside radio 16 are provided.

  The control device 11 is an arithmetic processing unit that controls the entire operation of the merging support device 10. The control device 11 is merging support information T2 for supporting merging of the merging vehicle V2 based on various information output from the upstream sensor 12, the upstream camera 13, the downstream sensor 14 and the downstream camera 15. Fig. 8) is generated.

The upstream sensor 12 is provided on the main line on the upstream side of the start point of the merging section (hereinafter, "merging start point B"). More specifically, the upstream sensor 12 is provided at the "vehicle detection position A", which is a position upstream of the merging start point B by the distance X1 (for example, 500 m to 1000 m), and detects the vehicle on the main line L1. The presence of the main line vehicle V1 passing through the position A is detected.
The upstream sensor 12 has a first laser scanner 12A and a second laser scanner 12B. As shown in FIG. 1, the first laser scanner 12A and the second laser scanner 12B are installed in the sky above the road surface of the main line L1, for example, by an L-shaped support.

The first laser scanner 12A projects the laser light toward the “detection start position PA” which is a position on the lane direction upstream of the vehicle detection position A by a distance W1 (for example, 3 m to 5 m) from the sky of the main line L1. Do. Further, the first laser scanner 12A scans the laser light along the lane width direction by projecting light a plurality of times while changing the projection angle of the laser light by a minute angle.
The second laser scanner 12B projects the laser light toward the vehicle detection position A from above the main line L1. The second laser scanner 12B scans laser light along the lane direction by the same mechanism as the first laser scanner 12A.
The first laser scanner 12A and the second laser scanner 12B detect the reflected light of the laser light and measure the distance to the reflection position. Thus, the first laser scanner 12A and the second laser scanner 12B detect that the main vehicle V1 has entered the vehicle detection position A, and the position of the main vehicle V1 (the first lane L1a or the second lane L1b) It is possible to identify which vehicle is traveling and the specifications of the main line vehicle V1. The vehicle specifications are information indicating the structural features of the main line vehicle V1 in appearance and, for example, information of the vehicle width, the vehicle length, and the vehicle height.
Furthermore, the upstream sensor 12 detects the time at which the first laser scanner 12A detects the main vehicle V1 (the time at which the head of the main vehicle V1 reaches the detection start position PA in FIG. 1), and the second laser scanner 12B indicates the main vehicle The time difference between the time when V1 was detected (the time when the head of the main vehicle V1 reached the vehicle detection position A in FIG. 1) and the distance W1 from the detection start position PA to the vehicle detection position A A “first velocity” indicating the velocity at the time of reaching the detection position A is calculated.
The upstream sensor 12 detects the detection time (vehicle detection position A arrival time) of the main vehicle V1 acquired by the first laser scanner 12A and the second laser scanner 12B, the position (lane) of the main vehicle V1, vehicle specifications, and Detection information including the first speed is output to the control device 11 as “upstream detection information”.

The upstream camera 13 captures an imaging area downstream of the vehicle detection position A in the lane direction, and outputs the captured image (video) to the control device 11 as “upstream camera information”.
The imaging region of the upstream camera 13 includes, for example, at least a part of the range from the vehicle detection position A of the main line L1 to the merging start point B.
According to the upstream camera information, it is possible to specify the traveling position of the main vehicle V1 in the imaging area.

The downstream sensor 14 is provided on the main line L1 at the junction start point B, and detects the presence of a main line vehicle V1 passing through the junction start point B of the main line L1.
The downstream sensor 14 has a third laser scanner 14A and a fourth laser scanner 14B. The respective devices included in the downstream sensor 14 are, similarly to the upstream sensor 12, for example, installed on the road surface above the main line L1 by L-shaped columns.

The third laser scanner 14A projects the laser light toward the “detection start position PB”, which is a position upstream in the lane direction by a distance W2 (for example, 3 m to 5 m) from the merge starting point B, from the sky above the main line L1. Do. Further, the third laser scanner 14A scans the laser light along the lane width direction by projecting light a plurality of times while changing the projection angle of the laser light by a minute angle.
The fourth laser scanner 14B projects the laser light toward the merging start point B from the upper air of the main line L1. In addition, the fourth laser scanner 14B scans laser light along the lane direction by the same mechanism as the third laser scanner 14A.
The third laser scanner 14A and the fourth laser scanner 14B detect that the main line vehicle V1 has entered the junction start point B by the same mechanism as each device of the upstream sensor 12, and also detect various types of vehicle of the main line vehicle V1. The origin can be identified.
Furthermore, the third laser scanner 14A and the fourth laser scanner 14B detect the time when the third laser scanner 14A detects the main vehicle V1 (the time when the head of the main vehicle V1 reaches the detection start position PB in FIG. 1), 4 Time difference from the time when the laser scanner 14B detects the main vehicle V1 (the time when the head of the main vehicle V1 reaches the junction start point B in FIG. 1), and the distance W2 from the detection start position PB to the junction start point B Thus, the “second speed” indicating the speed at which the main vehicle V1 reaches the junction start point B is calculated.
The downstream sensor 14 detects the detection time of the main vehicle V1 (the arrival time at the junction start point B) acquired by the third laser scanner 14A and the fourth laser scanner 14B, the position (lane) of the main vehicle V1, vehicle specifications, Detection information including the second speed is output to the control device 11 as “downstream detection information”.

The downstream camera 15 captures an imaging region downstream in the direction of the lane from the merging start point B, and outputs the captured image (video) to the control device 11 as “downstream camera information”.
The imaging area of the downstream camera 15 includes, for example, the range from the merging start point B of the main line L1 to the ending point of the merging section (hereinafter, “merging end point C”).
According to this downstream camera information, it is possible to monitor whether or not the merging vehicle V2 has joined the main line L1 correctly, that is, whether or not the merging support system 1 is operating normally, in the shooting area.

  In FIG. 1, the upstream sensor 12, the upstream camera 13, the downstream sensor 14, and the downstream camera 15 are installed on the roadside of the first lane L 1 a of the main line L 1, but are limited to this mode There is no. These devices may be installed on the roadside of the second lane L1b of the main line L1 as long as the main vehicle V1 traveling in the first lane L1a can be detected.

The roadside radio 16 is installed on the roadside of the merging lane L2.
The roadside wireless device 16 transmits merging support information T2 toward the merging vehicle V2 traveling on the merging lane L2 via wireless communication. At this time, the vehicle-mounted device 20 is mounted on the merging vehicle V2, and the merging vehicle V2 receives the merging support information T2 from the roadside radio 16 via the vehicle-mounted device 20. The roadside radio 16 and the vehicle-mounted device 20 perform wireless communication based on the Dedicated Short Range Communications (DSRC) technology.
In addition, the roadside radios 16 are installed at a plurality of locations, going back from the junction end point C to the upstream side. By doing this, since the merging vehicle V2 can receive the merging support information T2 through the roadside radio 16 while reaching the merging end point C from the upstream side of the merging lane L2, It becomes possible to appropriately determine such driving operation.

(Functional configuration of merging support system)
FIG. 2 is a diagram showing a functional configuration of the merging support system according to the first embodiment.
As shown in FIG. 2, the control device 11 includes a registration processing unit 110, a speed correction unit 111, and a notification processing unit 112.

  The registration processing unit 110 acquires, through the upstream sensor 12, the first speed of the main vehicle V1 traveling on the main line L1 (the speed of the main vehicle V1 when the vehicle detection position A is reached), and the tracking list T1 (FIG. 4) Register on

The speed correction unit 111 sets a second speed of the leading vehicle that is one of the main vehicles V1 registered in the tracking list T1 through the downstream sensor 14 (the speed of the main vehicle V1 when the junction start point B is reached) And correct the first speed of the following vehicle traveling on the downstream side of the preceding vehicle among the main line vehicles V1 registered in the tracking list T1 based on the second speed.
The speed correction unit 111 adds the corrected first speed as an estimated speed of the following vehicle to the tracking list T1 and updates it.
Further, in the following description, unless otherwise specified, the "main line vehicle V1" includes both a leading vehicle and a following vehicle.

  The notification processing unit 112 specifies the estimated position of the main vehicle V1 based on the speed (estimated speed) corrected by the speed correction unit 111, and merges the merging support information T2 including the estimated position along the merging lane L2. The vehicle V2 is notified.

  Further, as shown in FIG. 2, the vehicle-mounted device 20 mounted with each of the merging vehicles V2 includes a positioning information acquisition unit 200, a reception unit 201, a guidance information generation unit 202, and a display panel 203.

The positioning information acquisition unit 200 receives satellite navigation information (positioning information) for specifying the position of the host vehicle, for example, from hygiene based on the Global Navigation Satellite System (GNSS).
Further, the positioning information acquisition unit 200 may obtain the moving speed of the own vehicle based on the change in the position of the own vehicle at each time.

  The receiving unit 201 receives the radio signal from the roadside radio 16 and acquires the merging support information T2 (FIG. 8).

  The guidance information generation unit 202 generates guidance information indicating the position of the merging vehicle V2 on the merging lane L2 and the position of the main vehicle V1 on the main line L1 included in the merging support information T2 based on the merging support information T2. Do.

  The display panel 203 is, for example, a liquid crystal display panel, an organic EL panel, or the like. The display panel 203 displays the guidance information generated by the guidance information generation unit 202. By visually recognizing the image information displayed on the display panel 203, the driver of the merging vehicle V2 receives the assistance of the driving operation at the time of joining the main line L1.

(Processing flow of merging support device)
FIG. 3 is a first flowchart illustrating an example of processing of the merging support apparatus according to the first embodiment.
FIG. 4 is a diagram showing an example of the tracking list according to the first embodiment.
Hereinafter, with reference to FIG.3 and FIG.4, an example of a process in which the control apparatus 11 of the merge assistance apparatus 10 registers the main line vehicle V1 in the tracking list | wrist T1 is demonstrated.

  First, the registration processing unit 110 receives upstream detection information from the upstream sensor 12 (step S10).

Next, the registration processing unit 110 calculates, based on the upstream detection information, a time (predicted arrival time) at which the main vehicle V1 is predicted to reach each of the merging start point B and the merging end point C (step S11) .
The registration processing unit 110 assumes that the main line vehicle V1 maintains the first speed and travels to the junction start point B and the junction end point C (running at a constant speed). For this reason, the registration processing unit 110 controls the first speed of the main vehicle V1 included in the upstream detection information, the distance X1 from the vehicle detection position A to the joining start point B, and the joining start point B to the joining start point B The “predicted arrival time to the junction start point B” and the “predicted arrival time to the junction end point C” are calculated based on the distance X2 of

Next, the registration processing unit 110 sets “the detection time” included in the upstream side detection information, the “first speed” of the main vehicle V1, and “the vehicle specification (vehicle width, vehicle length, vehicle height)”. The "predicted arrival time to the junction start point B" and "the predicted arrival time to the junction end point C" are registered in the tracking list T1 (FIG. 4) in association with the vehicle ID (step S12).
In the tracking list T1, as shown in FIG. 4, information related to the main line vehicle V1 traveling on the main line L1 is registered for each vehicle. Specifically, the tracking list T1 includes a "detection time" indicating the time when the main vehicle V1 has reached the vehicle detection position A, and a "first speed" indicating the speed at which the main vehicle V1 reaches the vehicle detection position A “The vehicle specifications (vehicle width, vehicle length, vehicle height)” of the main line vehicle V1, “the predicted arrival time to the junction start point B” and “the predicted arrival time to the junction end point C” It is associated with the vehicle ID and registered.
Further, in the present embodiment, the tracking list T1 is created for each lane of the main line L1. That is, the registration processing unit 110 according to the present embodiment, based on the “position (lane) of the main vehicle V1 included in the upstream detection information”, the information relating to the main vehicle V1 or the tracking list of the first lane L1a It is registered in any of the tracking lists of the second lane L1b.
In another embodiment, only the tracking list of the first lane L1a adjacent to the merging lane L2 may be generated and updated.

  Each time the control device 11 receives upstream detection information from the upstream sensor 12, the control device 11 repeatedly executes the above-described processing.

FIG. 5 is a second flowchart showing an example of processing of the merging support apparatus according to the first embodiment.
FIG. 6 is a diagram for explaining the function of the merging support apparatus according to the first embodiment.
Hereinafter, with reference to FIGS. 4 to 6, an example of processing in which the control device 11 of the merging support device 10 calculates the estimated speed of the main vehicle V1 will be described.

  First, the speed correction unit 111 receives downstream detection information from the downstream sensor 14 (step S20).

Next, the speed correction unit 111 identifies a lane (first lane L1a or second lane L1b) on which the vehicle indicated by the downstream detection information travels, and identifies the same main vehicle V1 from the tracking list T1 for the lane. It identifies (step S21).
For example, as shown in FIG. 6, it is assumed that the vehicle a6 of the plurality of main line vehicles V1 reaches the junction start point B, and the downstream detection information on the vehicle a6 is received in step S20. The speed correction unit 111 specifies that the vehicle a6 is traveling in the “first lane L1a” based on the downstream side detection information. Then, the speed correction unit 111 detects “the detection time (time when the junction start point B is reached) of the vehicle a6 included in the downstream side detection information among the main line vehicles V1 registered in the tracking list T1 of the first lane L1a. And the "predicted arrival time to the junction start point B" and the "vehicle specification" that match the "vehicle specification" are specified as the main line vehicle V1 identical to the vehicle a6.
At this time, if the time correction between the “detection time” of the downstream detection information and the “prediction time to reach the merging start point B” of the tracking list T1 is within a predetermined time, the speed correction unit 111 determines these information. Judge as a match. Further, the speed correction unit 111 takes into consideration the measurement error in the upstream sensor 12 and the downstream sensor 14 and determines that “vehicle specifications” of the downstream detection information and “vehicle specifications” of the tracking list T1 are predetermined. If it is within the error range, it is determined that the two "vehicle specifications" match.
Here, it is assumed that the speed correction unit 111 specifies that the main line vehicle V1 associated with, for example, the “vehicle ID: IDA06” in the tracking list T1 (FIG. 4) is the same main line vehicle V1 as the vehicle a6.

  Next, the speed correction unit 111 determines that “the detection time (the time when the vehicle a6 is detected at the merging start point B)” and “the second speed (the vehicle a6 at the merging start point B) are included in the downstream detection information. "Speed)" is obtained (step S22), and it is added to the tracking list T1 in association with the vehicle ID ("vehicle ID: IDA06").

Next, the speed correction unit 111 calculates a correction coefficient based on the change in the speed of the vehicle a6 in the section from the vehicle detection position A to the merging start point B (step S23).
Here, the speed correction unit 111 acquires the “first speed” (“VA6” in FIG. 4) of the vehicle a6 (“vehicle ID: IDA06” in FIG. 4) registered in the tracking list T1 and in step S22 The correction coefficient is calculated on the basis of the change in speed with the “second speed” (“VB6” in FIG. 4).

Next, the speed correction unit 111 corrects the first speed of the following vehicle based on the correction coefficient (step S24).
The following vehicle is a vehicle traveling on the lane upstream side of the vehicle a6. Specifically, of the main line vehicles V1 registered in the tracking list T1, the speed correction unit 111 does not register the second speed (that is, the main line vehicle V1 has not reached the junction start point B). Is extracted as a following vehicle. Then, the speed correction unit 111 multiplies the first speed of each of the extracted following vehicles (vehicle a1, vehicle a3, vehicle a4) by the correction coefficient calculated in step S23 to obtain the following vehicles (vehicle a1, vehicle a3, vehicle a4) Calculate an "estimated velocity" corrected for each first velocity.
In the example of FIG. 4 and FIG. 6, the vehicle a1, the vehicle a3, and the vehicle a4 are the following vehicles, and "vehicle ID: IDA01", "vehicle ID: IDA03", and "vehicle ID: IDA04" are attached respectively. It is assumed that the vehicle is a main line vehicle V1.
The speed correction unit 111 according to the present embodiment assumes that the speeds of the following vehicles, such as the vehicle a1, the vehicle a3, and the vehicle a4, also change in accordance with the change (acceleration / deceleration) of the speed of the preceding vehicle a6. Do. According to such an assumption, the speed correction unit 111 sets the first speed (“VA1”, “VA3”, “VA4” in FIG. 4) of the vehicle a1, the vehicle a3, and the vehicle a4 respectively to the first speed of the vehicle a6. By multiplying the correction coefficient based on the change in speed, estimated speeds of the vehicle a1, the vehicle a3, and the vehicle a4 (“EV1”, “EV3” in FIG. 4) when the vehicle a6 reaches the junction start point B Calculate “EV4”.
In addition, the speed correction unit 111 adds the calculated estimated speed of the following vehicle to the tracking list T1 and updates it. When the estimated speed has been calculated in the previous process, the speed correction unit 111 overwrites the newly calculated estimated speed.

Each time the control device 11 receives downstream detection information from the downstream sensor 14, the control device 11 repeatedly executes the above-described processing.
By doing this, even if the section from the vehicle detection position A to the merging start point B is a long distance, the control device 11 does not provide an apparatus for detecting the speed in the section, and the main line vehicle V1 Each estimated speed can be calculated accurately.

FIG. 7 is a third flowchart showing an example of processing of the merging support apparatus according to the first embodiment.
FIG. 8 is a diagram showing an example of merge support information according to the first embodiment.
Hereinafter, with reference to FIG.7 and FIG.8, an example of a process which the control apparatus 11 produces merge assistance information T2 is demonstrated.

First, the notification processing unit 112 specifies the current estimated position of each of the main vehicle V1 based on the estimated speed registered in the tracking list T1 (step S30).
For example, when specifying the estimated position of the vehicle a4 in FIG. 6, the notification processing unit 112 detects that the vehicle a4 (“vehicle ID: IDA04” in FIG. 4) has reached the vehicle detection position A (FIG. 4) The estimated position "Pt4" of the current vehicle a4 is specified based on "detection time: TA4", the current time, and the estimated speed ("EV4" in FIG. 4). Here, the estimated position of the vehicle a4 identified by the notification processing unit 112 is the head position (front end of the vehicle body) of the vehicle a4. The estimated position is indicated by, for example, a distance from the merging start point B as the starting point (0 m), and a negative value (−X1 m to 0 m) upstream of the merging start point B in the lane direction and a positive value (0 m) downstream It is shown by ~ + X 2 m).
The notification processing unit 112 specifies the current estimated positions of all the main line vehicles V1 registered in the tracking list T1 as described above, and updates the estimated positions of the tracking list T1. At this time, when the notification processing unit 112 determines that the estimated position is on the downstream side of the merging end point C in the lane direction, that is, when the main line vehicle V1 passes the merging end point C, the main line vehicle V1 is tracked Remove from T1.

Next, based on the estimated speed and the estimated position registered in the tracking list T1, the notification processing unit 112 sends the “predicted arrival time to the merging start point B” and the “merging end point C” to each of the main line vehicles V1. "The predicted arrival time of" is calculated (step S31).
Further, the notification processing unit 112 calculates “prediction arrival time to the junction start point B” and “prediction arrival time to the junction end point C” of all the main line vehicles V1 registered in the tracking list T1 and performs tracking Update list T1.

Next, the notification processing unit 112 calculates a merging space where the merging vehicle V2 can merge based on the updated tracking list T1 (step S32).
Specifically, the notification processing unit 112 sets the start point and the end point of the merging space existing between the main line vehicles V1 registered in the tracking list T1 of the first lane L1a adjacent to the merging lane L2, and the merging space. Calculate the movement speed. Here, the start point of the merging space indicates the vehicle tail position (rear end of the vehicle body) of the preceding vehicle, and the end point indicates the head position of the following vehicle. Therefore, the start point of the merging space is calculated by subtracting the vehicle length of the preceding vehicle from the estimated position of the preceding vehicle registered in the tracking list T1. Further, an estimated position indicating the head position of the following vehicle is adopted as the end point of the merging space. The moving speed of the merging space is calculated, for example, as the average speed of the estimated speeds of the leading vehicle and the following vehicle constituting the merging space.
Then, the notification processing unit 112, as shown in FIG. 8, “space ID” attached to each merging space, “target vehicle” configuring the merging space, “start point” and “end point” of the merging space, The "merging space information" associated with the "moving speed" is generated.
In the example of FIG. 4 and FIG. 6, the notification processing unit 112 is between the vehicle a3 (“Vehicle ID: IDA03” in FIG. 4) that is the preceding vehicle and the vehicle a1 (“Vehicle ID: IDA01” in FIG. 4). As a confluence space ("Space ID: SP01"), "target vehicle = IDA03, IDA 01", "start point = estimated position of vehicle a3 (Pt3)-vehicle length of vehicle a3 (vl3)", "end point = estimation of vehicle a1 The position (Pt1) and the movement speed (Vs1) = (estimated speed of the vehicle a3 (EV3) + estimated speed of the vehicle a1 (EV1)) / 2 are calculated.
The notification processing unit 112 is defined based on the determination as to whether the inter-vehicle distance between two two main line vehicles V1 (for example, the preceding vehicle a4 and the following vehicle a4 in FIG. 6) is a predetermined determination threshold (safely joining). If it does not meet the threshold value), it is determined that there is no merging space between these main line vehicles V1. Therefore, the notification processing unit 112 includes only the merging space having the inter-vehicle distance equal to or larger than the predetermined determination threshold in the merging space information. As described above, since the notification processing unit 112 notifies only the merging space where merging can be safely performed to the merging vehicle V2, the safety at the time of merging can be enhanced.

  Next, as illustrated in FIG. 8, the notification processing unit 112 selects the “vehicle ID”, “vehicle length”, “estimated position”, “estimated speed”, “joining start” of the main line vehicle V1 registered in the tracking list T1 The "main-line vehicle information" associated with the predicted arrival time to the point B and the predicted arrival time to the junction end point C is generated for each lane. Then, the notification processing unit 112 generates merging support information T2 configured of “main line vehicle information” and “merging space information”, and transmits (notifies) the merging vehicle V2 via the roadside wireless device 16 (see FIG. Step S33).

The control device 11 executes the above-described process every predetermined time (for example, 100 ms). Thus, the notification processing unit 112 can cause the merging vehicle V2 to recognize the current estimated position of each of the main line vehicles V1 changing every moment.
Further, since the merging support information T2 includes the predicted arrival times of the main vehicle V1 at the merging start point B and the merging end point C, the merging vehicle V2 is traveling outside the communication area of the roadside radio 16 Even if there is a period in which the merging support information T2 can not be received, the merging vehicle V2 can safely merge on the basis of the estimated arrival time.

FIG. 9 is a fourth flowchart showing an example of processing of the merging support apparatus according to the first embodiment.
Hereinafter, with reference to FIG. 9, the flow of processing in which the control device 11 monitors the lane change of the main vehicle V1 will be described.

First, the registration processing unit 110 performs predetermined image processing on the upstream camera information received from the upstream camera 13 and detects a vehicle traveling on the main line L1. Then, the detected vehicle (detected vehicle) is associated with the main line vehicle V1 registered in the tracking list T1 (step S40).
For example, based on the position, size, and the like of the detected vehicle in the upstream camera information (image), the registration processing unit 110 “travels in the detected vehicle (a traveling lane and a position in the lane direction)”. Identify Then, among the main line vehicles V1 registered in the tracking list T1 for each lane, the main line vehicle V1 having an “estimated position” that matches the “traveling position” of the detection vehicle is regarded as the main line vehicle V1 identical to the detection vehicle. Make an association. When the distance between the “traveling position” of the detected vehicle and the “estimated position” of the tracking list T1 is within a predetermined range, the registration processing unit 110 determines that these positions match. At this time, the registration processing unit 110 may correct (update) the “estimated position” of the tracking list T1 based on the “traveling position” of the detected vehicle.
In addition, the registration processing unit 110 assigns the vehicle ID registered in the tracking list T1 to the detected vehicle that has been associated.

Next, the registration processing unit 110 tracks the movement of the detected vehicle associated from the upstream camera information (video) using known moving image processing technology, and the detected vehicle performs lane change or not To monitor (step S41).
When the registration processing unit 110 detects that a certain detected vehicle (for example, the vehicle a2 in FIG. 6) has changed lanes from the first lane L1a to the second lane L1b (step S41: YES), While deleting the information of the main line vehicle V1 (for example, "vehicle ID: IDA02" in FIG. 4) associated with it from the tracking list T1 of the first lane L1a, the information of the main line vehicle V1 is the tracking list T1 of the second lane L1b , And update the tracking list T1 for each lane (step S42).
On the other hand, when the lane change is not detected (step S41: NO), the registration processing unit 110 ends the process without updating the tracking list T1.

  Since the registration processing unit 110 constantly monitors the upstream camera information in this manner to determine which lane the main vehicle V1 is traveling on, and sequentially updates the tracking list T1 for each lane, the notification processing unit It is possible to improve the accuracy in calculating the merging space 112.

FIG. 10 is a fifth flowchart showing an example of processing of the merging support apparatus according to the first embodiment.
Hereinafter, with reference to FIG. 10, an example of a process in which the control device 11 monitors the merging of the merging vehicle V2 will be described.

First, the registration processing unit 110 performs the same processing as step S40 in FIG. 9, and detects the vehicle (detection vehicle) detected from the downstream camera information (video) and the main line vehicle V1 registered in the tracking list T1. Association is performed (step S50).
In addition, the registration processing unit 110 assigns the vehicle ID registered in the tracking list T1 to the detected vehicle that has been associated.

Next, the registration processing unit 110 detects a merging vehicle V2 that merges with the main line L1 from the merging lane L2 (step S51).
For example, the registration processing unit 110 uses the known moving image processing technology to determine to which upstream vehicle (or downstream vehicle) V1 the merging vehicle V2 moving from the merging lane L2 merges To detect.

  Next, the registration processing unit 110 attaches a vehicle ID to the merged vehicle V2 joined to the main line L1, adds it to the tracking list T1, and updates it (step S52).

  The registration processing unit 110 constantly monitors the downstream camera information in this manner, and adds the merged vehicle V2 joined to the main line L1 to the tracking list T1. The downstream camera information and the tracking list T1 may be transmitted to a monitoring terminal (not shown) of a manager who monitors the road. The road manager can check whether the merging support system 1 is operating normally by referring to the downstream camera information and the tracking list T1.

(Process flow of on-board unit)
FIG. 11 is a flowchart illustrating an example of processing of the onboard unit according to the first embodiment.
FIG. 12 is a diagram for explaining the function of the vehicle-mounted device according to the first embodiment.
Hereinafter, with reference to FIGS. 11-12, an example of a process in which onboard equipment 20 provides a driver of junction vehicle V2 with junction support is explained.

  First, the receiving unit 201 receives the merging support information T2 (FIG. 8) from the roadside wireless device 16 (step S60).

Next, based on the merging support information T2 received by the receiving unit 201 and the position of the own vehicle (merging vehicle V2) acquired through the positioning information acquiring unit 200, the guidance information generating unit 202 illustrated in FIG. D is generated (step S61).
As shown in FIG. 12, the guidance information D includes a main line image DL1, a merging lane image DL2, a host vehicle image Ds, vehicle images Da1 to Da6, and merging space images Dsp1 to Dsp2. The vehicle images Da1 to Da6 are respectively associated with the vehicles a1 to a6 (FIG. 6) traveling on the main line L1.
The guidance information generation unit 202 is configured to generate the main line image DL1, the merging lane image DL2, and the own vehicle based on the map information recorded in advance in the on-vehicle device 20 and the satellite navigation information acquired through the positioning information acquisition unit 200. Generate an image Ds. Further, the guidance information generation unit 202 generates the vehicle images Da1 to Da6 based on the merging lane information (FIG. 8), and generates merging space images Dsp1 to Dsp2 based on the merging space information (FIG. 8).
Further, based on the predicted arrival time of the main line vehicle V1 constituting the merging space at the merging start point B and the merging end point C, the guidance information generation unit 202 determines which merging space the own vehicle can merge into. Do. At this time, the guidance information generation unit 202 determines the merging space where merging can be performed, in consideration of the position and the traveling speed of the own vehicle acquired through the positioning information acquisition unit 200. For example, the guidance information generation unit 202 determines that the merging space between the vehicle a6 and the vehicle a4 in FIG. 6 (“space ID: SP02” in FIG. 8) can be merged. At this time, the guidance information generation unit 202 may generate guidance information D in which the merging space image Dsp2 corresponding to the merging space is highlighted.

  Next, the guidance information generation unit 202 causes the display panel 203 to display (output) the generated guidance information D (step S62). Thereby, the driver of the merging vehicle A2 can recognize the position of each of the main line vehicles V1 and the position of the merging space by visually recognizing the guidance information D displayed on the display panel 203, and in which merging space It becomes possible to recognize appropriately whether it can join safely.

(Hardware configuration)
FIG. 13 is a diagram showing a hardware configuration of the merging support apparatus 10 according to at least one embodiment. The computer 900 includes a CPU 901, a main storage 902, an auxiliary storage 903, and an interface 904.
The control device 11 of the merge support device 10 described above is implemented in the computer 900. The functions of the registration processing unit 110, the speed correction unit 111, and the notification processing unit 112 described above are stored in the auxiliary storage device 903 in the form of a program. The CPU 901 reads a program from the auxiliary storage device 903 and develops the program in the main storage device 902, and executes the above processing according to the program. Further, the CPU 901 secures, in the main storage device 902, storage areas used for various processes in accordance with a program.

  Examples of the auxiliary storage device 903 include an HDD (Hard Disk Drive), an SSD (Solid State Drive), a magnetic disk, a magneto-optical disk, a CD-ROM (Compact Disc Read Only Memory), and a DVD-ROM (Digital Versatile Disc Read Only). Memory, semiconductor memory, and the like. The auxiliary storage device 903 may be internal media directly connected to the bus of the computer 900, or may be an external storage device 910 wired or wirelessly connected to the computer 900 via the interface 904. When this program is distributed to the computer 900 by a communication line, the computer 900 that has received the distribution may deploy the program in the main storage device 902 and execute the above processing. In at least one embodiment, secondary storage 903 is a non-transitory tangible storage medium.

  Further, the program may be for realizing a part of the functions described above. Furthermore, the program may be a so-called difference file (difference program) that realizes the above-described function in combination with other programs already stored in the auxiliary storage device 903.

(Action effect)
As described above, the merging support device 10 according to the present embodiment is configured such that the “first speed of the main line vehicle V1 traveling on a point on the upstream side of the starting point (the merging start point B) of the merging section on the main line L1. Registration processing unit 110 to acquire the “second speed” of the leading vehicle which is one of the main line vehicles V1 registered in the tracking list T1, and the “second speed” The “first speed” of the following vehicle traveling downstream of the preceding vehicle among the main line vehicles V1 registered in the tracking list T1 based on “speed of 2” is corrected, and the tracking list is calculated as the estimated speed of the following vehicle The speed correction unit 111 registered in T1 and the estimated position of the main vehicle V1 registered in the tracking list T1 based on the estimated speed, and the merging support information T2 including the estimated position travels on the merging lane L2 To notify V2 It includes a processing unit 112, a.
In this way, merging support device 10 corrects the first velocity of the following vehicle based on the "second velocity" of the leading vehicle at junction start point B, so that the leading vehicle traveling on main line L1 and The estimated position of the following vehicle can be identified with high accuracy. Then, the merging support device 10 notifies the merging support information T2 to cause the merging vehicle V2 to recognize the estimated positions of the leading vehicle and the following vehicle, thereby providing support for the merging vehicle V2 to smoothly merge with the main line L1. be able to.

Further, the notification processing unit 112 calculates the merging space existing between the main vehicle V1 based on the estimated position of each of the plurality of main vehicle V1 and the vehicle length of the main vehicle V1, and the merging support information T2 It further includes confluence space information indicating the space.
By doing this, the merging support device 10 can calculate the merging space existing between the main vehicle V1 with high accuracy based on the estimated position of the main vehicle V1 and the vehicle length. As a result, the merging support device 10 can make the merging vehicle V2 recognize the merging space that can merge with the main line L1 more accurately.

Further, the notification processing unit 112 calculates an estimated arrival time for the main vehicle V1 to reach the merging start point B based on the estimated speed, and the merging support information T2 further includes the estimated arrival time.
As described above, since the merging support information T2 includes the predicted arrival times of the main vehicle V1 at the merging start point B and the merging end point C, the merging vehicle V2 travels outside the communication area of the roadside radio 16 Even if there is a period during which the merging support information T2 can not be received, the merging vehicle V2 can safely merge on the basis of the estimated arrival time.

In addition, the registration processing unit 110 controls a plurality of lanes (a first lane L1a and a second lane L1b) that the main vehicle V1 has through the main camera L1 through the upstream camera 13 provided on the main line L1 upstream of the merging start point B. ), When it is detected that the vehicle has moved from the lane (first lane L1a) adjacent to the merging lane L2 to another lane (second lane L1b), the main line vehicle V1 is detected from the tracking list T1 of the first lane L1a. delete.
By doing this, even if main lane vehicle V1 changes lanes, merging support device 10 accurately determines main lane vehicle V1 traveling in a lane (first lane L1a) adjacent to merging lane L2. It can be recognized.

In addition, the registration processing unit 110 controls a plurality of lanes (a first lane L1a and a second lane L1b) that the main vehicle V1 has through the main camera L1 through the upstream camera 13 provided on the main line L1 upstream of the merging start point B. ), When it is detected that the vehicle has moved from the lane (first lane L1a) adjacent to the merging lane L2 to another lane (second lane L1b), the main line vehicle V1 is detected from the tracking list T1 of the first lane L1a. While deleting it, it adds to tracking list T1 of 2nd lane L1b, and updates.
By so doing, even if main lane vehicle V1 changes lanes, merging support device 10 correctly recognizes which lane among main lanes V1 is traveling. Main lane vehicle V1 can be managed separately for each lane.

In addition, the onboard unit 20 according to the present embodiment is included in the reception unit 201 that receives the merging support information T2 from the merging support device 10 described above, the position of the merging vehicle V2 on the merging lane L2, and the merging support information T2. And a guidance information generation unit 202 that generates guidance information D indicating the position of the main line vehicle V1 on the main line L1.
By doing this, the on-board unit 20 can make the driver of the merging vehicle V2 appropriately recognize the positions of the merging vehicle V2 and the main line vehicle V1.

Further, the guidance information generation unit 202 determines which merging space the merging vehicle V2 can merge on the basis of the predicted arrival time to the merging start point B and the merging end point C of the main line vehicles V1 configuring the merging space. to decide. Furthermore, the guidance information generation unit 202 may generate guidance information D in which the merging space is highlighted.
By doing this, the guidance information generation unit 202 can appropriately recognize to which space between main vehicle V1 the driver of the merging vehicle V2 should join. Thus, the on-vehicle device 20 can support the merging vehicle V2 to join the main line L1 more safely and smoothly.

Second Embodiment
Next, the merging support system 1 according to the second embodiment of the present invention will be described.
The same components as in the first embodiment will be assigned the same reference numerals and detailed explanations thereof will be omitted.
Merged vehicle V2 according to the present embodiment is an autonomous driving vehicle capable of traveling autonomously.

FIG. 14 is a diagram showing a functional configuration of the merging support system according to the second embodiment.
As shown in FIG. 14, the junction vehicle V2 according to the present embodiment differs from that of the first embodiment in that it has an automatic driving control unit 21.
The automatic operation control unit 21 manages automatic operation control. In addition, based on the merging support information T2 received by the receiving unit 201 of the vehicle-mounted device 20 and the position of the own vehicle (merging vehicle V2) acquired through the positioning information acquiring unit 200, the automatic driving control unit 21 merge lane L2 Adjust the position and speed of the vehicle in
For example, based on the predicted arrival time of the main vehicle V1 at the merging start point B and the merging end point C included in the merging support information T2, the automatic driving control unit 21 combines the main space vehicle V1 with the main vehicle V1. Determine if it is possible to join. At this time, the automatic driving control unit 21 determines a merging space where merging can be performed, in consideration of the position and the moving speed of the own vehicle acquired through the positioning information acquiring unit 200. For example, the automatic driving control unit 21 determines that the joining space between the vehicle a6 and the vehicle a4 in FIG. 6 can be joined to the joining space ("Space ID: SP02" in FIG. 8). At this time, the automatic driving control unit 21 accelerates / decelerates the own vehicle so as to coincide with the moving speed ("moving speed: Vs2" in FIG. 8) of the merging space indicated by the merging support information T2 (merging space information). I do. Further, the automatic driving control unit 21 adjusts the position so that the position of the host vehicle is located between the start point and the end point of the merging space indicated by the merging support information T2 (merging space information).

  With such a configuration, the automatic driving control unit 21 of the joining vehicle V2 appropriately determines the timing of joining the main line L1 based on the joining support information T2, and the joining vehicle is joined so as to safely join the main line. V2 can be controlled.

As mentioned above, although embodiment of this invention was described in detail, as long as it does not deviate from the technical idea of this invention, it is not limited to these and some design changes etc. are possible.
For example, in the above-mentioned embodiment, although the mode in which onboard equipment 20 of junction vehicle V2 receives junction support information T2 from roadside radio 16 was explained, it is not restricted to this. For example, the onboard unit 20 uses the V2V (Vehicle to Vehicle) technology to perform near field communication with onboard units located in the vicinity, and merges the merging support information T2 received from the roadside radio 16 It may be made to transmit (transfer) to the onboard equipment 20 of the vehicle V2.
By doing this, even when the merging vehicle V2 is not located within the communication area of the roadside radio 16, the on-board unit 20 supports the latest merging support from the on-board unit 20 of the other merging vehicle V2. It is possible to always keep receiving the information T2.

In the above embodiment, the upstream sensor 12 detects the first speed of the main vehicle V1 and the downstream sensor 14 detects the second speed of the main vehicle V1. There is nothing to be done.
In another embodiment, the registration processing unit 110 of the control device 11 calculates the first speed of the main vehicle V1 based on the upstream camera information output from the upstream camera 13 and outputs from the downstream camera 15 The second speed of the main vehicle V1 may be calculated based on the downstream camera information.
In still another embodiment, the first speed of the main vehicle V1 is calculated based on the communication between the main vehicle V1 and an antenna (not shown) for performing road-to-vehicle communication installed at the vehicle detection position A. You may do so. Similarly, the second speed of the main vehicle V1 may be calculated based on the communication between the main vehicle V1 and an antenna (not shown) for performing road-to-vehicle communication installed at the merging start point B. Good.
Even with such an aspect, it is possible to obtain the same effects as those of the above-described embodiments.

  Further, in the above-described embodiment, the notification processing unit 112 of the control device 11 determines the car tail position of the leading vehicle (start point of the merging space) and the head position of the following vehicle (end point of the merging space) based on the tracking list T1. Although the aspect which calculates is demonstrated, it is not restricted to this. In another embodiment, the notification processing unit 112 calculates the car tail position of the leading vehicle and the head position of the following vehicle based on the upstream camera information output from the upstream camera 13, and starts the merging space The end point may be determined. By doing this, it is possible to calculate a more accurate merging space based on upstream camera information, that is, an image obtained by capturing an actual main vehicle V1.

1 merging support system 10 merging support device 11 control device 12 upstream sensor (first roadside sensor)
12A first laser scanner 12B second laser scanner 13 upstream camera (camera)
14 downstream sensor (2nd roadside sensor)
14A Third Laser Scanner 14B Fourth Laser Scanner 15 Downstream Camera 16 Roadside Wireless Device 20 Vehicle-mounted Device 21 Automatic Operation Control Unit 110 Registration Processing Unit 111 Speed Correction Unit 112 Notification Processing Unit 200 Positioning Information Acquisition Unit 201 Reception Unit 202 Guidance Information Generation Part 203 Display panel

Claims (10)

A registration processing unit that acquires a first speed, which is the speed of a main line vehicle traveling on a point upstream of the start point of the merging section on the main line, and registers the first speed in the tracking list;
The second speed that is the speed at the start point of the merging section of the preceding vehicle which is one of the main vehicles registered in the tracking list is acquired, and the tracking list is acquired based on the second speed. A speed correction unit that corrects the first speed of a following vehicle traveling downstream of the preceding vehicle among the registered main line vehicles, and registers the first speed as an estimated speed of the following vehicle in the tracking list;
A notification processing unit that specifies an estimated position of the main vehicle registered in the tracking list based on the estimated speed, and notifies merging support information including the estimated position to a merging vehicle traveling on a merging lane;
Merge support device provided with The notification processing unit calculates a merging space existing between the main line vehicles based on the estimated position of each of the plurality of main line vehicles and the vehicle length of the main line vehicles.
The merging support information further includes merging space information indicating the merging space.
The merging support apparatus according to claim 1. The notification processing unit calculates, based on the estimated speed, an estimated arrival time for the main line vehicle to reach the start point of the merging section;
The merging support information further includes the estimated arrival time.
The merging support apparatus according to claim 1. The registration processing unit
The main line vehicle has moved from the lane adjacent to the merging lane to another lane among the plurality of lanes of the main lane through the camera provided on the main line upstream of the start point of the merging section When the main vehicle is detected from the tracking list,
The merging support apparatus according to any one of claims 1 to 3. The registration processing unit
The main line vehicle has moved from the lane adjacent to the merging lane to another lane among the plurality of lanes of the main lane through the camera provided on the main line upstream of the start point of the merging section When the main vehicle is detected from the tracking list of lanes adjacent to the confluence lane, and is added and updated to the tracking list of the other lanes.
The merging support apparatus according to any one of claims 1 to 3. The merging support apparatus according to any one of claims 1 to 5;
An on-board unit mounted on the merging vehicle;
Equipped with
The vehicle-mounted device includes a guidance information generation unit that generates guidance information indicating the position of the merging vehicle on the merging lane and the position of the main vehicle on the main line included in the merging support information.
Merge support system. The vehicle further comprises an automatic driving control unit that performs control related to automatic driving of the combined vehicle,
The automatic driving control unit adjusts the position and the speed of the merging vehicle on the merging lane based on the merging support information.
The merging support system according to claim 6. A receiving unit for receiving the merging support information from the merging support apparatus according to any one of claims 1 to 5;
A guidance information generation unit that generates guidance information indicating the position of the merging vehicle on the merging lane and the position of the main vehicle on the main line included in the merging support information;
Onboard equipment equipped with A registration processing step of acquiring a first velocity, which is the velocity of the main line vehicle traveling on a point upstream of the start point of the merging section on the main line, and registering the first speed in the tracking list;
The second speed that is the speed at the start point of the merging section of the preceding vehicle which is one of the main vehicles registered in the tracking list is acquired, and the tracking list is acquired based on the second speed. A speed correction step of correcting the first speed of a following vehicle traveling downstream of the preceding vehicle among the registered main line vehicles, and registering the first speed as the estimated speed of the following vehicle in the tracking list;
A notification processing step of specifying an estimated position of the main line vehicle registered in the tracking list based on the estimated speed, and notifying merging support information including the estimated position to a merging vehicle traveling on a merging lane;
Merge support method having. A program that causes a computer of a merging support apparatus to function, the computer comprising:
A registration processing step of acquiring a first velocity, which is the velocity of the main line vehicle traveling on a point upstream of the start point of the merging section on the main line, and registering the first speed in the tracking list;
The second speed that is the speed at the start point of the merging section of the preceding vehicle which is one of the main vehicles registered in the tracking list is acquired, and the tracking list is acquired based on the second speed. A speed correction step of correcting the first speed of a following vehicle traveling downstream of the preceding vehicle among the registered main line vehicles, and registering the first speed as the estimated speed of the following vehicle in the tracking list;
A notification processing step of specifying an estimated position of the main line vehicle registered in the tracking list based on the estimated speed, and notifying merging support information including the estimated position to a merging vehicle traveling on a merging lane;
A program that runs