JP2019175004A - Vehicle guide control device, vehicle guide system, vehicle guide control method, and program - Google Patents

Abstract

To suppress occurrence of an accident to occur when an automatic operation vehicle performs confluence.SOLUTION: A vehicle guide control device 200 includes: a vehicle speed analysis section 201 for calculating a prediction value of an inter-vehicle distance between a confluence vehicle and a main track traveling vehicle; a display content and display position determination section 202 for determining a display position of projection onto a main track road; and a projector control section 203 for issuing a display instruction of projection to a projector.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle guidance control device, a vehicle guidance system, a vehicle guidance control method, and a program.

  Techniques have been proposed for driving support for vehicles traveling on the main line and vehicles traveling on the merged lane at and near the merge point where the main line such as an expressway merges with the merged lane.

  For example, in Patent Document 1, the speed guidance information for the driver is displayed on a display panel provided in a passenger compartment of a vehicle traveling on the main line and the merge lane, or on a bulletin board provided on the main line and the merge lane. Driving support methods that make it smoother have been proposed. Further, for example, Patent Document 2 proposes a driving support method that detects an inter-vehicle space between vehicles traveling on a main line vehicle and provides guidance according to the presence or absence of the inter-vehicle space to a vehicle traveling on a merged lane. .

Japanese Patent Laid-Open No. 10-105884 JP 2006-244142 A

Vehicles driven by beginners and older drivers are likely to behave at different timings from those of skilled drivers due to inexperience in driving on highways and reduced cognitive function .
In recent years, self-driving cars have been developed. However, from the viewpoint of human drivers who drive other vehicles, for autonomous vehicles, like human drivers, communicate with each other through eye contact and adjust their progress. It is difficult. Therefore, from the viewpoint of a human driver, an autonomous driving vehicle may be activated at different timings.

  For this reason, when these special vehicles (vehicles driven by beginners and elderly drivers and automatic driving vehicles; hereinafter referred to as “special vehicles”) merge, a collision accident occurs due to a timing difference with the main line traveling vehicle. There is a risk of doing. However, no driving support method that can suppress the occurrence of such an accident has been proposed.

  The present invention has been made in view of such circumstances, and is a vehicle guidance control device, a vehicle guidance system, a vehicle guidance control method, and a vehicle guidance control device capable of suppressing the occurrence of an accident that occurs when a special vehicle joins. The purpose is to provide a program.

  According to the first aspect of the present invention, the vehicle guidance control device reaches the joining point based on the information on the position and the vehicle speed of the joining vehicle and the information on the position and the vehicle speed of the main traveling vehicle. Based on the vehicle speed analysis unit that calculates the predicted value of the inter-vehicle distance between the merging vehicle and the main line traveling vehicle at the time point, information on the position and vehicle speed of the main line traveling vehicle, and the predicted value of the inter-vehicle distance, A display content and display position determination unit that determines the display position of the projection on the main road, and a projector control unit that instructs the projector to display a projection according to the display position of the projection.

  According to the second aspect of the present invention, the vehicle guidance system includes a vehicle guidance control device, a merged vehicle detection unit that obtains information related to the position and vehicle speed of the merged vehicle, and information related to the position and vehicle speed of the main traveling vehicle. A main line traveling vehicle detection unit and a projector, wherein the vehicle guidance control device is based on information on the position and vehicle speed of the joining vehicle, and information on the position and vehicle speed of the main traveling vehicle, A vehicle speed analysis unit that calculates a predicted value of an inter-vehicle distance between the merging vehicle and the main line traveling vehicle when the merging vehicle reaches the merging point, information on the position and vehicle speed of the main line traveling vehicle, and the inter-vehicle distance Based on the predicted value of the distance, according to the display content and display position determination unit for determining the display position of the projection on the main road, and the display position of the projection, And a projector control unit for performing display instruction of the projection to the serial projector.

  According to the third aspect of the present invention, the vehicle guidance control method acquires the information related to the position and the vehicle speed of the merged vehicle, acquires the information related to the position and the vehicle speed of the main traveling vehicle, and the merge Prediction of the inter-vehicle distance between the merging vehicle and the main traveling vehicle at the time when the merging vehicle reaches the merging point based on the information regarding the position and the vehicle speed of the vehicle and the information regarding the position and the vehicle speed of the main traveling vehicle. Calculating a value, determining a display position of the projection on the main road based on the information on the position and vehicle speed of the main line traveling vehicle, and the predicted value of the inter-vehicle distance, and the display position of the projection And instructing the projector to display a projection.

  According to the fourth aspect of the present invention, the program acquires, in a computer, information related to the position and vehicle speed of the merging vehicle, acquires information related to the position and vehicle speed of the main traveling vehicle, and the merging Prediction of the inter-vehicle distance between the merging vehicle and the main traveling vehicle at the time when the merging vehicle reaches the merging point based on the information regarding the position and the vehicle speed of the vehicle and the information regarding the position and the vehicle speed of the main traveling vehicle. Calculating a value, determining a display position of the projection on the main road based on the information on the position and vehicle speed of the main line traveling vehicle, and the predicted value of the inter-vehicle distance, and the display position of the projection In response to the instruction, the projector is instructed to display a projection display.

  According to the present invention, it is possible to provide a vehicle guidance control device, a vehicle guidance system, a vehicle guidance control method, and a program capable of suppressing the occurrence of an accident that occurs when special vehicles merge.

1 is a schematic diagram of a vehicle guidance system according to a first embodiment of the present invention. It is a flowchart of the vehicle guidance control method which concerns on 1st Embodiment of this invention. It is a figure of a junction where the vehicle guidance system concerning a 1st embodiment of the present invention is applied. It is a figure which shows the position of a main line travel vehicle and a merge vehicle at the time of a merge vehicle joining. It is the figure which showed the image which looked at the state where the projection display is projected from the driver's seat of the main line traveling vehicle. It is the figure which showed typically the case which can ensure the distance between vehicles. It is the figure which showed typically the case which accelerates | stimulates the merge to the main line. It is the figure which showed typically the case which delays the confluence | merging to a main line. It is the schematic of the vehicle guidance system which concerns on 2nd Embodiment of this invention. It is a figure of the merge point to which the vehicle guidance system concerning a 2nd embodiment of the present invention is applied. It is the figure which showed the display content of the projection at the time of recognizing a beginner mark. It is the figure which showed the display content of the projection at the time of recognizing an elderly person mark. It is a figure which shows the case where a main road is three lanes, and the right one lane is dedicated to an autonomous vehicle. It is the figure which showed the display content of the projection which promotes the movement from a self-driving vehicle exclusive lane. It is the figure which showed the state by which the warning is performed to the confluence | merging vehicle which may run backward on a main road. It is the figure which showed the example of the display of the projection which warns a joining vehicle. It is a figure which shows the minimum structure of the vehicle guidance control apparatus by each embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the following embodiments do not limit the invention according to the claims. In addition, not all the combinations of features described in the embodiments are essential for the solving means of the invention.

<First Embodiment>
Hereinafter, the first embodiment of the present invention will be described with reference to FIGS.

<Vehicle guidance system>
FIG. 1 is a schematic diagram of a vehicle guidance system according to the first embodiment of the present invention. As shown in FIG. 1, the vehicle guidance system 1 includes a vehicle guidance control device 200. The vehicle guidance system 1 includes a merging vehicle detection unit 10, a main line traveling vehicle detection unit 11, a first foreign object detection unit 30, and a second foreign object detection unit that are connected to the vehicle guidance control device 200 in a communicable manner. 31, a first projector 400, a second projector 410, and a storage 500.

[Joint Vehicle Detection Unit]
The merged vehicle detection unit 10 includes an analysis unit A102 that is communicably connected to a vehicle speed analysis unit 201 included in the vehicle guidance control device 200. The merged vehicle detection unit 10 includes a camera A100 and an autonomous driving vehicle identification device 101, which are connected to the analysis unit A102 so as to communicate with each other.

  The camera A100 captures the joining vehicle and sends an image to the analysis unit A102.

  The automatic driving vehicle identification device 101 has a function of communicating with an automatic driving system that controls traveling of the automatic driving vehicle. Thereby, the automatic driving vehicle identification device 101 can identify the automatic driving vehicle traveling in the merge lane. The automatic driving vehicle identification apparatus 101 sends information indicating that the automatic driving vehicle has been identified to the analysis unit A102. The automatic driving vehicle identification device 101 sends vehicle speed and acceleration information of the merged vehicle to the analysis unit A102. The automatic driving vehicle identification apparatus 101 receives an instruction from the analysis unit A102 and instructs the automatic driving system about acceleration.

  The analysis unit A102 detects the joining vehicle by analyzing the image sent from the camera A100. The analysis unit A102 obtains position information of the joining vehicle. The analysis unit A102 generates the merged vehicle information by combining the position information of the merged vehicle with the vehicle speed and acceleration information sent from the automatic driving vehicle identification device 101. The analysis unit A102 sends the merged vehicle information to the vehicle speed analysis unit 201.

[Main line traveling vehicle detector]
The main line traveling vehicle detection unit 11 includes an analysis unit B112 that is communicably connected to a vehicle speed analysis unit 201 included in the vehicle guidance control device 200. The main line traveling vehicle detection unit 11 includes a camera B110 and a vehicle speed sensor B111 that are communicably connected to the analysis unit B112.

  Camera B110 images a main line traveling vehicle. The camera B110 sends the captured image to the analysis unit B112.

  The vehicle speed sensor B111 measures the speed of the main line traveling vehicle. The vehicle speed sensor B111 sends the measured speed information to the analysis unit B112.

  The analysis unit B112 detects the main traveling vehicle by analyzing the image sent from the camera B110. The analysis unit B112 obtains position information of the main line traveling vehicle. The analysis unit B112 combines the position information of the main traveling vehicle with the vehicle speed information sent from the vehicle speed sensor B111 to generate main traveling vehicle information. The analysis unit B112 sends main line traveling vehicle information to the vehicle speed analysis unit 201.

<Vehicle guidance control device>
The vehicle guidance control device 200 includes a vehicle speed analysis unit 201, a display content and display position determination unit 202, and a projector control unit 203. The display content and display position determination unit 202 is communicably connected to both the vehicle speed analysis unit 201 and the projector control unit 203. The projector control unit 203 can communicate with both the analysis unit α 301 included in the first foreign object detection unit 30 and the analysis unit β 311 included in the second foreign object detection unit 31 via the display content and display position determination unit 202. It is connected to the. The projector control unit 203 is communicably connected to both the first projector 400 and the second projector 410.

  The vehicle speed analysis unit 201 calculates the arrival time of both vehicles at the junction point based on the merged vehicle information sent from the analysis unit A102 and the main road traveling vehicle information sent from the analysis unit B112. The vehicle speed analysis unit 201 predicts the position of the main line traveling vehicle at the time when the joining vehicle reaches the joining point. The vehicle speed analysis unit 201 calculates a predicted value (hereinafter referred to as “predicted inter-vehicle distance”) of the inter-vehicle distance between the merging vehicle and the main line traveling vehicle when the merging vehicle reaches the merging point.

(1) When the joining vehicle is predicted to join in front of the main line traveling vehicle (see FIGS. 6 and 7)
The vehicle speed analysis unit 201 sends to the display content and display position determination unit 202 an instruction to display that there is a joining vehicle on the road ahead of the main traveling vehicle, along with the main traveling vehicle information.

  In particular, when the predicted inter-vehicle distance is smaller than a predetermined value (see FIG. 7), the vehicle speed analysis unit 201 instructs the automatic driving system to increase the acceleration of the joining vehicle via the analysis unit A102 and the automatic driving vehicle identification device 101. Send. As a result, the joining vehicle can reach the joining point earlier than the predicted time point. As a result, the inter-vehicle distance between the merged vehicle that has reached the merge point and the main line traveling vehicle can be ensured.

  On the other hand, when the predicted inter-vehicle distance is smaller than the predetermined value, the inter-vehicle distance can be ensured without giving an instruction regarding the acceleration of the joining vehicle (see FIG. 6).

(2) When the joining vehicle is predicted to come into contact with the main line traveling vehicle (see FIG. 8)
The vehicle speed analysis unit 201 sends an instruction to lower the acceleration of the joining vehicle to the automatic driving system via the analysis unit A102 and the automatic driving vehicle identification device 101. As a result, the joining vehicle can reach the joining point later than the predicted time point. As a result, the inter-vehicle distance between the merged vehicle that has reached the merge point and the main line traveling vehicle can be ensured.

  In this case, the vehicle speed analysis unit 201 does not need to send an instruction to the display content and display position determination unit 202 to display that there is a joining vehicle on the road ahead of the main road traveling vehicle.

  The display content and display position determination unit 202 receives from the vehicle speed analysis unit 201 an instruction to display that there is a merged vehicle on the road ahead of the main traveling vehicle, along with the main traveling vehicle information and the predicted inter-vehicle distance. The display content and display position determination unit 202 receives an instruction from the vehicle speed analysis unit 201 and determines the display position of the projection on the main road in real time based on the main line traveling vehicle information and the predicted inter-vehicle distance. Thereby, the display position of the projection moves in the traveling direction of the main traveling vehicle in accordance with the traveling speed of the main traveling vehicle. The display content and display position determination unit 202 instructs the projector control unit 203 about the display position of the projection.

  The projector control unit 203 has information about the projection ranges of the projector α400 and the projector β410 in advance.

  Projector control section 203 issues a projection display instruction to one or both of projector α400 and projector β410 according to the display content and the display position of the projection relating to the instruction received from display position determination section 202.

In the present embodiment, the projection range of projector α400 has an overlap with the projection range of projector β410. The projector control unit 203 issues a projection display instruction as follows.
When the projection display position is included only in the projection range of the projector α400, the projector control unit 203 instructs the projector α400 only to display the projection.
When the projection display position is included in the projection ranges of both the projector α400 and the projector β410, the projector control unit 203 issues a projection display instruction to both the projector α400 and the projector β410.
When the projection display position is included only in the projection range of projector β410, projector control unit 203 instructs both projectors β410 to display the projection.

Thereby, the display of the projection can be recognized stably without interruption when viewed from the main line traveling vehicle.
If the projection display position is not included in any of the projection ranges of projector α400 and projector β410, projector control unit 203 does not issue a projection display instruction.

  The projector control unit 203 receives an indication of the display position of the projection from the display content and the display position determination unit 202, and also includes an analysis unit α301 included in the first foreign object detection unit 30 and an analysis unit included in the second foreign object detection unit 31. Information on the size and position of the detected foreign matter is received from both β311 and β311. Based on information on the size and position of the foreign object, the projector control unit 203 adjusts the display contents so that the foreign object is not projected when the position where the foreign object is located overlaps the display position. Thereby, the display of the projection can be more easily recognized as viewed from the main line traveling vehicle.

[Foreign matter detector]
The first foreign object detection unit 30 includes a camera α300 and an analysis unit α301. The camera α300 is communicably connected to the analysis unit α301.
The camera α300 images the projection range of the projector α400. The camera α300 sends the captured image to the analysis unit α301.
The analysis unit α301 detects a foreign object on the main road by analyzing the image sent from the camera α300. The analysis unit α301 sends information on the size and position of the detected foreign matter to the projector control unit 203.

The second foreign object detection unit 31 includes a camera β310 and an analysis unit β311. The camera β310 is communicably connected to the analysis unit β311.
Camera β310 captures the projection range of projector β410. The camera β310 sends the captured image to the analysis unit β311.
The analysis unit β311 detects a foreign object on the main road by analyzing the image sent from the camera β310. The analysis unit β311 sends information on the size and position of the detected foreign matter to the projector control unit 203.

[projector]
In response to the instruction from the projector control unit 203, the projector α400 and the projector β410 project the supported display content at the designated position on the main road. Projector α400 and projector β410 can each project within a predetermined range on the main road. In the present embodiment, along the traveling direction of the main road, there is a projection range of the projector β410 in front of the junction, and a projection range of the projector β410 further in front. The projection range of projector α400 has an overlap with the projection range of projector β410.

  Projector α400 and projector β410 change the illuminance to be displayed according to the brightness of the surroundings. For example, it is desirable to use a laser as a light source during the day.

[storage]
The storage 500 is communicably connected to the vehicle guidance control device 200. The storage 500 stores information about each camera, vehicle information, display contents, and programs (control program, image analysis program, etc.). It is desirable that the storage 500 is connected to be communicable with the outside and can update the function and other information of the program at any time.

  The process performed by the vehicle guidance control device 200 is stored in the storage 500 in the form of a computer-readable program. When the computer reads and executes this program, processing in the vehicle guidance control device 200 is performed.

<Vehicle guidance control method>
Hereinafter, the vehicle guidance control method according to the first embodiment of the present invention will be described with reference to FIGS.

  FIG. 2 is a flowchart of the vehicle guidance control method according to the first embodiment of the present invention.

  First, the vehicle speed analysis unit 201 determines the presence or absence of a main traveling vehicle based on the main traveling vehicle information transmitted from the analysis unit B112 (step S01). If it is determined that there is no flow, the flow is terminated, and the flow is restarted after a certain period. If it is determined that there is, the process proceeds to step S02.

  Next, the vehicle speed analysis unit 201 acquires the position of the main traveling vehicle and the vehicle speed information from the main traveling vehicle information sent from the analysis unit B112 (step S02), and proceeds to step S03. The information acquired here may include acceleration information if available.

  Next, the vehicle speed analysis unit 201 determines whether or not there is a merging vehicle based on the merging vehicle information sent from the analysis unit A102 (step S03). If it is determined that there is not, the process returns to step S01. If it is determined that there is, the process proceeds to step S04.

  Next, the vehicle speed analysis unit 201 acquires the position and vehicle speed information of the merged vehicle from the merged vehicle information sent from the analysis unit A102 (step S04), and proceeds to step S05. The information acquired here may include acceleration information if available.

  Next, the vehicle speed analyzing unit 201 acquires the position and vehicle speed information of the main traveling vehicle acquired in step S02, the position and vehicle speed information of the merged vehicle acquired in step S04, and acceleration information of each vehicle if available. Based on the above, a predicted inter-vehicle distance is calculated (step S05).

  Next, the display content and display position determination unit 202 determines the display position of the projection on the main road based on the main road traveling vehicle information and the predicted inter-vehicle distance (step S06), and proceeds to step S07.

  Next, the display content and display position determination unit 202 determines the presence or absence of a projector that includes the display position of the projection determined in step S06 among the available projectors (projector α400, projector β410) (in the projection range) ( Step S07). If it is determined that there is not, the process returns to step S01. If it is determined that there is, the process proceeds to step S08.

  Next, the projector control unit 203 gives a projection display instruction to the projector determined to be in step S07 (step S08), and proceeds to step S09.

Next, the display content and display position determination unit 202 evaluates the magnitude of the predicted inter-vehicle distance (step S09).
When the predicted inter-vehicle distance is significantly positive (when the main vehicle is predicted to be located behind the merging vehicle when the merging vehicle arrives at the merging point. When it is positive but substantially zero And the display content and display position determination unit 202 instructs the joining vehicle to increase acceleration (step S10), and returns to step S01 (see FIG. 7).
When the predicted inter-vehicle distance is substantially zero (when the main traveling vehicle is predicted to be in contact with the merging vehicle when the merging vehicle reaches the merging point), the display content and the display position The determination unit 202 instructs the joining vehicle to decrease acceleration (step S11), and returns to step S01 (see FIG. 8).
If the predicted inter-vehicle distance is other than that, nothing is instructed and the process returns to step S01.

  FIG. 3 is a diagram of a merge point of a road composed of a main road and a merged diagonal line to which the vehicle guidance system according to the first embodiment of the present invention is applied. It is an autonomous driving vehicle that travels in the merge lane, and a main traveling vehicle is a non-automatic driving vehicle. The camera A, camera B, vehicle speed sensor B, automatic driving vehicle identification device, camera α, camera β, projector α, projector β shown in FIG. 3 are the camera A100, camera B110, vehicle speed sensor shown in FIG. B111, automatic driving vehicle identification device 101, camera α300, camera β310, projector α400, and projector β410.

  The camera A100 is attached at a position where the merge lane can be photographed. The camera A100 captures a vehicle traveling in the merge lane. The camera A100 sends the captured image to the analysis unit A102.

  The automatic driving vehicle identification device 101 is installed in the vicinity of the merge lane. The automatic driving vehicle identification device 101 identifies an automatic driving vehicle that travels in a merged lane.

  The analysis unit A102 detects the joining vehicle by analyzing the image sent from the camera A100. Based on the information sent from the automatic driving vehicle identification device 101, the analysis unit A102 detects that the vehicle traveling in the merged lane is an automatic driving vehicle. The analysis unit A102 generates the merged vehicle information by combining the position information of the merged vehicle with the vehicle speed and acceleration information sent from the automatic driving vehicle identification device 101. The analysis unit A102 sends the merged vehicle information to the vehicle speed analysis unit 201.

  Camera B110 is provided at a position where the main traveling vehicle can be photographed. Camera B110 images the main line traveling vehicle before reaching the junction. The camera B110 sends the captured image to the analysis unit B112.

  The vehicle speed sensor B111 is provided at a position where the speed of the main traveling vehicle can be measured. The vehicle speed sensor B111 measures the speed of the main traveling vehicle before reaching the junction. The vehicle speed sensor B111 sends the measured speed information of the main line traveling vehicle to the analysis unit B112.

  The analysis unit B112 detects the main traveling vehicle by analyzing the image sent from the camera B110. The analysis unit B112 obtains position information of the main line traveling vehicle. The analysis unit B112 combines the position information of the main traveling vehicle with the vehicle speed information sent from the vehicle speed sensor B111 to generate main traveling vehicle information. The analysis unit B112 sends main line traveling vehicle information to the vehicle speed analysis unit 201.

  The vehicle speed analysis unit 201 calculates the arrival time of both vehicles at the junction point based on the merged vehicle information sent from the analysis unit A102 and the main road traveling vehicle information sent from the analysis unit B112. The vehicle speed analysis unit 201 predicts the position of the main line traveling vehicle at the time when the joining vehicle reaches the joining point. When the joining vehicle is predicted to join in front of the main traveling vehicle, the vehicle speed analysis unit 201 displays on the display content and display position determination unit 202 that the joining vehicle is on the road ahead of the main traveling vehicle. Is sent along with the main line traveling vehicle information.

  The display content and display position determination unit 202 receives these instructions and main line traveling vehicle information from the vehicle speed analysis unit 201. The display content and display position determination unit 202 receives an instruction from the vehicle speed analysis unit 201 and determines the display position of the projection on the main road in real time based on the main line traveling vehicle information and the predicted inter-vehicle distance. In the present embodiment, the display position of the projection is determined at a position that is separated from the main traveling vehicle by a predicted inter-vehicle distance. The display content and display position determination unit 202 instructs the projector control unit 203 about the display position of the projection.

  Projector control section 203 issues a projection display instruction to one or both of projector α400 and projector β410 according to the display content and the display position of the projection relating to the instruction received from display position determination section 202. As a result, as shown in FIG. 3, a projection display is projected onto the main road ahead of the main traveling vehicle.

  First, the projector control unit 203 transmits a projection instruction to the projector α400 closer to the near side from the junction (see FIG. 2). As the main traveling vehicle travels on the main road, projector control section 203 transmits an instruction to projector α400 and projector β410 closer to the junction, and then transmits an instruction to projector β410. As a result, the projection is always displayed in front of the main road traveling vehicle without interruption. As a result, unlike when displaying on a bulletin board provided at a specific location on the road, it is possible to warn the main vehicle traveling vehicle that the merging vehicle is approaching continuously.

  FIG. 4 is a diagram showing the positions of the main line traveling vehicle and the joining vehicle at the time when the joining vehicle joins, which is the time after FIG. The projection display shown in FIG. 4 is a virtual representation of the projection display of FIG. 3 translated in parallel by the same distance as the main traveling vehicle (actually, the projection display is projected at this time). Note that the position of the projection display in FIG. 4 is out of the projection range of either projector α or projector β. In FIG. 4, the position of the virtual projection display is assumed to be the speed at the time when the projection display is projected (FIG. 3). Corresponds to the predicted position of the wax. Thereby, the driver of the main line traveling vehicle can know not only that the joining vehicle is approaching, but also how far ahead the point where joining is predicted is from himself / herself. As a result, the driver of the main road traveling vehicle can control his / her vehicle speed in real time in order to avoid a collision accident with the merging vehicle.

  FIG. 5 is a diagram showing an image of a state in which a projection display is projected on the main road before the junction point, as viewed from the driver seat of the main traveling vehicle. As shown in FIG. 5, even if there is an obstacle such as a tree between the main line and the merge lane, even if the view from the driver's seat of the main line traveling vehicle to the merge lane is obstructed, The driver of the traveling vehicle notices the presence of the merging vehicle and can know the predicted merging position. As a result, the driver of the main line traveling vehicle can secure the inter-vehicle distance with a margin. As a result, it is possible to reduce the risk of a collision accident occurring at the junction.

  In the example described here, there is no obstacle between the main road traveling vehicle and the junction. Therefore, the foreign object detection information is not transmitted to the vehicle guidance control device 200 from the analysis unit α301 and the analysis unit β311 that have analyzed the images of the camera α300 and the camera β310.

  According to the present embodiment, the vehicle guidance control device 200 is based on the information related to the position and vehicle speed of the merging vehicle and the information related to the position and vehicle speed of the main traveling vehicle at the time when the merging vehicle reaches the merging point. Based on the vehicle speed analysis unit 201 that calculates a predicted value of the inter-vehicle distance between the merging vehicle and the main line traveling vehicle, information on the position and vehicle speed of the main line traveling vehicle, and the predicted value of the inter-vehicle distance, a main road A display content and display position determination unit 202 that determines the display position of the projection above, and a projector control unit 203 that instructs the projector to display the projection. With this configuration, the vehicle guidance control device 200 has an effect that the main traveling vehicle can be warned that the joining vehicle is approaching without mounting a special device on the main traveling vehicle.

  According to this embodiment, the vehicle speed analysis unit 201 transmits an instruction to change the acceleration of the merged vehicle according to the predicted value of the inter-vehicle distance. With this configuration, the vehicle guidance control device 200 controls the traveling of the autonomous driving vehicle to be joined in addition to causing the driving vehicle of the main traveling vehicle to pay attention to the altitude by a warning. There is an effect that an accident that occurs at the time of merging can be further suppressed.

  According to the present embodiment, the display content and display position determination unit 202 determines the display position of the projection at a position separated by a predicted value of the inter-vehicle distance in front of the main line traveling vehicle. With this configuration, the vehicle guidance control device 200 has an effect that the driver of the main line traveling vehicle can control the vehicle speed in real time in order to avoid a collision accident with the merging vehicle.

  According to the present embodiment, the projector control unit 203 instructs the projector α400 and the projector β401 to display the projection, and the projector α400 and the projector β401 each have a projection range in front of the merging point. The projection display instruction is given to the projector α400 and / or the projector β401, which is arranged so as to cover a predetermined range of the main road, and the projection range includes the display position of the projection. With this configuration, the vehicle guidance control device 200 can continually warn that the merging vehicle is approaching the main line traveling vehicle, unlike when displaying on a bulletin board provided at a specific location on the road. And has the effect.

<Second Embodiment>
Hereinafter, the second embodiment of the present invention will be described with reference to FIGS. Descriptions of components common to the first embodiment are omitted.

As shown in FIG. 9, the vehicle guidance system 2 according to the present embodiment is characterized in that the merged vehicle detection unit 10 includes a vehicle speed sensor A103 that is communicably connected to the analysis unit A102.
As shown in FIG. 10, the vehicle speed sensor A103 is provided together with a camera A100 that captures the merging vehicle so that the vehicle speed of the merging vehicle traveling in the merging lane can be measured.

  With this configuration, unlike the first embodiment, vehicle speed information can be obtained even if the joining vehicle is not an autonomous driving vehicle. For this reason, even when the joining vehicle is a special vehicle in general including a vehicle driven by an elderly person or the like, it is possible to calculate the predicted inter-vehicle distance from the main line traveling vehicle. As a result, even for special vehicles in general, a warning can be given to the main line traveling vehicle, and accidents occurring at the time of merging can be suppressed.

Furthermore, as shown in FIG. 9, the vehicle guidance system 2 according to the present embodiment is characterized in that it includes an automatic driving vehicle identification device γ600 that is communicably connected to the display content and display position determination unit 202.
As shown in FIG. 10, the autonomous driving vehicle identification device γ600 is provided on the main road.
In the vehicle guidance control method according to the present embodiment, in the step of determining the presence or absence of the subject traveling vehicle (see S01 in FIG. 2), at the same time, whether or not the main traveling vehicle is an autonomous driving vehicle by the autonomous driving vehicle identification device γ600. Is determined.
If it is determined that the main vehicle is an autonomous vehicle,
(1) If the predicted inter-vehicle distance is significantly positive and smaller than a predetermined value (see FIG. 7), in the step of instructing the merging vehicle to accelerate (see S10 in FIG. 2), It is possible to instruct the main traveling vehicle that is an autonomous driving vehicle to decelerate.
(2) If the predicted inter-vehicle distance is substantially zero (see FIG. 8), at the same time in the step of instructing the merging vehicle to decelerate (see S11 in FIG. 2), the vehicle is an automatic driving vehicle. Acceleration can be instructed to the main traveling vehicle.

  With this configuration, even when the main line traveling vehicle is an autonomous driving vehicle, the main line traveling vehicle is decelerated or accelerated according to the predicted distance between the vehicles to further suppress accidents that occur at the time of merging. Can do.

  The preferred embodiments of the present invention have been described above with reference to the accompanying drawings, but it goes without saying that the present invention is not limited to such examples. Various shapes, combinations, and the like of the constituent members shown in the above-described examples are examples, and various modifications can be made based on design requirements and the like without departing from the gist of the present invention.

  For example, the display content of the projection is a simple right arrow as shown in FIG. 5, but when the beginner mark is recognized in the image of the merging vehicle, the beginner mark is added to the right arrow as shown in FIG. May be displayed. Moreover, when an elderly person mark is recognized in the image of a joining vehicle, as shown in FIG. 12, you may display an elderly person mark in addition to the right arrow. Accordingly, the driver of the main road traveling vehicle can recognize which type of the special vehicle is the special vehicle, so that it is possible to cope with the type of each vehicle at the junction.

  Moreover, although said embodiment was a case where a main road is a 1 lane as shown in FIG. 5, it is not restricted to this. For example, the vehicle guidance system of the present invention can be applied to a case where a main road is divided into a plurality of lanes and one lane is dedicated to an autonomous driving vehicle. The vehicle guidance system of the present invention can also be applied to a case where a single lane is not limited to an autonomous driving vehicle and is dedicated to a specific vehicle type. Below, the case where it is dedicated to an autonomous vehicle will be described.

  FIG. 13 shows a case where the main road has three lanes, and the right one lane is dedicated to autonomous driving. In this case, if the vehicle guidance system according to the second embodiment is applied so that the projection display is projected on the right lane, the main line traveling vehicle traveling in the lane for exclusive use of the autonomous driving vehicle can be guided. it can.

  Furthermore, in this case, if a vehicle that is not an autonomous driving vehicle is erroneously traveling on the autonomous driving vehicle lane, the vehicle guidance system of the present invention can recognize that the vehicle is not an autonomous driving vehicle. At this time, for example, as shown in FIG. 14, a projection having a display content that moves to the left lane can be projected onto the vehicle.

  In the above embodiment, a warning is given to the main traveling vehicle by displaying a projection on the main road in front of the junction. However, the present invention is not limited to this. For example, a projector can be arranged at a junction to display a projection, and a warning can be given to the junction vehicle as described below.

  FIG. 15 is a diagram illustrating a state in which a warning is given to a merging vehicle that may run backward on a main road. The vehicle guidance system of the present invention recognizes the traveling direction of the joining vehicle from the image of the joining vehicle. When the traveling direction of the merging vehicle is not directed along the traveling direction of the main road, but is directed to travel toward the center line or separation zone of the main road, the vehicle guidance system of the present invention Determines that there is a risk of running backward on the main road. Specifically, when the intersection angle formed by the traveling direction of the merging vehicle with respect to the traveling direction of the main road exceeds a predetermined angle (for example, 30 degrees), the vehicle guidance system causes the merging vehicle to run backward on the main road. It is determined that there is a risk.

  When it is determined that the joining vehicle may run backward on the main road, the vehicle guidance system instructs the projector that displays the projection at the joining point (shaded portion in FIG. 15) to display the projection that warns the joining vehicle. To do. FIG. 16 is a diagram illustrating an example of a projection display for warning a joining vehicle. The projection display shown in FIG. 16 warns the driver of the merging vehicle with large letters so as to stop reverse running. This effectively alerts the driver of the merging vehicle (especially the elderly) who mistakenly tried to run backward on the main road, so that the driver of the merging vehicle is The crossing angle made with respect to the traveling direction can be made smaller to prevent reverse running.

FIG. 17 is a diagram illustrating a minimum configuration of the vehicle guidance control device according to each embodiment of the present invention.
As shown in FIG. 17, the vehicle guidance control device 200 includes a vehicle speed analysis unit 201, a display content and display position determination unit 202, and a projector control unit 203. As described in FIG. 1, the vehicle speed analysis unit 201 is based on information related to the position and vehicle speed of the merging vehicle and information related to the position and vehicle speed of the main road traveling vehicle at the time when the merging vehicle reaches the merging point. A predicted value of an inter-vehicle distance between the joining vehicle and the main line traveling vehicle is calculated. As described with reference to FIG. 1, the display content and display position determination unit 202 determines the display position of the projection on the main road based on the information on the position and vehicle speed of the main line traveling vehicle and the predicted value of the inter-vehicle distance. decide. As described in FIG. 1, the projector control unit 203 instructs the projector to display a projection.

  The above-mentioned vehicle guidance control device has a computer system inside. And the process of the vehicle guidance control method mentioned above is memorize | stored in the computer-readable recording medium in the format of the program, The said process is performed when this computer reads and runs this program. Here, the computer-readable recording medium means a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. Alternatively, the computer program may be distributed to the computer via a communication line, and the computer that has received the distribution may execute the program.

  The program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, and what is called a difference file (difference program) may be sufficient.

  A part or all of the above-described embodiment can be described as in the following supplementary notes, but is not limited thereto.

(Appendix 1) Based on the information on the position and vehicle speed of the merging vehicle and the information on the position and vehicle speed of the main line traveling vehicle, the merging vehicle and the main line traveling vehicle at the time when the merging vehicle reaches the merging point A display that determines the display position of the projection on the main road based on the vehicle speed analysis unit that calculates the predicted value of the inter-vehicle distance, information on the position and vehicle speed of the main traveling vehicle, and the predicted value of the inter-vehicle distance A vehicle guidance control device comprising: a content and display position determination unit; and a projector control unit that instructs a projector to display a projection.

(Additional remark 2) The said vehicle speed analysis part is a vehicle guidance control apparatus of Additional remark 1 which transmits the instruction | indication which changes the acceleration of a merging vehicle according to the predicted value of the said inter-vehicle distance.

(Additional remark 3) The said display content and display position determination part determines the display position of the said projection in the front of the said main line travel vehicle in the position separated only by the predicted value of the said inter-vehicle distance. Vehicle guidance control device.

(Supplementary Note 4) The projector control unit instructs the plurality of projectors to display the projection, and each of the plurality of projectors covers a predetermined range of the main road that is in front of the junction. The vehicle guidance control according to any one of appendices 1 to 3, wherein the projection display instruction is performed on one or a plurality of the projectors whose projection range includes a display position of the projection. apparatus.

(Supplementary Note 5) The display content and display position determination unit determines the display content of the projection on the main road based on information related to the image of the joining vehicle, and the display content and display position determination unit Additional remark 1 to 4 for determining the display content of the projection so that an image of the sign is displayed on the main road when it is recognized that a sign is displayed on the vehicle body of the joining vehicle. The vehicle guidance control device described in 1.

(Supplementary note 6) The vehicle guidance control device according to supplementary note 5, wherein the sign is a beginner mark or an elderly person mark.

(Supplementary Note 7) The display content and display position determination unit determines the display content of the projection on the main road including a dedicated lane for a specific vehicle type based on information related to the vehicle type of the main line traveling vehicle, When the main line traveling vehicle that does not belong to the specific vehicle type is recognized on the dedicated lane, the display content and display position determination unit displays an image on the dedicated lane prompting the main line traveling vehicle to leave the dedicated lane. As described above, the vehicle guidance control device according to any one of supplementary notes 1 to 6 that determines display contents of the projection.

(Supplementary note 8) The vehicle guidance control device according to supplementary note 7, wherein the specific vehicle type is an autonomous driving vehicle.

(Supplementary Note 9) The display content and display position determination unit determines the display content of the projection on the main road based on information relating to the traveling direction of the joining vehicle, and the display content and display position determination unit includes: When the intersection angle formed by the traveling direction of the merged vehicle with respect to the traveling direction of the main road exceeds a predetermined angle, the intersection angle formed by the traveling direction of the merged vehicle with respect to the traveling direction of the main road is made smaller. The vehicle guidance control device according to any one of supplementary notes 1 to 8, wherein the display content of the projection is determined so that an image prompting the joining vehicle is displayed on the main road.

(Supplementary note 10) The vehicle guidance control device according to supplementary note 9, wherein the predetermined angle is 30 degrees.

(Supplementary Note 11) Vehicle Guidance Control Device, Merged Vehicle Detection Unit Acquiring Information Related to Position and Vehicle Speed of Merged Vehicle, Main Line Traveling Vehicle Detection Unit Obtaining Information Related to Position and Vehicle Speed of Mainline Traveling Vehicle, Projector The vehicle guidance control device includes the information on the position and vehicle speed of the merging vehicle and the information on the position and vehicle speed of the main traveling vehicle and the time when the merging vehicle reaches the merging point. On the main road based on the vehicle speed analysis unit that calculates the predicted value of the inter-vehicle distance between the merging vehicle and the main traveling vehicle, the information on the position and vehicle speed of the main traveling vehicle, and the predicted inter-vehicle distance A display content and display position determination unit for determining the display position of the projection, and the projector displays a projection according to the display position of the projection. Vehicle guidance system comprising a projector control unit for performing shows instruction, the.

(Supplementary Note 12) Acquiring information related to the position and vehicle speed of the merging vehicle, acquiring information related to the position and vehicle speed of the main traveling vehicle, information relating to the position and vehicle speed of the converging vehicle, and the main traveling Calculating a predicted value of an inter-vehicle distance between the merging vehicle and the main traveling vehicle at a time when the merging vehicle reaches the merging point based on information on a vehicle position and a vehicle speed; and a position of the main traveling vehicle. And determining the projection display position on the main road based on the vehicle speed information and the predicted inter-vehicle distance, and instructing the projector to display the projection according to the projection display position. And a vehicle guidance control method.

(Supplementary Note 13) Obtaining information related to the position and vehicle speed of the joining vehicle, obtaining information relating to the position and vehicle speed of the main traveling vehicle, and information relating to the position and vehicle speed of the joining vehicle to the computer, Calculating a predicted value of an inter-vehicle distance between the merging vehicle and the main line traveling vehicle at the time when the merging vehicle reaches a merging point based on the position and vehicle speed information of the main line traveling vehicle; Based on the information on the position and speed of the vehicle and the predicted value of the inter-vehicle distance, determining the display position of the projection on the main road, and instructing the projector to display the projection according to the display position of the projection A program for performing and executing.

DESCRIPTION OF SYMBOLS 1, 2 ... Vehicle guidance system 10 ... Merged vehicle detection part 11 ... Main line travel vehicle detection part 200 ... Vehicle guidance control apparatus 201 ... Vehicle speed analysis part 202 ... Display content and display position determination part 203 ... Projector control part 400 ... Projector alpha
410: Projector β

Claims (10)

Prediction of the inter-vehicle distance between the merging vehicle and the main traveling vehicle at the time when the merging vehicle reaches the merging point based on the information regarding the position and the vehicle speed of the merging vehicle and the information regarding the position and the vehicle speed of the main traveling vehicle. A vehicle speed analysis unit for calculating a value;
Display content and display position determination unit for determining the display position of the projection on the main road based on the information on the position and vehicle speed of the main line traveling vehicle and the predicted value of the inter-vehicle distance;
A vehicle guidance control device comprising: a projector control unit that instructs a projector to display a projection. The vehicle speed analysis unit transmits an instruction to change the acceleration of the merging vehicle according to the predicted value of the inter-vehicle distance.
The vehicle guidance control device according to claim 1. The display content and display position determination unit determines the display position of the projection at a position separated from the main line traveling vehicle by a predicted value of the inter-vehicle distance.
The vehicle guidance control device according to claim 1 or 2. The projector control unit instructs the projectors to display the projection,
The plurality of projectors are arranged so that each projection range covers a predetermined range of the main road in front of the junction,
The projection display instruction is given to one or a plurality of the projectors whose projection range includes the display position of the projection.
The vehicle guidance control device according to any one of claims 1 to 3. The display content and display position determination unit determines the display content of the projection on the main road, based on information related to the image of the joining vehicle,
When the display content and display position determination unit recognizes that a sign is displayed on the vehicle body of the joining vehicle, the display content of the projection is displayed so that an image of the sign is displayed on the main road. The vehicle guidance control device according to any one of claims 1 to 4, wherein the vehicle guidance control device is determined. The display content and display position determination unit determines the display content of the projection on the main road including a dedicated lane for a specific vehicle type, based on the information related to the vehicle type of the main line traveling vehicle,
When the main content traveling vehicle that does not belong to the specific vehicle type is recognized on the dedicated lane, the display content and display position determining unit displays an image on the dedicated lane that prompts the main traveling vehicle to leave the dedicated lane. The vehicle guidance control device according to claim 1, wherein display contents of the projection are determined so as to be displayed. The display content and the display position determination unit determine the display content of the projection on the main road based on the information related to the traveling direction of the joining vehicle,
The display content and display position determination unit determines that the traveling direction of the joining vehicle is the traveling direction of the main road when the traveling angle of the joining vehicle exceeds a predetermined angle with respect to the traveling direction of the main road. The vehicle according to any one of claims 1 to 6, wherein the display content of the projection is determined so that an image that prompts the merging vehicle to make a smaller angle of intersection with the main vehicle is displayed on the main road. Guidance control device. A vehicle guidance control device;
A merged vehicle detection unit for acquiring information related to the position and vehicle speed of the merged vehicle;
A main traveling vehicle detection unit that acquires information on the position and vehicle speed of the main traveling vehicle;
A projector,
The vehicle guidance control device includes:
The inter-vehicle distance between the joining vehicle and the main traveling vehicle when the joining vehicle reaches the joining point based on the information on the position and the vehicle speed of the joining vehicle and the information on the position and the vehicle speed of the main traveling vehicle. A vehicle speed analysis unit for calculating a predicted value of
Display content and display position determination unit for determining the display position of the projection on the main road based on the information on the position and vehicle speed of the main line traveling vehicle and the predicted value of the inter-vehicle distance;
A vehicle guidance system comprising: a projector control unit that instructs the projector to display a projection in accordance with the projection display position. Obtaining information on the location and speed of the merging vehicle;
Obtaining information on the position and speed of the main line traveling vehicle;
Information relating to the position and speed of the merged vehicle;
Calculating a predicted value of an inter-vehicle distance between the joining vehicle and the main traveling vehicle at the time when the joining vehicle reaches a joining point, based on the position and the vehicle speed information of the main traveling vehicle;
Determining the display position of the projection on the main road based on the information on the position and vehicle speed of the main line traveling vehicle and the predicted value of the inter-vehicle distance;
A vehicle guidance control method comprising: instructing a projector to display a projection according to a display position of the projection. On the computer,
Obtaining information on the location and speed of the merging vehicle;
Obtaining information on the position and speed of the main line traveling vehicle;
The inter-vehicle distance between the joining vehicle and the main traveling vehicle when the joining vehicle reaches the joining point based on the information on the position and the vehicle speed of the joining vehicle and the information on the position and the vehicle speed of the main traveling vehicle. Calculating the predicted value of,
Determining the display position of the projection on the main road based on the information on the position and vehicle speed of the main line traveling vehicle and the predicted value of the inter-vehicle distance;
A program for causing a projector to instruct projection display according to a display position of the projection.

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