JP2020107035A - Vehicle support system, vehicle support method and computer program - Google Patents

Abstract

To improve the convenience of an occupant when a vehicle enters or exits a parking lot.SOLUTION: A vehicle support system 22 includes an adjuster 66 and a behavior determiner 70. The adjuster 66 receives route information of other vehicles from other vehicles in the vicinity of an own vehicle via inter-vehicle communication. The behavior determiner 70 determines the behavior of the own vehicle at the time of its entry and exit of a parking lot depending on whether or not a traveling route of the other vehicles indicated by the route information of the other vehicles received by the adjuster 66 overlaps a traveling route of the own vehicle.SELECTED DRAWING: Figure 4

Description

The present disclosure relates to data processing technology, and more particularly to a vehicle support system, a vehicle support method, and a computer program.

There has been proposed a parking assistance system that uses a camera, a radar device, or the like to determine the behavior of another vehicle around the vehicle and determine whether to continue parking assistance control.

JP, 2008-103730, A

In a parking lot where traffic is frequent, there are many other vehicles in the vicinity of the vehicle that are in the process of entering or leaving, so that the automatic parking process may be frequently interrupted.

The present disclosure has been made in view of such circumstances, and one object thereof is to improve the convenience of an occupant when a vehicle is loaded or unloaded.

In order to solve the above problems, a vehicle support system according to an aspect of the present invention is a vehicle-to-vehicle communication that accepts route information of another vehicle from another vehicle in the vicinity of the own vehicle, and other information received by the receiving section. The determination unit determines the behavior of the own vehicle at the time of entering or leaving the vehicle depending on whether or not the travel route of the other vehicle indicated by the vehicle route information and the travel route of the own vehicle overlap.

Another aspect of the present invention is a vehicle assistance method. This method accepts route information of another vehicle from another vehicle in the vicinity of the own vehicle through inter-vehicle communication, and determines whether or not the traveling route of the other vehicle indicated by the route information of the other vehicle and the traveling route of the own vehicle overlap. According to the above, the behavior of the own vehicle at the time of entering or leaving is determined.

It should be noted that any combination of the above components and expressions of the present disclosure converted between an apparatus, a computer program, a recording medium recording the computer program, a vehicle equipped with a vehicle support system, and the like are also included in the present disclosure. This is effective as a mode.

According to the present disclosure, it is possible to improve the convenience of an occupant when a vehicle enters or leaves the vehicle.

FIG. 1A and FIG. 1B are views showing the possibility of collision at the time of storage. It is a figure which shows the collision possibility at the time of warehousing and leaving. It is a figure which shows the collision possibility at the time of leaving. It is a block diagram which shows the functional block of the vehicle of an Example. It is a flowchart which shows operation|movement of the vehicle assistance system of an Example. 6 is a flowchart showing an operation following FIG. 5. It is a flowchart which shows operation|movement of the vehicle assistance system of an Example. It is a figure which shows the inside of a parking lot typically.

First, the outline of the embodiment will be described. In the automatic parking process so far, a collision with another vehicle may occur because the behavior of the other vehicle is unknown. In addition, the automatic parking process was interrupted in order to avoid a collision with another vehicle, which often required driver intervention. The automatic parking process in the present embodiment includes both warehousing into the parking frame and unloading from the parking frame. Further, the parking frame can be called a parking space or a parking space.

Reference numerals 10a, 10b, 10c, 10d, and 10e in FIGS. 1 to 3 denote vehicles, respectively. "Front" and "rear" in the vehicle 10a and the like refer to the front and rear portions of the vehicle. FIG. 1 shows the possibility of collision at the time of storage. In FIG. 1A, the vehicle 10a automatically travels so as to enter the second parking frame 12 backward. On the other hand, the vehicle 10b automatically travels so as to enter the second parking frame 12 forward. As a result, the routes of the vehicle 10a and the vehicle 10b overlap with each other, and a possibility of collision occurs. Further, in order to avoid a collision, neither the vehicle 10a nor the vehicle 10b can be automatically stored.

In FIG. 1(b), the vehicle 10a and the vehicle 10b automatically travel from different sides so as to enter the third parking frame 12 in a forward direction. As a result, the vehicle 10a and the vehicle 10b may collide in the third parking frame 12. Further, in order to avoid a collision, both the vehicle 10a and the vehicle 10b stop automatic warehousing. The same applies to the case where at least one of the vehicle 10a and the vehicle 10b automatically travels so as to be stored in the third parking frame 12 with the vehicle facing backward.

FIG. 2 shows the possibility of collision at the time of entering and leaving. The vehicle 10a automatically travels so as to park forward in the first parking frame 12. On the other hand, the vehicle 10b automatically travels from the No. 2 parking frame 12 so as to leave the vehicle backward. As a result, the routes of the vehicle 10a and the vehicle 10b overlap with each other, and a possibility of collision occurs. Further, in order to avoid the collision, the vehicle 10a cannot be automatically stored and the vehicle 10b cannot be automatically stored.

FIG. 3 shows the possibility of collision at the time of leaving. The vehicle 10a automatically runs so as to leave the first parking frame 12 in a forward direction. Further, the vehicle 10b, which is the other vehicle, automatically travels so as to leave the second parking frame 12 in the forward direction. As a result, the routes of the vehicle 10a and the vehicle 10b overlap with each other, and a possibility of collision occurs. Further, in order to avoid a collision, both the vehicle 10a and the vehicle 10b are in a state in which automatic warehousing is not possible.

Further, in the automatic valet parking system, a vehicle may be guided to an vacant parking frame by grasping a vacant state of the parking frame by an image picked up by a surveillance camera installed in a parking lot. However, an infrastructure (a server system or the like) for grasping the availability of the parking frame and guiding the vehicle to the vacant parking frame is required, and a large amount of cost is required. In addition, the processing load of the server is applied.

Therefore, in the vehicle support system according to the embodiment, the information regarding the entry and exit routes of each vehicle is shared by a plurality of vehicles through inter-vehicle communication. When the routes of a plurality of vehicles overlap, arbitration (in other words, adjustment) is performed so that the traveling of any one of the vehicles is prioritized. As a result, the frequency of interruptions of automatic warehousing and automatic warehousing is reduced, and convenience for passengers is enhanced. Further, by using the vehicle-to-vehicle communication, a large-scale infrastructure (server system or the like) over the entire parking lot becomes unnecessary, and the cost can be suppressed. Hereinafter, unless otherwise specified, the routes include a route to the stop position inside the parking frame 12 and a route from the stop position inside the parking frame 12. Further, by using the inter-vehicle communication, it is possible to exchange information even in a situation where competing vehicles cannot detect each other as shown in FIG. 1(b).

FIG. 4 is a block diagram showing the functional blocks of the vehicle 14 of the embodiment. Each block shown in the block diagram of the present disclosure can be realized by an element such as a CPU/memory of a computer or a mechanical device in terms of hardware, and by a computer program or the like in terms of software. , The functional blocks realized by their cooperation are drawn. Those skilled in the art will understand that these functional blocks can be realized in various ways by combining hardware and software.

The vehicle 14 includes a drive mechanism 20 and a vehicle support system 22. The drive mechanism 20 is a mechanical device that controls traveling (in other words, behavior) of the vehicle 14. The drive mechanism 20 includes an accelerator 30, a brake 32, a shift gear 34, and a steering 36.

The vehicle support system 22 is an information processing system that realizes automatic traveling of the vehicle 14 by controlling the drive mechanism 20. The vehicle support system 22 includes a detection unit 40, a communication unit 42, a determination unit 44, and a travel control unit 46.

The detection unit 40 includes a camera, a sensor device (for example, a radar device), a GPS device, and the like, which are not shown. The detection unit 40 acquires information about the current state of the vehicle 14 (in other words, the own vehicle) and the environment around the vehicle 14. The communication unit 42 directly transmits and receives various data to and from other vehicles by using known vehicle-to-vehicle communication (for example, wireless communication using radio waves in the 700 MHz band).

The determination unit 44 determines the behavior of the vehicle 14 (travel route or the like) according to the information detected by the detection unit 40 and the information received from another vehicle via the communication unit 42. The traveling control unit 46 controls the drive mechanism 20 according to the content determined by the determination unit 44.

The travel control unit 46 includes a route storage unit 50, a travel management unit 52, a speed control unit 54, and a steering control unit 56. The route storage unit 50 stores the travel route of the vehicle 14 (in other words, the planned travel route) generated by the determination unit 44. The traveling management unit 52 determines and manages the speed, gear ratio, and steering angle of the vehicle 14 for traveling the vehicle 14 according to the traveling route stored in the route storage unit 50.

The speed control unit 54 controls the accelerator 30, the brake 32, and the shift gear 34 according to the speed and the gear ratio determined by the travel management unit 52. The steering control unit 56 controls the steering 36 in accordance with the steering angle determined by the travel management unit 52.

The determination unit 44 includes a map storage unit 60, a position estimation unit 62, a route generation unit 64, an arbitration unit 66, a determination unit 68, and a behavior determination unit 70. The determination unit 44 may be implemented as an ECU (Electronic Control Unit). Further, a computer program including a plurality of modules that implement the functions of the plurality of function blocks of the determination unit 44 may be stored in the storage in the ECU. The CPU in the ECU may perform the function of each functional block of the determination unit 44 by reading the computer program into the main memory and executing the computer program. Further, the plurality of functions of the determination unit 44 may be implemented by being integrated into one device, or may be implemented by the plurality of devices working together as a system.

The map storage unit 60 stores map data. At least the internal structure of the parking lot (for example, the position and size of the passage, the position and size of the parking frame, the position of the stop line, etc.) is recorded in the map data of the embodiment. The position estimation unit 62 estimates the current position of the vehicle (for example, the current position in the parking lot) by a known method based on the content detected by the detection unit 40.

The route generation unit 64 generates a traveling route of the vehicle 14 from the current position of the vehicle 14 to the parking frame 12 when a user operation for instructing storage assistance is input to an unillustrated HMI (Human Machine Interface) device. To do. In addition, when a user operation for instructing the leaving assistance to the HMI device is input, the route generation unit 64 is from the current position of the vehicle 14 (typically in the parking frame 12) to the parking lot exit (or by the occupant). The travel route of the vehicle 14 to the designated final destination is generated.

The arbitration unit 66 executes arbitration processing with another vehicle via the communication unit 42. In addition, the arbitration unit 66 includes a function as a reception unit that receives route information of another vehicle from another vehicle near the own vehicle through inter-vehicle communication. In the embodiment, the arbitration unit 66 broadcasts the route information of the own vehicle through inter-vehicle communication. The arbitration unit 66 acquires the route information of the other vehicle, which is transmitted from the other vehicle existing in the vicinity of the own vehicle, as a reply to the broadcast by the inter-vehicle communication. If the arbitration unit 66 receives the route information of another vehicle broadcast from another vehicle while not broadcasting the route information of the own vehicle, the arbitration unit 66 returns the route information of the own vehicle to the other vehicle. ..

The route information includes the following items.
(1) Information indicating whether it is a receipt or a receipt.
(2) In the case of warehousing, identification information of the parking frame 12 which is the destination. In the case of leaving, the identification information of the parking frame 12 that is the departure place.
(3) Information indicating the travel route in the parking lot. Specifically, information indicating a traveling route of warehousing (for example, a moving route from outside the parking frame 12 to a stop position inside the parking frame 12) or a traveling route of warehousing (for example, from a stopping position inside the parking frame 12 to parking). Information indicating the travel route to the car exit).
(4) Required time for warehousing (for example, time required to move from outside the parking frame 12 to the stop position in the parking frame 12) or required time for warehousing (for example, from stop position in the parking frame 12 to parking lot exit) Time required to move).

In addition, the arbitration unit 66 transmits permission information or refusal information indicating the arbitration result to another vehicle according to the determination result by the determination unit 68 described later. The permission information is information transmitted when giving priority to traveling of another vehicle. The permission information is information indicating that the traveling route determined by the other vehicle is permitted, in other words, information that encourages traveling on the traveling route. The refusal information is information that is transmitted when the traveling of the own vehicle is prioritized. The refusal information is information indicating that the traveling route determined by the other vehicle is rejected, in other words, information that instructs the suspension of traveling on the traveling route.

The determination unit 68 determines whether or not the traveling route of the other vehicle indicated by the route information of the other vehicle acquired by the arbitration unit 66 and at least a part of the traveling route of the own vehicle generated by the route generation unit 64 overlap. To do. In other words, the determination unit 68 determines whether both the own vehicle and the other vehicle pass the same position or a nearby position within a predetermined range (for example, within 2 meters).

In addition, when at least a part of the traveling route of the other vehicle and the traveling route of the own vehicle overlap, the determination unit 68 compares the required time for the receiving or leaving of the own vehicle with the required time for the receiving or leaving of the other vehicle. To do. When the traveling route of the other vehicle and at least a part of the traveling route of the own vehicle overlap, the determination unit 68 determines that the time required for the vehicle to enter or leave the vehicle is less than the time required to enter or leave the other vehicle ( In the case of the following), it is decided to prioritize the entry or exit of the own vehicle. On the other hand, when the traveling route of the other vehicle and at least a part of the traveling route of the own vehicle overlap, the determination unit 68 determines that the time required for the vehicle to enter or leave the vehicle is the time required to enter or leave the other vehicle. If it is larger, it is decided to prioritize the entry or exit of another vehicle.

The behavior deciding unit 70 decides the behavior of the own vehicle at the time of warehousing or leaving the garage according to the determination result by the determining unit 68. For example, the behavior determining unit 70 determines the behavior of the vehicle 14 so that the receiving or leaving of the own vehicle is prioritized when the determining unit 68 determines that the receiving or leaving of the own vehicle is prioritized. For example, the behavior determination unit 70 may instruct the travel control unit 46 to automatically drive the vehicle 14 along the travel route generated by the route generation unit 64.

On the other hand, when the determination unit 68 determines that the warehousing or the unloading of the other vehicle is prioritized, the behavior determining unit 70 determines the behavior of the vehicle 14 so that the warehousing or the unloading of the other vehicle is prioritized. For example, the behavior determination unit 70 may instruct the traveling control unit 46 to suspend the automatic traveling of the vehicle 14.

The operation of the vehicle support system 22 having the above configuration will be described.
FIG. 5 is a flowchart showing the operation of the vehicle support system 22 of the embodiment. FIG. 5 shows the operation of the vehicle support system 22 when controlling the automatic storage of the vehicle 14 in the parking frame 12. The driver of the vehicle 14 drives the vehicle 14 to a position near the vacant parking frame 12 (for example, the position of the vehicle 10a in FIG. 2) in the parking lot, and then does not show an operation for instructing automatic parking (storage assistance). Input to the HMI device. When this operation is accepted by the vehicle support system 22, a series of processes shown in FIG. 5 is started.

The detection unit 40 captures an image of the vacant parking frame 12 (in other words, the parking frame 12 to be stored) by the camera, and identifies the parking frame 12 identification information (frame number in the embodiment) shown in the parking frame 12. It is detected (S10). The route generation unit 64 generates a travel route (also referred to as a “storage route”) to the parking frame 12 to be stored from the current position of the vehicle estimated by the position estimation unit 62 (S12). The route generation unit 64 determines the warehousing speed by a predetermined algorithm and divides the length of the warehousing route by the warehousing speed to derive the time required for warehousing into the parking frame 12 (also referred to as "time required for warehousing"). Yes (S14). Hereinafter, the traveling route at the time of leaving the warehouse will be referred to as the “leaving route”, and the time required for the leaving will be referred to as the “time required for leaving”.

The arbitration unit 66 broadcasts the route information of the own vehicle including the identification information indicating the warehousing, the parking frame number, the warehousing route, and the warehousing required time to other vehicles in the vicinity by inter-vehicle communication (S16). The arbitration unit 66 receives the route information of the other vehicle returned from the other vehicle that has received the route information of the own vehicle (S18). When a plurality of other vehicles exist around the own vehicle, the arbitration unit 66 can receive the plurality of route information transmitted from the plurality of other vehicles. The route information of the other vehicle includes identification information indicating that the other vehicle is stored, a parking frame number, a storage route, and a required storage time when the other vehicle is stored. On the other hand, when the other vehicle is leaving, the route information of the other vehicle includes identification information indicating that the vehicle is leaving, a leaving route, and a required leaving time.

Note that the arbitration unit 66 waits for the route information from the other vehicle to be transmitted for a predetermined allowable time after broadcasting the route information of the own vehicle. This allowable time may be set to an appropriate length in consideration of the communication delay time and the time required for the response process on the other vehicle side. The same applies to the case of leaving the warehouse, which will be described later with reference to FIG. 7.

FIG. 6 is a flowchart showing the operation following FIG. If the route information of the other vehicle indicates that the vehicle is stored (Y in S20), and the parking frame 12 of the own vehicle and the parking frame 12 of the other vehicle are the same (Y in S22), that is, the receiving route of the own vehicle and the other vehicle When at least a part of the warehousing paths of ③ certainly overlap, the determination unit 68 compares the warehousing required time of the own vehicle with the warehousing required time of the other vehicle. If the time required for the storage of the own vehicle is equal to or less than the time required for the storage of the other vehicle (Y in S24), the determination unit 68 determines to prioritize the storage of the own vehicle over the other vehicle. The arbitration unit 66 transmits the refusal information to the other vehicle (S26). The behavior deciding unit 70 decides the behavior of the vehicle 14 so as to give priority to the warehousing of the own vehicle, and causes the traveling control unit 46 to execute the automatic driving along the warehousing route generated by the route generating unit 64 (S28).

If the required storage time of the own vehicle is longer than the required storage time of the other vehicle (N of S24), the determination unit 68 determines to prioritize the storage of the other vehicle over the own vehicle (S30). The arbitration unit 66 transmits the permission information to the other vehicle (S32). When the determination unit determines that the warehousing of another vehicle is prioritized (Y of S34), the behavior determination unit 70 interrupts the automatic warehousing process and switches to the manual operation mode (S36). For example, the behavior determination unit 70 may cause an unillustrated HMI device to display that the automatic warehousing process has been interrupted and switched to the manual operation mode. In this case, the driver manually drives the vehicle 14 to search for another vacant parking frame 12.

As a modification, the vehicle assistance system 22 may try automatic warehousing in the same parking frame 12 again. In this case, after waiting for a predetermined time (for example, 10 seconds), the process may be repeated from S16 (broadcasting the route information of the own vehicle) in FIG.

When the route information of the other vehicle indicates that the vehicle is leaving (N in S20), or the route information of the other vehicle indicates that the vehicle is receiving, but the parking frame of the other vehicle is different from the parking frame of the own vehicle (S22). N), the determination unit 68 determines whether or not the warehousing route or the warehousing route of the other vehicle and at least a part of the warehousing route of the own vehicle overlap. When at least a part of the warehousing path or exit path of another vehicle and the warehousing path of the own vehicle overlap (Y of S38), the process proceeds to S24. That is, the determination unit 68 compares the time required for the vehicle to store and the time required to store the vehicle or the time required to leave the vehicle, and the operation described below is performed.

When the warehousing route or exit route of another vehicle and the warehousing route of the own vehicle do not overlap (N of S38), even if the own vehicle and the other vehicle travel on their respective traveling routes, a collision does not occur, so the arbitration unit 66 determines The permission information is transmitted to the vehicle (S32). Here, the determination unit has not determined that the warehousing of another vehicle should be prioritized (N of S34). Therefore, the behavior determination unit 70 causes the traveling control unit 46 to execute the automatic operation along the warehousing route generated by the route generation unit 64 (S28).

When a plurality of route information is received from a plurality of other vehicles within the above allowable time, the determination unit 44 should prioritize the receiving of the own vehicle based on each of the plurality of route information (S28 in FIG. 6). It is determined whether or not the priority is given to the warehousing of another vehicle (whether or not S36 in FIG. 6 is performed). In other words, the determination unit 44 repeats the process up to the step before S28 or S36 in FIG. 6 for the number of received route information. When it is determined that the own vehicle should be prioritized in any of the plurality of received route information, the behavior determination unit 70 determines the behavior of the own vehicle so that the parking of the own vehicle is prioritized. On the other hand, when it is determined that the other vehicle should be prioritized based on at least one of the received plurality of route information, the process proceeds to S36, and the behavior determination unit 70 causes the behavior of the own vehicle to prioritize the entry or the exit of the other vehicle. To decide.

FIG. 7 is a flowchart showing the operation of the vehicle support system 22 of the embodiment. FIG. 7 shows the operation of the vehicle support system 22 when controlling the automatic leaving of the vehicle 14 from the parking frame 12. The series of processes shown in FIG. 7 is started when the user inputs an operation for instructing a leaving assistance to an HMI device (not shown) when the vehicle 14 starts from the parking frame 12. The route generation unit 64 is a traveling route of the vehicle 14 in the parking lot, and generates a delivery route from the parking frame 12 which is the current position of the vehicle 14 (S40). The route generation unit 64 determines the delivery speed by a predetermined algorithm, and divides the length of the delivery route by the delivery speed to derive the time required for delivery from the parking frame 12 (also referred to as “delivery required time”). (S42).

FIG. 8 schematically shows the inside of the parking lot. The parking lot 80 includes 24 parking frames 12, and a stop line 82a, a stop line 82b, and a stop line 82c (collectively referred to as "stop line 82") are provided in a passageway of a vehicle in the parking lot 80. Has been. As described above, the positions of the parking frame 12 and the stop line 82 in the parking lot 80 are recorded in advance in the map data of the map storage unit 60. The exit time required in the embodiment is determined from the parking frame 12 in which the vehicle 14 is parked (in other words, the parking frame 12 that is the starting point of the exit) to the dangerous area 88 determined according to the position of the parking frame 12 in the parking lot 80. This is the time required to drive to the exit.

Here, the parking frame 12 in which the vehicle is parked is the second parking frame 12. The dangerous area 88 is an area having a relatively high risk of colliding with another vehicle when the own vehicle is leaving, and is an area surrounded by a dotted line in FIG. For example, the determination unit 68 includes the second parking frame 12 and the other parking frames 12 (the first, third, and twelfth parking spaces 12 in FIG. 8) located in the vicinity thereof (for example, the range where the passage for the vehicle is not sandwiched). The parking frame 12) may be set as a group, and a range of a predetermined distance (for example, 4 meters) from the group may be detected as the dangerous area 88. The exit of the dangerous area 88 can be said to be a boundary between the inside of the dangerous area 88 and the outside of the dangerous area 88.

In the embodiment, the determination unit 68 detects the stop line that first appears on the travel route from the parking frame 12 (for example, the second parking frame 12) in which the vehicle is parked, as the exit of the dangerous area 88. For example, when the leaving route is the route 84, the route generation unit 64 derives the leaving time by dividing the distance from the second parking frame 12 to the stop line 82a by the leaving speed. Further, when the leaving route is the route 86, the route generation unit 64 derives the required leaving time by dividing the distance from the second parking frame 12 to the stop line 82b by the leaving speed.

Returning to FIG. 7, the arbitration unit 66 broadcasts the own vehicle's route information including the identification information indicating the leaving, the leaving route, and the required leaving time to other vehicles in the vicinity by inter-vehicle communication (S44). .. The arbitration unit 66 receives the route information of the other vehicle returned from the other vehicle that has received the route information of the own vehicle (S46). When there are a plurality of other vehicles around the host vehicle, the arbitration unit 66 can receive the plurality of route information transmitted from the plurality of other vehicles.

The determination unit 68 determines whether or not the entry route or the exit route of another vehicle and at least a part of the exit route of the own vehicle overlap. When at least a part of the outgoing route of the own vehicle and the outgoing route of the other vehicle overlap (Y of S48), the determination unit 68 determines the required outgoing time of the own vehicle and the required time of the incoming or outgoing of the other vehicle. Compare with. If the time required for the own vehicle to leave the vehicle is equal to or less than the time required for the other vehicle to enter or leave the vehicle (Y in S50), the determination unit 68 determines to prioritize the own vehicle over the other vehicle. The arbitration unit 66 transmits the refusal information to the other vehicle (S52). The behavior deciding unit 70 decides the behavior of the vehicle 14 such that the unloading of the own vehicle is prioritized, and causes the traveling control unit 46 to execute the automatic driving along the warehousing route generated by the route generating unit 64 (S54).

When the time required for the own vehicle to leave the vehicle is longer than the time required for the vehicle to enter or leave the other vehicle (N in S50), the determination unit 68 determines to prioritize the other vehicle over the own vehicle. The arbitration unit 66 transmits the permission information to another vehicle (S56). The behavior determination unit 70 determines to suspend the automatic warehousing process and wait for the next warehousing timing (S58). In this case, the vehicle support system 22 may repeat the process from S44 (broadcasting the route information of the own vehicle) of FIG. 7 after waiting for a predetermined time (for example, 10 seconds). Alternatively, the vehicle support system 22 may repeat the process from S40 of FIG. 7, and in S40, a different exit route than that may be generated.

When the entry route or exit route of another vehicle and the exit route of the own vehicle do not overlap (N in S48), the behavior determination unit 70 determines the behavior of the vehicle 14 so that the departure of the own vehicle is prioritized. To do. After transmitting the permission information to another vehicle (S56), the process may proceed to S54.

The present disclosure has been described above based on the embodiments. It should be understood by those skilled in the art that this embodiment is merely an example, and that various modifications can be made to the combination of each component or each processing process, and such modifications are also within the scope of the present disclosure.

Any combination of the above-described examples and modifications is also useful as an embodiment of the present disclosure. The new embodiment resulting from the combination has the effects of the combined examples and modifications. It is also understood by those skilled in the art that the functions to be achieved by the respective constituent elements described in the claims are realized by the individual constituent elements shown in the embodiments and the modified examples or by their cooperation.

The techniques described in the embodiments and the modifications may be specified by the following items.
[Item 1]
A receiving unit that receives route information of another vehicle from another vehicle near the own vehicle by inter-vehicle communication,
A decision to determine the behavior of the own vehicle at the time of loading or unloading depending on whether or not the running route of the other vehicle indicated by the route information of the other vehicle received by the receiving unit overlaps the running route of the own vehicle. Department,
Vehicle support system including.
According to this vehicle support system, it is possible to suppress the occurrence of a collision with another vehicle when the vehicle automatically enters or leaves the vehicle. Further, by performing arbitration relating to the warehousing or warehousing depending on whether or not the traveling routes of a plurality of vehicles overlap, the frequency of interruption of the automatic warehousing or unloading of the vehicles can be suppressed.
[Item 2]
The route information of the other vehicle received by the reception unit includes the time required for the other vehicle to enter or leave,
When the traveling route of the other vehicle and the traveling route of the own vehicle overlap each other, and the required time for storing or leaving the own vehicle is less than the required time for storing or leaving the other vehicle, the determining unit determines Determine the behavior of your vehicle to prioritize the entry or exit of the vehicle,
The vehicle support system according to Item 1.
According to this vehicle support system, by giving priority to a vehicle having a shorter required time for warehousing or unloading, it is possible to improve the efficiency of warehousing or unloading as a whole of a plurality of vehicles whose traveling routes overlap.
[Item 3]
The route information of the other vehicle received by the reception unit includes the time required for the other vehicle to enter or leave,
When the traveling route of the other vehicle and the traveling route of the own vehicle overlap, and the required time for storing or leaving the own vehicle is greater than the required time for storing or leaving the other vehicle, the determining unit determines Determine the behavior of your vehicle to prioritize the entry or exit of the vehicle,
The vehicle support system according to Item 1 or 2.
According to this vehicle support system, by giving priority to a vehicle having a shorter required time for warehousing or unloading, it is possible to improve the efficiency of warehousing or unloading as a whole of a plurality of vehicles whose traveling routes overlap.
[Item 4]
A storage unit for storing a map of the parking lot is further provided,
The time required for the leaving is a time required to travel from the parking frame in the parking lot to the exit of the dangerous area determined according to the position of the parking frame in the parking lot,
The vehicle support system according to item 2 or 3.
According to this vehicle support system, by applying the time required to reach the exit of the dangerous area as the time required for leaving the warehouse, while maintaining safety, it is possible to enter or leave the vehicle as a whole of multiple vehicles with overlapping travel routes. The efficiency of can be increased.
[Item 5]
The exit of the dangerous area is a stop line that first appears on the travel route from the parking frame,
The vehicle support system according to item 4.
According to this vehicle support system, it is possible to improve the efficiency of loading or unloading as a whole of a plurality of vehicles whose traveling routes overlap while maintaining safety. Further, it becomes easy to appropriately set the exit of the dangerous area for each parking lot in accordance with the position of the stop line which may be different for each parking lot.
[Item 6]
Receives route information of other vehicles from other vehicles in the vicinity of your own vehicle through inter-vehicle communication,
Depending on whether or not the traveling route of the other vehicle indicated by the route information of the other vehicle and the traveling route of the own vehicle overlap, the behavior of the own vehicle at the time of entering or leaving the garage is determined.
Vehicle support method.
According to this vehicle assistance method, it is possible to suppress the occurrence of a collision with another vehicle when the vehicle automatically enters or leaves. In addition, the arbitration relating to the warehousing or the warehousing depending on whether or not the traveling routes of the plurality of vehicles are overlapped with each other can suppress the frequency of interruption of the automatic warehousing or unloading of the vehicles.
[Item 7]
Receives route information of other vehicles from other vehicles in the vicinity of your own vehicle through inter-vehicle communication,
Depending on whether or not the traveling route of the other vehicle indicated by the route information of the other vehicle and the traveling route of the own vehicle overlap, the behavior of the own vehicle at the time of entering or leaving the garage is determined.
A computer program that causes a computer to do things.
According to this computer program, it is possible to suppress the occurrence of a collision with another vehicle when the vehicle automatically enters or leaves. In addition, the arbitration relating to the warehousing or the warehousing depending on whether or not the traveling routes of the plurality of vehicles are overlapped with each other can suppress the frequency of interruption of the automatic warehousing or unloading of the vehicles.

14 vehicles, 22 vehicle support system, 60 map storage unit, 64 route generation unit, 66 arbitration unit, 68 determination unit, 70 behavior determination unit.

Claims (7)

A receiving unit that receives route information of another vehicle from another vehicle near the own vehicle by inter-vehicle communication,
A decision to determine the behavior of the own vehicle at the time of entering or leaving according to whether or not the running route of the other vehicle indicated by the route information of the other vehicle received by the receiving unit overlaps with the running route of the own vehicle. Department,
Vehicle support system including. The route information of the other vehicle received by the reception unit includes the time required for the other vehicle to enter or leave,
When the traveling route of the other vehicle and the traveling route of the own vehicle overlap each other and the required time for the own vehicle to enter or leave is less than the required time for the other vehicle to enter or leave, Determine the behavior of your vehicle to prioritize the entry or exit of the vehicle,
The vehicle support system according to claim 1. The route information of the other vehicle received by the reception unit includes the time required for the other vehicle to enter or leave,
When the traveling route of the other vehicle and the traveling route of the own vehicle overlap, and the required time for storing or leaving the own vehicle is greater than the required time for storing or leaving the other vehicle, the determining unit determines Determine the behavior of your vehicle to prioritize the entry or exit of the vehicle,
The vehicle support system according to claim 1. A storage unit for storing a map of the parking lot is further provided,
The time required for the leaving is a time required to travel from the parking frame in the parking lot to the exit of the dangerous area determined according to the position of the parking frame in the parking lot,
The vehicle support system according to claim 2 or 3. The exit of the dangerous area is a stop line that first appears on the traveling route from the parking frame,
The vehicle support system according to claim 4. Receives route information of other vehicles from other vehicles in the vicinity of your own vehicle through inter-vehicle communication,
Depending on whether or not the traveling route of the other vehicle indicated by the route information of the other vehicle and the traveling route of the own vehicle overlap, the behavior of the own vehicle at the time of entering or leaving the garage is determined.
Vehicle support method. Receives route information of other vehicles from other vehicles in the vicinity of your own vehicle through inter-vehicle communication,
Depending on whether or not the traveling route of the other vehicle indicated by the route information of the other vehicle and the traveling route of the own vehicle overlap, the behavior of the own vehicle at the time of entering or leaving the garage is determined.
A computer program that causes a computer to do things.

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