JP2021111330A - Movement information providing system to moving body, server device therefor, and vehicle - Google Patents

Abstract

To prevent the movement of a moving body such as a vehicle from being easily affected by the movement of the other moving bodies.SOLUTION: A movement information providing system 1 to a moving body includes: a plurality of terminal devices 2 which can be used in each of a plurality of moving bodies 100; and a plurality of communication devices 4, which is provided in a predetermined area or a predetermined section where the plurality of moving bodies 100 moves, and which communicates with the terminal device 2 used in the moving body 100 moving the responsible predetermined area or predetermined section. The plurality of communication devices 4 transmits information capable of being used for movement determination or movement control of at least each of moving bodies 100 to the terminal devices 2 used in the moving body 100 moving the responsible predetermined area or predetermined section.SELECTED DRAWING: Figure 1

Description

The present invention relates to a movement information providing system to a moving body, a server device used therefor, and a vehicle.

For vehicles such as automobiles, the development of automatic driving technology for traveling to a destination is in progress (Patent Document 1).
The vehicle travels, for example, along the route to the destination. At this time, the vehicle is required to take an image of the surroundings of the vehicle by a sensor such as a camera provided in the own vehicle and to travel safely while avoiding moving objects such as other vehicles.

Japanese Unexamined Patent Publication No. 2019-21209

By realizing automatic driving of moving objects such as vehicles in this way, the moving objects can move to the destination without the intention of the user, or support the user's driving operation to improve the safety of movement. , Is expected to be possible.
However, in a situation where a moving body such as a vehicle executes detection and control independently, it is not always possible to accurately grasp the movement of other moving bodies.
For example, due to the unexpected movement of another move, another move that remains in the blind spot, or another move that emerges from the blind spot, the move, such as a vehicle, suddenly avoids these other moves. It may be necessary to perform various driving controls.

In this way, the movement of a moving body such as a vehicle is required to be less affected by the movement of other moving bodies.

The movement information providing system for a mobile body according to one embodiment of the present invention is provided and is in charge of a plurality of terminal devices that can be used by each of the plurality of mobile bodies and a predetermined area or section in which the plurality of mobile bodies move. A mobile information providing system having a plurality of communication devices that communicate with the terminal device used by a mobile body moving in a predetermined area or a predetermined section, and the plurality of the communication devices are in charge of the predetermined area. Alternatively, information that can be used for at least movement determination or movement control of each moving body is transmitted to the terminal device used by the moving body moving in a predetermined section.

Preferably, the plurality of communication devices repeatedly receive current and / or past information of the mobile body from the terminal device used by the mobile body moving in a predetermined area or a predetermined section in charge. ..

Preferably, the plurality of communication devices are connected by a dedicated network and are in charge of at least one of the field information related to the movement of the plurality of mobile bodies and the primary processing information obtained based on the field information. It is preferable to transmit to the terminal device used by a mobile body moving in a predetermined area or a predetermined section.

Preferably, the plurality of terminal devices each provide information received from the communication device to the mobile body in which each is used.

Preferably, the server device is connected to the terminal device that can be used by the mobile body through the communication device, and the server device moves in a predetermined area or a predetermined section. It is preferable to collect or relay the field information related to the movement of the moving body.

Preferably, each of the plurality of mobile bodies determines or controls each movement based on the information received by the plurality of terminal devices available in each.

The server device according to one embodiment of the present invention is a server device connected to a plurality of the communication devices in the movement information providing system to the mobile body according to any one of the above, and is used for moving the plurality of mobile bodies. Based on the acquisition unit that acquires the related field information or the pre-processing information obtained by processing the field information, and the information acquired by the acquisition unit, the movement determination or movement of the moving body is determined or moved in the plurality of moving bodies and / or the plurality of terminal devices. It has a generation unit that generates primary processing information that can be used for control, and a transmission unit that transmits the generated primary processing information from the communication device to the terminal device provided on the mobile body.

Preferably, the acquisition unit receives information on the movement of the moving body from the plurality of moving bodies, and / or information specific to each moving body, and / or the movement as field information related to the movement of the plurality of moving bodies. It is good to get information about the surroundings of the body or the area.

Preferably, the generator maps the current position of the moving body estimated based on the collected field information to the current time diagram, and the progress of each of the moving bodies estimated based on the collected field information. Based on the direction, the traveling speed or the progressing state, and the current time map, the future predicted position of the moving body is estimated and mapped to the predicted map, and a plurality of positions from the current position to the predicted position. Assuming the movement of the moving body, a path or a travelable range of a minute section in which each of the plurality of moving bodies can travel is generated, and primary processing information obtained based on the field information is generated. good.

Preferably, the server device is provided in a plurality of distributed manners.

Preferably, the generation unit includes a mapping unit that maps at least the current position among the current position and the predicted position of the plurality of mobile objects based on the information acquired by the acquisition unit, and the mapped plurality of the above. It has a prediction generation unit that generates information on the path or travelable range of a minute section in which each of the plurality of mobile bodies can travel by using the information on the position of the mobile body, and obtains the information based on the field information. It is good to generate the primary processing information to be obtained.

The vehicle according to one embodiment of the present invention is a vehicle as a moving body in the movement information providing system to the moving body according to any one of the above, and the terminal device divides a predetermined area and / or a predetermined section. It has a movement control device that receives at least information that can be used for movement determination or movement control of a moving body from the communication device provided, and controls the movement of the moving body using the information received by the terminal device. Then, the movement control device determines the course of the vehicle based on at least one of the field information related to the movement of the moving body received by the terminal device and / or the primary processing information obtained based on the field information. Determine to control or support the travel of the vehicle.

Preferably, the vehicle has information on the movement of the vehicle, user information of the vehicle, vehicle-specific information, and an autonomous sensor that detects peripheral information or regional information of the vehicle, and the terminal device comprises. It is preferable to transmit the current or past detection information by the autonomous sensor constituting the field information to the communication device capable of communicating in a predetermined area and / or a predetermined section in which the vehicle is located.

Preferably, the movement control device includes an acquisition unit that acquires at least one of field information related to the movement of a plurality of moving objects and primary processing information obtained based on the field information, and the acquisition unit. Based on the acquired information, the generation unit that generates the secondary processing information used for the movement determination and / or movement control of the vehicle, and the generated secondary processing information are used to determine the movement of the vehicle and / or It is preferable to have a traveling control unit that executes movement control.

Preferably, the generation unit generates information on the path or travelable range of the minute section in which the vehicle can travel based on the information acquired by the acquisition unit, and the travel control unit generates information on the path in the minute section. And / or based on the information of the travelable range, it is preferable to determine the travel course of the vehicle and control the movement.

Preferably, the generation unit maps the current position of the moving body estimated based on the information acquired by the acquisition unit to the current time diagram, and each of the moving bodies estimated based on the collected field information. The future predicted position of the moving body is estimated and mapped to the predicted map based on the traveling direction, traveling speed or progress state of the moving body, and the current position of the moving body, and the position of the current figure is changed to the position of the predicted figure. Assuming the movement of the moving body, it is preferable to generate a path or a travelable range of a minute section in which each of the moving bodies can travel, and generate secondary processing information obtained based on the field information. ..

Preferably, the generation unit includes a mapping unit that maps at least the current position among the current position and the predicted position of the plurality of mobile objects based on the information acquired by the acquisition unit, and the mapped plurality of the above. It has a prediction generation unit that generates information on the path or travelable range of a minute section in which each of the plurality of mobile bodies can travel by using the information on the position of the mobile body, and obtains the information based on the field information. It is preferable to generate the secondary processing information to be obtained.

According to the present invention, it is possible to make the movement of a moving body such as a vehicle less susceptible to the movement of other moving bodies.

FIG. 1 is a configuration diagram of a movement information providing system to a moving body according to the first embodiment of the present invention. FIG. 2 is a hardware configuration diagram of the server device of FIG. FIG. 3 is a configuration diagram of a control system for controlling automatic driving of the automobile of FIG. FIG. 4 is a flowchart of the transmission process of the own vehicle information by the external communication ECU of FIG. FIG. 5 is a flowchart of a field information collection process related to the movement of a plurality of automobiles by the server CPU of FIG. FIG. 6 is a flowchart of a process for generating information on a course or a travelable range of a minute section in which each automobile can travel, as primary processing information by the server CPU of FIG. FIG. 7 is a flowchart of a process in which the server CPU of FIG. 2 transmits information that can be used for movement determination or movement control of the automobile generated in the generation process of FIG. FIG. 8 is a flowchart of a process of receiving information that can be used for the movement determination or movement control of the automobile by the terminal device of the automobile control system of FIG. FIG. 9 is a flowchart of a process for controlling automatic driving or driving support of an automobile by the traveling control ECU of the automobile control system of FIG. FIG. 10 is an explanatory diagram of a series of processes from the field information in the first embodiment to obtaining the course of the moving body. FIG. 11 is a configuration diagram of a movement information providing system to a moving body according to the second embodiment. FIG. 12 is a configuration diagram of a movement information providing system to the moving body according to the third embodiment. FIG. 13 is an explanatory diagram for explaining the process of generating information on the course or the travelable range for each lane by the movement information providing system to the moving body according to the fourth embodiment. FIG. 14 is an explanatory diagram for explaining a process of generating information on a course or a travelable range for each lane by a movement information providing system for a moving body according to a fifth embodiment. FIG. 15 is an explanatory diagram for explaining the process of generating information on the course or the travelable range of the automobile by the movement information providing system to the moving body according to the fifth embodiment. FIG. 16 is a configuration diagram of a movement information providing system to a moving body according to the sixth embodiment. FIG. 17 is a configuration diagram of a movement information providing system to a moving body according to the seventh embodiment. FIG. 18 is a configuration diagram of a movement information providing system to a moving body according to a ninth embodiment. FIG. 19 is a configuration diagram of a movement information providing system to a moving body according to a ninth embodiment. FIG. 20 is a flowchart of detailed processing for step ST67 of FIG. 9 in the nineteenth embodiment. FIG. 21 is a flowchart of a process of collecting field information related to the movement of a plurality of automobiles by the server device of the 26th embodiment. FIG. 22 is a flowchart of a process of transmitting the collected field information by the server device of the 26th embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[First Embodiment]
FIG. 1 is a configuration diagram of a movement information providing system 1 to a moving body according to the first embodiment of the present invention.
The movement information providing system 1 of FIG. 1 includes a plurality of terminal devices 2 that can be used by a plurality of automobiles 100 as a plurality of moving bodies traveling on a road, and a plurality of terminal devices 2 provided along the road on which the plurality of automobiles 100 travel. The radio base station 4 and the like.

Further, FIG. 1 shows a GNSS (Global Navigation Satellite System) satellite 110. The GNSS satellite 110 emits radio waves toward the surface of the earth in which latitude and longitude information indicating the position of each satellite and absolute time information for synchronization between a plurality of satellites are superimposed. By receiving the radio waves of a plurality of GNSS satellites 110, it is possible to generate latitude / longitude information indicating the position of the received point. In addition, the time required for the radio wave to reach the receiving point can be calculated from the distance that can be determined from the generated latitude / longitude and the latitude / longitude of the satellite. As a result, it is possible to obtain an accurate time based on the time of the GNSS satellite 110 for the received point.

In addition to the automobile 100, the moving body includes, for example, a pedestrian, a bicycle, a motorcycle, and a cart. The terminal device 2 may be provided for these mobile bodies. The terminal device 2 may be provided fixedly to the automobile 100 or the like, or may be provided detachably.

On the road where the plurality of radio base stations 4 are provided, another automobile 100 whose information is not provided by the mobile information providing system 1 of FIG. 1 and another automobile 100 whose information is provided separately by another mobile information providing system are located on the road. You may run. The automobile 100 and other moving bodies do not travel on a fixed track such as a train. The automobile 100 and other moving bodies can move freely by changing the traveling direction and traveling speed independently. The movement information providing system 1 does not provide movement information to all of these moving bodies, but may provide movement information to a plurality of a limited number of some of these moving bodies.

The plurality of radio base stations 4 are connected to a dedicated network 5 provided for the mobile information providing system 1. A server device 6 is further connected to the dedicated network 5.

The server device 6 is communicably connected to the plurality of terminal devices 2 through the plurality of wireless base stations 4 of the dedicated network 5. A system 3 on the base station side that provides movement information to a mobile body is configured by a plurality of radio base stations 4, a dedicated network 5, and a server device 6. The plurality of radio base stations 4 are provided side by side for each section along a single road, and provide information to the terminal device 2 used by the mobile body moving in the section in charge of each. good. Further, the plurality of radio base stations 4 are provided for each area wider than a single road, and provide information to the terminal device 2 used by the mobile body moving in the area in charge of each. good.
In addition, the "area" in this specification means a place (distance) divided as a flat area, and is an area.
In addition, "interval" means from one point to the next, and includes the concept of time.

The dedicated network 5 is provided for the mobile information providing system 1. The dedicated network 5 may be a private closed network. Further, it may be provided exclusively for a section of a certain road or an area of a certain area, but it may be limited to use by giving a specific condition such as a specific system or section. The Internet, on the other hand, is a public and open wide area communication network. In addition to this, the wide area communication network includes a dedicated communication network used in an advanced transportation system such as ADAS (Advanced driver-assistance systems) and an ATM switching network dedicated to telephone exchange. The mobile information providing system 1 may use these wide area communication networks in place of the dedicated network 5 or together with the dedicated network 5. In an open network, the transmission delay tends to be larger than that in a closed network, but a certain degree of confidentiality can be maintained by encoding the data such as encryption. However, by using the dedicated network 5, the data communication between the plurality of wireless base stations 4 and the server device 6 is mutually stable with low delay and large capacity high-speed communication as compared with the case of using the Internet or the like. It becomes feasible. Even if the dedicated network 5 sends and receives information by asynchronous frames such as TCP / IP protocol and retransmits the frames by collision detection or the like, the transmission delay caused by them is unlikely to be excessive. In the dedicated network 5, the transmission delay can be kept small as compared with the Internet in which a large amount of data may be transmitted and received asynchronously.

A plurality of server devices 6 may be provided for a communication network composed of a dedicated network 5 or the Internet. The plurality of server devices 6 may be distributed in each assigned area such as a road or an area, or may be distributed in a lower level and a higher level that directly communicate with the plurality of radio base stations 4. .. The plurality of server devices 6 may be provided in a distributed manner for each group that divides the plurality of terminal devices 2 into a plurality of groups. In any case, the processing load of each server device 6 can be reduced by the cooperation of the plurality of server devices 6. Further, by appropriately distributing and arranging a plurality of server devices 6 with respect to the transmission network, it is possible to suppress the amount of transmission information in each part and the entire transmission network.

Then, in such a mobile information providing system 1, the terminal devices 2 and the server devices 6 of the plurality of automobiles 100 are mutually controlled by the routing control of data packets on the communication network by the dedicated network 5 and the plurality of radio base stations 4. Send and receive data to. When the terminal device 2 moves together with the automobile 100 and the radio base station 4 accommodating the terminal device 2 changes, the plurality of wireless base stations 4 and the server device 6 switch the routing to newly move the moving automobile 100. The radio base station 4 to be accommodated communicates with the terminal device 2. The plurality of radio base stations 4 before and after the switching may send and receive information about the moving automobile 100 and the terminal device 2 between them.
The server device 6 collects field information related to the running of the plurality of automobiles 100 by such communication. The field information may include information collected about a moving body other than the automobile 100. Based on the collected field information, the server device 6 generates information on the course or movable range of a minute section for each of the automobiles 100, for example, in which a plurality of automobiles 100 can safely travel without colliding with each other. .. The server device 6 repeatedly transmits the generated information as primary processing information to the terminal devices 2 of the plurality of automobiles 100 at predetermined intervals. The server device 6 may organize the collected field information itself for each automobile 100, for example, and repeatedly transmit the collected field information to the terminal devices 2 of the plurality of automobiles 100 at predetermined periods.
If there is only one car 100 that corresponds to the predetermined area and / or the predetermined section in charge, it is sufficient to take charge of only one car. In that case, the map collected in advance and the field information of the one car are used. The primary processing information may be generated. In addition, communication may be performed only once during the time when the vehicle 100 passes through the predetermined area and / or the predetermined section in charge. The minute section referred to here is the traveling direction (front-back, left-right) of the vehicle 100 to be controlled or supported. It is a section, and may be defined as, for example, a distance traveling to 200 milliseconds at a speed of 60 km / h.
Further, being in charge means that the radio base station 4 can communicate.
Through such communication, the terminal device 2 provided in the automobile 100 repeatedly receives the primary processing information and the field information transmitted by the server device 6 from the radio base station 4 accommodating the terminal device 2 at predetermined intervals. The automobile 100 executes control regarding the movement of the automobile 100 based on the information received by the terminal device 2. In the case of automatic driving, the automobile 100 determines a course for automatic driving and drives the own vehicle according to the course. In the case of manual driving support, the automobile 100 adjusts the driving operation of the user on board so as not to deviate significantly from the determined course, and drives the own vehicle. The automobile 100 can travel along the determined course. The automobile 100 may notify the passengers of the information received by the terminal device 2 and the information based on the information by display, voice, or the like.

Here, the field information collected by the base station side such as the server device 6 may be any information related to the movement of a moving body such as a plurality of automobiles 100, for example, information collected from each automobile 100, road monitoring information, and the like. There is local traffic information based on it. The information collected from each automobile 100 includes, for example, driving information of each automobile 100, occupant information about a user, peripheral information of each automobile 100, and local traffic information. The traveling information of the automobile 100 includes, for example, not only the traveling direction and the traveling speed, but also the current location, the destination, and the posture and movement of the vehicle body. The posture of the vehicle body includes, for example, yaw rate.

Further, the primary processing information transmitted by the base station side of the server device 6 or the like to the terminal device 2 of each automobile 100 may be information that each automobile 100 can use for traveling control or traveling determination of each automobile 100, for example. , The traveling direction and the traveling speed of a minute section of the automobile 100. The information transmitted by the server device 6 to the terminal device 2 of each automobile 100 includes, for example, the estimated current location information of the automobile 100, the estimated maximum travel distance or the maximum travelable range from the current location of the automobile 100, and the estimated present. Time information, may be included. The automobile 100 can continue to travel in a state in which the safety based on the information is ensured by the terminal device 2 repeatedly receiving such information at short predetermined periods. The automobile 100 can safely travel to a desired destination, for example, by repeatedly acquiring information for each minute section at predetermined periods and traveling according to the information.

By the way, in the conventional automobile 100, for example, a route to a destination is set in a navigation device, and the user himself / herself operates while ensuring safety according to the guidance of the route, thereby safely moving to the destination. can do. At this time, in the automobile 100 having a driving support function, the inside and outside of the vehicle are imaged by a sensor such as a camera provided in the automobile 100, and the course is adjusted so as to avoid moving objects such as other automobiles 100 to support driving. can do.
However, with such autonomous autonomous driving and driving support, it is not always possible to accurately predict and grasp the movement of another automobile 100 or the like.
For example, another automobile 100 operated by a user may suddenly change course or move unexpectedly. In addition, another moving object may pop out on the path, or another automobile 100 may be parked at a corner that cannot be seen. For example, the weather may deteriorate due to a snowstorm and the visibility may decrease. It may be difficult to see oncoming vehicles in weather such as snowstorms. At intersections and interchanges, other automobiles 100 may approach from the lateral or diagonally rearward directions. In these cases, the own vehicle during automatic driving performs abrupt driving control so as to avoid the other vehicle 100 so as not to hit another vehicle 100 whose traveling changes suddenly or obstruct the course thereof, for example. You will have to do it. It is desirable to avoid such a situation in order to prevent accidents. When controlling the movement of a moving body such as the automobile 100, it is desirable that the influence of the unexpected movement of the other moving body is less likely to occur as much as possible.

FIG. 2 is a hardware configuration diagram of the server device 6 of FIG.
The server device 6 of FIG. 2 has a server communication device 11, a server GNSS receiver 12, a server memory 13, a server CPU 14, and a server bus 15 to which these are connected.

The server communication device 11 is connected to a communication network by the dedicated network 5. The server communication device 11 transmits / receives data to / from another device connected to the communication network, for example, a plurality of radio base stations 4 or a terminal device 2 of an automobile 100.
The server GNSS receiver 12 receives the radio wave of the GNSS satellite 110 and obtains the current time. The server device 6 may include a server timer (not shown) that is calibrated by the current time of the server GNSS receiver 12.
The server memory 13 records programs and data executed by the server CPU 14.
The server CPU 14 reads a program from the server memory 13 and executes it. As a result, a server control unit is realized in the server device 6.
The server CPU 14 as a server control unit manages the overall operation of the server device 6. The server CPU 14 acquires the information collected by the mobile information providing system 1, generates the information to be provided to the plurality of terminal devices 2, and transmits the information.

FIG. 3 is a configuration diagram of a control system 20 that controls automatic driving of the automobile 100 of FIG.
In the control system 20 of the automobile 100 of FIG. 3, a plurality of control devices are represented by a control ECU (Electronic Control Unit) incorporated therein. Similar to the server device 6 of FIG. 2, the control device has, for example, a memory for recording a control program and data, an input / output port connected to a controlled object or its state detection device, and a time and time, in addition to the control ECU. It may have a timer to measure and an internal bus to which they are connected.
Specifically, the control ECU shown in FIG. 3 is, for example, a drive ECU 21, a steering ECU 22, a braking ECU 23, a traveling control ECU 24, a driving operation ECU 25, a detection ECU 26, an external communication ECU 27, and a UI operation ECU 28. The control system 20 of the automobile 100 may include other control ECUs (not shown).

The plurality of control ECUs are connected to a vehicle network 30 such as CAN (Control Area Network) or LIN (Local Area Network) adopted in the automobile 100. The car network 30 may be composed of a plurality of bus cables 31 to which a plurality of control ECUs can be connected, and a central gateway (CGW) 32 as a relay device to which the plurality of bus cables 31 are connected. IDs as identification information different from each other are assigned to the plurality of control ECUs. The control ECU basically periodically outputs data to other control ECUs. The ID of the control ECU of the output source and the ID of the control ECU of the output destination are added to the data. The other control ECU monitors the bus cable 31, and when the output destination ID is, for example, its own, acquires data and executes processing based on the data. The central gateway 32 monitors each of the plurality of connected bus cables 31, and when it detects a control ECU connected to a bus cable 31 different from the output source control ECU, it outputs data to the bus cable 31. .. By such relay processing of the central gateway 32, the plurality of control ECUs can input / output data to / from the bus cable 31 to which each of the control ECUs is connected and to other control ECUs connected to the bus cable 31 different from the bus cable 31 to which the control ECUs are connected. ..

A display device 41 and an operation device 42 are connected to the UI operation ECU 28, for example, as user interface devices with a passenger on board. The display device 41 may be, for example, a liquid crystal device or a video projection device. The operation device 42 may be, for example, a touch panel, a keyboard, or a non-contact operation detection device. The display device 41 and the operation device 42 may be installed, for example, on the inner surface of the passenger compartment in which the user rides. The UI operation ECU 28 acquires data from the vehicle network 30 and displays it on the display device 41. The UI operation ECU 28 outputs the operation input to the operation device 42 to the vehicle network 30. Further, the UI operation ECU 28 may execute a process based on the operation input and include the process result in the data. For example, the UI operation ECU 28 may display a navigation screen for setting a destination or the like on the display device 41, search for a route to the destination selected by operation input, and include the route data in the data. The route data may include attribute information such as lanes of roads used to move from the current location to the destination.

For example, a steering wheel 51, a brake pedal 52, an accelerator pedal 53, a shift lever 54, and the like are connected to the driving operation ECU 25 as operating members for the user to control the running of the automobile 100. When the operation member is operated, the operation operation ECU 25 outputs data including the presence / absence of operation, the operation amount, and the like to the vehicle network 30. Further, the operation operation ECU 25 may execute a process for operating the operation member and include the process result in the data. When the accelerator pedal 53 is operated, for example, in a situation where there is another moving body or fixed object in the traveling direction of the automobile 100, the driving operation ECU 25 may determine the abnormal operation and include the determination result in the data.

The detection ECU 26 captures, for example, a speed sensor 61 that detects the speed of the automobile 100, an acceleration sensor 62 that detects the acceleration of the automobile 100, and the outer periphery of the automobile 100 as detection members for detecting the running state of the automobile 100. For example, a stereo camera 63, an in-vehicle camera 64 that captures a user in the vehicle interior, a microphone 65 that converts sounds inside and outside the company into data, a GNSS receiver 66 that detects the position of the vehicle 100, and the like are connected. The GNSS receiver 66 receives radio waves from a plurality of GNSS satellites 110 similar to the server GNSS receiver 12, and obtains the latitude, longitude, and current time of the current position of the own vehicle. As a result, it can be expected that the current time of the automobile 100 matches the current time of the server GNSS receiver 12 of the server device 6 with high accuracy. The detection ECU 26 acquires the detection information from the detection member and outputs the data including the detection information to the vehicle network 30. Further, the detection ECU 26 may execute a process based on the detection information and include the process result in the data. For example, when the acceleration sensor 62 detects an acceleration exceeding the collision detection threshold value, the detection ECU 26 may determine the collision detection and include the collision detection result in the data. The detection ECU 26 extracts moving objects such as pedestrians and other automobiles 100 existing around the own vehicle based on the image of the stereo camera 63, determines the type and attributes of the moving object, and positions the moving object in the image. The relative direction, relative distance, and moving direction of the moving body may be estimated according to the size and change, and the information of the moving body including these estimation results may be included in the data and output to the vehicle network 30.

A communication device 71 and a communication memory 72 are connected to the external communication ECU 27. The terminal device 2 has an external communication ECU 27, a communication device 71, and a communication memory 72. The communication device 71 transmits / receives data transmitted / received by the external communication ECU 27 to / from a communication device 71 outside the vehicle, for example, a wireless base station 4 or another vehicle 100. The communication device 71 communicates with a plurality of radio base stations 4 provided separately for each area or section. The communication memory 72 is a computer-readable recording medium that records programs executed by the external communication ECU 27, set values, and data transmitted / received by the external communication ECU 27. The external communication ECU 27 uses the communication device 71 to send and receive data to and from, for example, the server device 6. The external communication ECU 27 collects own vehicle information through, for example, the vehicle network 30, and transmits it to the server device 6. For example, the external communication ECU 27 acquires the primary processing information transmitted by the server device 6 for the own vehicle from the communication device 71 and records it in the communication memory 72.

The own vehicle information collected by the external communication ECU 27 includes, for example, in-vehicle information such as the state of the user on board, information on the running state of the own vehicle, peripheral information such as the running environment of the own vehicle, and information on the area where the vehicle is traveling. , There is. Peripheral information may include information about other moving objects in the vicinity. The information on the running state of the own vehicle includes, for example, the above-mentioned autonomous sensors (vehicle-mounted sensors: acceleration, GPS, gyro, electronic compass, atmospheric pressure, camera, radar, ultrasonic waves, infrared rays, etc.) provided in the own vehicle. There is. The autonomous sensor may detect information on the movement of the own vehicle, vehicle information such as user information of the own vehicle and vehicle number, peripheral information of the own vehicle, or regional information. In addition, the traveling state information of the own vehicle may include information on the traveling state that can be calculated based on the detection of these sensors, for example, information such as yaw rate. The own vehicle information transmitted by the external communication ECU 27 may be the own vehicle information collected by the external communication ECU 27 as it is, or may be information obtained by processing, filtering, coding, or quantizing the collected information. The external communication ECU 27 repeatedly transmits the own vehicle information to the wireless base station 4 as the terminal device 2.
The information acquired from the server device 6 by the external communication ECU 27 may include not only the primary processing information for the own vehicle but also the primary processing information for other moving objects in the vicinity. In addition, interpolation information that cannot be acquired by the autonomous sensor may be included. As the terminal device 2, the external communication ECU 27 repeatedly receives information that can be used for at least movement determination or movement control in the own vehicle from the radio base station 4.

A control memory 81 is connected to the travel control ECU 24. The control memory 81 is a computer-readable recording medium, and records programs, set values, and the like executed by the travel control ECU 24. Information on the content of control by the travel control ECU 24 may be recorded in the control memory 81. The travel control ECU 24 reads a program from the control memory 81 and executes it. As a result, the travel control ECU 24 can function as a control unit for controlling the travel of the automobile 100.
For example, the travel control ECU 24 acquires data from the external communication ECU 27, the detection ECU 26, the driving operation ECU 25, etc. through the vehicle network 30, and automatically drives the vehicle 100 or controls manual driving support. The travel control ECU 24 generates travel control data for controlling the travel of the automobile 100 based on the acquired data, and outputs the travel control data to the drive ECU 21, the steering ECU 22, and the braking ECU 23. The drive ECU 21, the steering ECU 22, and the braking ECU 23 control the travel of the automobile 100 based on the input travel control data. As a movement control device, the travel control ECU 24 controls the movement of the vehicle by using the information received by the terminal device 2.

Next, the control of the paths of the plurality of automobiles 100 by the movement information providing system 1 having the above-described configuration will be described.

FIG. 4 is a flowchart of the transmission process of the own vehicle information by the external communication ECU 27 of FIG.
When the external communication ECU 27 of the terminal device 2 provided in the automobile 100 is in a state of being able to communicate with the wireless base station 4, for example, the transmission process of the own vehicle information of FIG. 4 is repeatedly executed. The cycle in which the external communication ECU 27 transmits the own vehicle information may be in the range of, for example, several tens of milliseconds to several seconds.

In step ST1, the external communication ECU 27 collects and acquires the own vehicle information from the inside of the vehicle. The external communication ECU 27 acquires data from the travel control ECU 24, the detection ECU 26, the driving operation ECU 25, and the like, for example, through the vehicle network 30. As a result, the external communication ECU 27 collects, for example, the traveling state of the own vehicle such as the current position, the traveling direction, and the traveling speed of the own vehicle, the state of the user on board, the peripheral information of the own vehicle, and the traveling area information. do. Further, the external communication ECU 27 may calculate information such as the yaw rate and information that cannot be obtained as a detection value of the autonomous sensor based on the acquired information. The external communication ECU 27 may record these collected data in the communication memory 72. The data collected by the external communication ECU 27 may include each detection time.

In step ST2, the external communication ECU 27 determines whether or not it is the transmission timing of the own vehicle information. The external communication ECU 27 may determine whether or not the elapsed time from the previous transmission timing has elapsed a predetermined transmission cycle, for example, based on the current time of the GNSS receiver 66. Further, the control system 20 of the automobile 100 has a vehicle timer that is connected to, for example, a vehicle network 30, a central gateway 32, an external communication ECU 27, or a travel control ECU 24 and is calibrated based on the current time of the GNSS receiver 66. , The time of this vehicle timer may be used. Then, if the transmission cycle has not elapsed, the external communication ECU 27 returns the process to step ST1. When it is determined that the transmission timing has passed the transmission cycle, the external communication ECU 27 advances the process to step ST3.

In step ST3, the external communication ECU 27 transmits the information collected in step ST2 from the communication device 71 to the server device 6. The communication device 71 transmits the information collected in step ST2 to the radio base station 4 that the communication device 71 can communicate with in the communication environment at that time. The radio base station 4 transmits the information received from the communication device 71 of the automobile 100 to the server device 6 through the dedicated network 5. Here, the information transmitted from the communication device 71 of the automobile 100 to the wireless base station 4 includes, for example, the own vehicle information such as the value detected in the automobile 100 and the detection time, the latest current location of the automobile 100, and the latest of the automobile 100. Time etc. are included.

In this way, the terminal devices 2 of the plurality of automobiles 100 repeatedly transmit the current or past detection information by the autonomous sensors of each vehicle to the radio base station 4 in charge of the area or section in which each vehicle is accommodated. The plurality of radio base stations 4 repeatedly receive current or past information of each automobile 100 from the terminal device 2 of the automobile 100 moving in the area or section in charge of each. The plurality of communication devices transmit the information received from the terminal device 2 of the automobile 100 to the server device 6.

FIG. 5 is a flowchart of a field information collection process related to the movement of a plurality of automobiles 100 by the server CPU 14 of the server device 6 of FIG.
The server CPU 14 of the server device 6 repeatedly executes the collection process of FIG. 5 every time the server communication device 11 of the server device 6 receives new field information.

In step ST11, the server CPU 14 determines whether or not the field information is received. The field information includes, for example, own vehicle information transmitted by each terminal device 2 of a plurality of automobiles 100, and detection information of a detection device such as a camera installed on a road. The server device 6 (not shown) of the intelligent transportation system may transmit traffic information of the area to be managed to the server device 6. The server communication device 11 receives this information. If the server communication device 11 has not received the field information, the server CPU 14 repeats the process of step ST11. When the server communication device 11 receives the field information, the server CPU 14 advances the process to step ST12.

In step ST12, the server CPU 14 classifies the received field information according to the information source and stores it in the server memory 13. As a result, the server memory 13 of the server device 6 moves the information or peripheral information about the automobile 100 and the user received from each of the plurality of automobiles 100 as the field information related to the movement of the plurality of automobiles 100, or each automobile 100 moves. Accumulate and record traffic information in the area where you are working. The server CPU 14 may record the time when each field information is received in association with the received field information.

FIG. 6 is a flowchart of a process for generating information on a course or a travelable range of a minute section in which each automobile 100 can travel, as primary processing information by the server CPU 14 of the server device 6 in FIG.
The server CPU 14 of the server device 6 repeatedly executes the course generation process of FIG. The cycle in which the server CPU 14 executes the course generation process may be shorter than, for example, the time until the automobile 100 finishes traveling in the course of the primary processing information, and may be, for example, about several tens of milliseconds to several hundreds of milliseconds.

In step ST21, the server CPU 14 determines whether or not it is time to generate a new course for the plurality of automobiles 100. The server CPU 14 may determine whether or not the elapsed time from the previous generation timing has elapsed a predetermined generation cycle based on the current time of the server GNSS receiver 12. Then, if the generation cycle has not elapsed, the server CPU 14 repeats the determination process in step ST21. When it is determined that the generation timing has passed the generation cycle, the server CPU 14 advances the process to step ST22.

In step ST22, the server CPU 14 acquires the latest field information received by the server communication device 11 from the server memory 13. The server CPU 14 acquires, for example, field information related to each movement collected from a plurality of automobiles 100. The server CPU 14 may acquire the pre-processed information obtained by processing the field information in, for example, the radio base station 4. The server CPU 14 may acquire information on each movement, information on each user, peripheral information on each, or regional information from each of the plurality of automobiles 100 as field information related to the movement of the plurality of automobiles 100.

In step ST23, the server CPU 14 maps the traveling environment to the current map and the forecast map. The driving environment may be, for example, information about a traffic jam situation or a road closure situation indicating the state of each road.
Here, the current time map and the forecast map may be road maps of the area to which the movement information providing system 1 provides information. The current map and the forecast map are world maps. The current time diagram and the forecast diagram may be recorded in the server memory 13.
The current time map may be a road map that maps the current positions of the plurality of automobiles 100 at the current time of the server GNSS receiver 12 in real time. The current time map may be a road map that maps the current position of the server GNSS receiver 12 in real time at a time after a predetermined time shorter than the current time.
The prediction map may be a road map that maps the predicted positions of a plurality of automobiles 100 estimated after a predetermined period from the time on the road map. The prediction map may be a road map at a time several seconds after the time of the road map.

In step ST24, the server CPU 14 generates a mobile list for a plurality of automobiles 100 that the server device 6 needs to notify at the present time from the latest field information. The mobile list may include other mobiles, such as another vehicle 100, that the server device 6 does not need to notify.

From step ST25, the server CPU 14 starts a process for mapping the current positions of the plurality of target automobiles 100 to the current position diagram.
The server CPU 14 acquires or estimates the current position of the unprocessed vehicle 100 included in the mobile list from the latest field information. Here, the present time does not have to be the time itself of the server GNSS receiver 12, and may be a time several hundred milliseconds later than that. When the time difference between the time corresponding to the latest current location of the automobile 100 and the current location is equal to or less than a threshold value of about several hundred milliseconds, the server CPU 14 may use the acquired current location as the current location of the automobile 100. When the time difference is larger than the threshold value, the server CPU 14 calculates the already-moved direction and the already-moved amount from the latest acquired current location by using the own vehicle information such as the moving direction, the moving speed, and the posture of the automobile 100, and the calculation result. The position of may be the current position of the automobile 100.

In step ST26, the server CPU 14 maps the current position of the mobile body estimated based on the latest field information to the current map. As a result, the current position based on the latest information about the plurality of automobiles 100 is mapped to the current map with high accuracy.

In step ST27, the server CPU 14 determines whether or not the processing of the plurality of automobiles 100 in the mobile list has been completed. If the processing for all the automobiles 100 in the mobile list has not been completed, the server CPU 14 returns the processing to step ST25. The server CPU 14 selects the next unprocessed automobile 100 and repeats the processes from step ST25 to step ST27. When the processing for all the automobiles 100 in the mobile list is completed, the server CPU 14 ends the mapping process to the current figure and proceeds to the process in step ST28. As a result, the current positions of the plurality of target automobiles 100 are mapped in the current time diagram so as to represent their relative positional relationships.

From step ST28, the server CPU 14 starts a process for mapping the predicted positions of the plurality of target automobiles 100 after a predetermined period in the future, here, the predicted positions several seconds after the time in the current figure, to the predicted figure. do.
The server CPU 14 calculates the predicted position of the unprocessed automobile 100 included in the mobile list from the latest field information. The server CPU 14 calculates the predicted position at the predicted time after a minute period from the current time by using the information of the automobile 100 to be calculated. The predicted time may be several hundred milliseconds to several seconds after the current time. The server CPU 14 calculates the movement direction and the movement amount from the current position in consideration of the behavior of the vehicle 100 by using the own vehicle information such as the movement direction, the movement speed, and the posture of the vehicle 100, and determines the position of the calculation result. It may be the predicted position of the automobile 100.

In step ST29, the server CPU 14 maps the predicted position of the moving body estimated based on the latest field information to the prediction diagram. As a result, the predicted positions based on the latest information about the plurality of automobiles 100 are mapped to the predicted map.

In step ST30, the server CPU 14 determines whether or not the processing of the plurality of automobiles 100 in the mobile list has been completed. If the processing for all the automobiles 100 in the mobile list has not been completed, the server CPU 14 returns the processing to step ST28. The server CPU 14 selects the next unprocessed automobile 100 and repeats the processes from step ST28 to step ST30. When the processing for all the automobiles 100 in the mobile list is completed, the server CPU 14 ends the mapping processing to the prediction diagram and proceeds to the process in step ST31. As a result, the predicted positions of the plurality of target automobiles 100 are mapped on the prediction diagram so as to represent their relative positional relationships.

In step ST31, the server CPU 14 generates a course or range in which the plurality of target vehicles 100 can safely travel. For example, the server CPU 14 generates, for each of the plurality of target automobiles 100, a safe course that does not interfere with or approach other moving objects from the current position of each current position to the predicted position of the prediction map. For example, when the vehicle 100 moves from the current position to the predicted position, the server CPU 14 predicts from the current position when the course does not intersect with the other vehicle 100 or when the vehicle 100 intersects with the other vehicle 100 at a different time. You may generate a course that travels to a position. On the other hand, when the vehicle 100 moves from the current position to the predicted position and the paths intersect with the other vehicles 100 at approximately the same time, the server CPU 14 travels from the current position to the position immediately before the intersection. It may be generated as a course. In this case, the server CPU 14 may generate a course for decelerating so as to stop at a position immediately before the intersection. By these processes, the server CPU 14 is based on the virtual course of the plurality of vehicles 100 from the position of the current diagram to the position of the predicted diagram, and the safety of each of the plurality of vehicles 100 so that the paths do not intersect with each other. It is possible to generate a course of a small section that can proceed to. Further, the server CPU 14 may generate a safe travelable range in which each of the plurality of automobiles 100 can safely travel, instead of such a specific course. The safe driving range may be generated so as not to overlap with the safe driving range of another automobile 100, for example. The server CPU 14 records the course or range generated for each automobile 100 in the server memory 13 as primary processing information obtained from the field information. Based on the acquired information, the server CPU 14 generates primary processing information that can be used for movement determination or movement control of the automobile 100 in the plurality of automobiles 100 or the plurality of terminal devices 2.

In step ST32, the server CPU 14 determines whether or not the processing of the plurality of automobiles 100 in the mobile list has been completed. If the processing for all the automobiles 100 in the mobile list has not been completed, the server CPU 14 returns the processing to step ST31. The server CPU 14 selects the next unprocessed automobile 100 and repeats the processes from step ST31 to step ST32. When the processing for all the automobiles 100 in the mobile list is completed, the server CPU 14 ends the course generation processing of FIG.

In this way, the server CPU 14 maps the current positions of the plurality of moving objects estimated based on the collected field information to the current map. In addition, the server CPU 14 determines the future predicted position of the plurality of moving objects based on the traveling direction, traveling speed or progress state of each of the plurality of moving objects estimated based on the collected field information, and the current state diagram. Estimate and map to the forecast map. Then, the server CPU 14 assumes the movement of the plurality of moving bodies from the position of the current figure to the position of the predicted figure, and sets the course or the travelable range of the minute section in which each of the plurality of moving bodies can travel as field information. It is generated as the primary processing information obtained based on the above.

FIG. 7 is a flowchart of a process in which the server CPU 14 of FIG. 2 transmits information that can be used for movement determination or movement control of the automobile 100 generated in the generation process of FIG.
In the generation process of FIG. 6, the server CPU 14 of the server device 6 generates the course or the travelable range of the minute section in which each of the plurality of mobile bodies can travel as the primary processing information.
The server CPU 14 of the server device 6 repeatedly executes the transmission process of the primary processing information of FIG. The server CPU 14 may repeatedly execute the transmission process of FIG. 7 each time the path generation process of FIG. 6 is executed.

In step ST41, the server CPU 14 acquires primary processing information from the latest information on the course or movable range of the automobile 100 recorded in the server memory 13.

In step ST42, the server CPU 14 transmits the acquired primary processing information from the server communication device 11 to the communication device 71 of the automobile 100 corresponding thereto. The primary processing information is transmitted from the server device 6 to the radio base station 4 through the dedicated network 5, and then transmitted from the radio base station 4 to the terminal device 2 of the automobile 100. The plurality of communication devices transmit the generated primary processing information to a plurality of terminal devices 2 provided in the plurality of automobiles 100.

In step ST43, the server CPU 14 determines whether or not the processing of the plurality of automobiles 100 in the mobile list has been completed. If the processing for all the automobiles 100 in the mobile list has not been completed, the server CPU 14 returns the processing to step ST41. The server CPU 14 selects the next unprocessed automobile 100 and repeats the processes from step ST41 to step ST43. When the processing for all the automobiles 100 in the mobile list is completed, the server CPU 14 ends the course generation processing of FIG. 7.

As a result, the server device 6 transmits the primary processing information used for each control or determination to the plurality of automobiles 100. The server device 6 may transmit primary processing information indicating the traveling direction and traveling speed of each of the plurality of automobiles 100, for example. The primary processing information may further include the current position, the current time, the predicted time, and the like as information for verification confirmation. Further, by repeating the process of FIG. 7, the server device 6 will continue to repeatedly transmit the primary processing information regarding the course of the minute section to each of the plurality of automobiles 100.
The server device 6 may transmit the field information collected from the plurality of automobiles 100 to the plurality of automobiles 100 together with the primary machining information or instead of the primary machining information.

FIG. 8 is a flowchart of a process of receiving information that can be used for movement determination or movement control of the automobile 100 by the terminal device 2 of the control system 20 of the automobile 100 of FIG.
The terminal device 2 of the automobile 100 receives the primary processing information from the radio base station 4. The terminal device 2 may receive field information from the radio base station 4.
The external communication ECU 27 of the terminal device 2 repeatedly executes the process of receiving the primary processing information of FIG. The external communication ECU 27 may repeatedly execute the reception process shown in FIG. 8 each time the primary processing information is received.

In step ST51, the external communication ECU 27 determines whether or not new information addressed to the own vehicle has been received. The communication device 71 receives the primary processing information addressed to the own vehicle and the field information addressed to the own vehicle from the server device 6. In this case, the external communication ECU 27 determines that the new information addressed to the own vehicle has been received, and proceeds to the process in step ST52. When the communication device 71 has not received the new information addressed to the own vehicle from the server device 6, the external communication ECU 27 repeats the process of step ST51.

In step ST52, the external communication ECU 27 acquires information addressed to the own vehicle from the communication device 71. Information addressed to the own vehicle means information that can be used to control the own vehicle. The information addressed to the own vehicle may include, for example, information on the control of the device of the own vehicle, as well as information on the surroundings of the own vehicle that can be processed by the information.

In step ST53, the external communication ECU 27 stores the acquired information addressed to the own vehicle in the communication memory 72. As a result, information addressed to the own vehicle is accumulated and recorded in the communication memory 72 of the automobile 100.

As described above, the terminal device 2 of the automobile 100 receives and stores the primary processing information obtained based on the field information related to the movement of the plurality of moving bodies.
The terminal device 2 may receive and store the collected field information itself related to the movement of the plurality of moving objects.

FIG. 9 is a flowchart of a process for controlling automatic driving or driving support of the automobile 100 by the travel control ECU 24 of the control system 20 of the automobile 100 of FIG.
The travel control ECU 24 that controls the travel of the automobile 100 repeatedly executes the travel control based on the primary processing information of FIG. The travel control ECU 24 may repeat the travel control of FIG. 9 in a cycle shorter than the time until the automobile 100 finishes traveling in the course of the primary processing information, for example. The repetition period in this case may be, for example, several tens of milliseconds to several hundreds of milliseconds.

In step ST61, the travel control ECU 24 determines whether or not it is time to update the control. The travel control ECU 24 may determine whether or not the elapsed time from the previous control timing has elapsed a predetermined update cycle based on the current time of the GNSS receiver 66. Further, the travel control ECU 24 may estimate the end time of the control in the currently executed course and determine whether or not the remaining time until the estimated end time is smaller than the threshold value. Then, if the update cycle has not elapsed, the travel control ECU 24 repeats the determination process in step ST61. When it is determined that the control timing has passed the update cycle, the travel control ECU 24 advances the process to step ST62.

In step ST62, the traveling control ECU 24 acquires the latest primary processing information. The travel control ECU 24 acquires the primary processing information last received by the communication device 71 from the communication memory 72 through the external communication ECU 27. The travel control ECU 24 may acquire the latest primary machining information as well as other primary machining information received before that. It is possible to grasp the change in movement from a plurality of primary processing information.

In step ST63, the travel control ECU 24 acquires the own vehicle information from each part of the own vehicle. The travel control ECU 24 acquires information on the current location and other moving objects in the vicinity from, for example, the detection ECU 26. In the case of driving support, the traveling control ECU 24 acquires operation information by the user from the driving operation ECU 25.

In step ST64, the travel control ECU 24 determines that the information matches the actual current position. The travel control ECU 24 compares the current position detected by the own vehicle with the current position included in the latest primary processing information. Then, when these positions match with a minute error that does not interfere with the traveling control, the traveling control ECU 24 determines that the current positions match, and proceeds to the process to step ST65. If these positions are larger than a minute error, the travel control ECU 24 determines that the current positions do not match, and proceeds to step ST67.

In step ST65, the travel control ECU 24 determines whether or not the course from the current position indicated by the latest primary processing information is in a clear state in which the vehicle can travel. The travel control ECU 24 determines, for example, the presence or absence of foreign matter, abnormality, or danger in the indicated course or travelable range, and the presence or absence of other moving objects passing by, based on the acquired peripheral information of the vehicle detection. .. When there is no possibility of these obstacles, the travel control ECU 24 determines that the indicated course is clear, and proceeds to the process in step ST66. If there is an obstacle, or if there is a possibility of the obstacle, the travel control ECU 24 determines that the instructed course or the travelable range is not clear, and proceeds to the process in step ST67.
The travel control ECU 24 not only determines the clearing of the indicated course based on the peripheral information of the own vehicle detection acquired by the autonomous sensor, but also the detection value of the autonomous sensor and the information included in the latest primary processing information. May be matched and the clearing of the indicated course may be determined based on the error between them. When the type of physical quantity and the coordinate system are different between the detected value of the autonomous sensor and the information acquired from the outside, the traveling control ECU 24 uses the physical quantity and the coordinate system of the information acquired from the outside as the detected value of the autonomous sensor. It may be converted so that it can be compared, and the value of the pseudo sensor after the conversion and the detected value of the autonomous sensor may be compared. Then, when the error is equal to or greater than the threshold value, the travel control ECU 24 determines that the instructed course or travelable range is not clear, and proceeds to step ST67. If the error is smaller than the threshold value, the travel control ECU 24 determines that the indicated course is clear, and proceeds to the process in step ST66.

In step ST66, the travel control ECU 24 controls travel according to the indicated course.
The travel control ECU 24 generates the designated route or the route within the instructed travelable range as travel control data. When the travel control ECU 24 acquires a route as a vector including the direction, distance, or time from the server device 6, the travel control ECU 24 may generate travel control data along the route. When the safe travelable range that can be traveled is acquired from the server device 6, the travel control ECU 24 calculates a vector based on the direction, distance, or time that can be traveled to the maximum within the safe travelable range, and the path according to the vector. May be generated as travel control data.
The travel control ECU 24 controls the travel of the own vehicle based on the generated travel control data. In the case of driving support, the travel control ECU 24 adjusts the user's operation so as not to deviate significantly from the course based on the generated travel control data. At this time, the travel control ECU 24 may adjust the user's operation so as not to deviate from the instructed travelable range.
In this way, the travel control ECU 24 determines the course of the own vehicle and controls the travel of the vehicle based on the primary processing information obtained based on the field information related to the movement of the plurality of moving bodies received by the terminal device 2. Or support.

In step ST67, the travel control ECU 24 generates travel control data based on information independently detected by the autonomous sensor of the own vehicle, not based on the indicated course. At this time, the travel control ECU 24 uses information on the indicated course or travelable range as dependent information in order to obtain travel control data based on the autonomous sensor, and travels so as not to exceed those instructions. Control data may be generated.
The travel control ECU 24 controls the travel of the own vehicle based on the generated travel control data. In the case of driving support, the travel control ECU 24 adjusts the user's operation so as not to deviate significantly from the course based on the generated travel control data. At this time, the travel control ECU 24 may adjust the user's operation so as not to deviate from the instructed travelable range.

In this way, the travel control ECU 24 acquires the primary processing information received by the communication device 71 in the vehicle 100 as a mobile body, generates travel control data from the primary processing information, and travels the vehicle 100 based on the generated travel control data. Control or assist. The travel control ECU 24 can execute the movement determination or movement control of the vehicle according to the course indicated by the acquired primary processing information, and can control or support the travel of the automobile 100. Here, the travel control data is secondary processing information used for movement determination or movement control of the automobile 100.

Note that, unlike the present embodiment, the terminal device 2 may receive information other than the course or movable range information, for example, field information, from the radio base station 4. In this case, the travel control ECU 24 may generate a course or a movable range by the same process as the server device 6 based on the information acquired by reception, and execute the process of FIG. 9 based on the path or movable range. In this case, the travel control ECU 24 generates information on the course or travelable range of a minute section in which the vehicle can travel from the field information, and executes the process of FIG. 9 based on the generated information.

As described above, in the present embodiment, the server device 6 collects field information related to the movement of the automobile 100 as a plurality of moving bodies, and the plurality of moving bodies collide with each other, for example, based on the collected field information. A plurality of terminal devices 2 generate a path or a safe travelable range of a minute section for each moving body that can proceed safely so as not to have a problem, and use the generated path or a safe travelable range of the minute section as primary processing information. It transmits to each of the communication devices 71 of. Therefore, the communication device 71 of the terminal device 2 that receives the primary processing information about the mobile body that can be used by each of the server devices 6 has the course information regarding its own movement in consideration of the course that the other mobile body moves based on the primary processing information. Can be obtained. Each moving body obtains its own course information considering the course in which the other moving body moves accordingly, and proceeds based on the information, so that the influence of the unexpected movement of the other moving body is reduced. By moving a moving body such as a plurality of vehicles according to common information, mutual safety during traveling is enhanced.

FIG. 10 is an explanatory diagram of a series of processes from the field information in the first embodiment to obtaining the course of the moving body.

In step ST71, the movement information providing system 1 collects field information related to the running of the plurality of automobiles 100.
In step ST72, the movement information providing system 1 obtains the current positions of the plurality of automobiles 100 based on the field information regarding the traveling of the plurality of automobiles 100 and maps them to the current time map.
In step ST73, the movement information providing system 1 obtains the predicted positions of the plurality of automobiles 100 based on the field information regarding the traveling of the plurality of automobiles 100 and maps them to the prediction diagram.
In step ST74, the movement information providing system 1 obtains the travelable range or the indicated course of each of the plurality of automobiles 100 based on the current time map and the prediction map.
In step ST75, the movement information providing system 1 obtains a course used for control or determination by each of the plurality of automobiles 100 from the travelable range or the indicated course of each of the plurality of automobiles 100.
In step ST76, the movement information providing system 1 controls the traveling of the plurality of automobiles 100 along their respective paths by, for example, automatic driving.

In the first embodiment, the server device 6 connected to the plurality of radio base stations 4 executes the processes from step ST71 to ST74, and the control system 20 of the automobile 100 performs the processes from steps ST75 to ST76. Running.
In addition to this, for example, the server device 6 executes the processing from step ST71 to step ST72, executes the processing from step ST71 to step ST73, executes the processing from step ST71 to step ST75, and so on. You can do it. In this case, the server device 6 transmits the primary processing information generated by each process to the terminal devices 2 of the plurality of automobiles 100. The automobile 100 may control the traveling of the own vehicle by executing the process of step ST76 in the process based on the primary processing information received by the terminal device 2.

[Second Embodiment]
Hereinafter, various modifications and specific examples of the movement information providing system 1 to the moving body of the first embodiment will be described.
In the mobile information providing system 1 of the first embodiment, a plurality of radio base stations 4, a dedicated network 5, and a server device 6 all operate and function normally, so that the terminals of the automobile 100, which is a plurality of mobile bodies, are terminal. Information about each course can be supplied to the device 2. When only a single mobile information providing system 1 provides information to the terminal devices 2 of the automobile 100 which is a plurality of mobile bodies, it is more appropriate in the event of a disaster or the mobile information providing system 1 of the first embodiment. In the case where there is a specific section in which information cannot be provided to the terminal device 2, the terminal device 2 of the automobile 100, which is a plurality of mobile bodies that should originally provide information, should continue to appropriately supply information on each course. May not be possible. For this reason, it is important that the movement information providing system 1 that provides information for movement control or movement judgment to a moving body such as an automobile 100 can continue to appropriately supply information even in an emergency. be. An example thereof will be described below.

FIG. 11 is a configuration diagram of the movement information providing system 1 to the moving body according to the second embodiment.
The mobile information providing system 1 of FIG. 11 has a gateway device 204, an Internet 203, an alternative server device 201, and a plurality of alternative radio base stations 202, in addition to the same configuration as that of FIG.

The alternative server device 201 and the alternative radio base station 202 are, for example, those of another mobile information providing system 1 provided by an entity, a nation, an organization, or the like different from the mobile information providing system 1 of the first embodiment.
The alternative server device 201 and the alternative wireless base station 202 are connected to the Internet 203, and data is transmitted and received through the Internet 203. Internet 203 is a public open network.
The plurality of alternative radio base stations 202 are provided for each region or each section of the road, for example, and communicate with the terminal device 2 used in the plurality of automobiles 100 to be accommodated.
The alternative server device 201 provides a function equivalent to that of the server device 6 of the first embodiment to a plurality of automobiles 100.
The gateway device 204 is connected to the server device 6 and the Internet 203.

When the server device 6 cannot exchange data with a plurality of wireless base stations 4 through its own dedicated network 5 in a certain period of time due to, for example, a disaster, the server device 6 uses its own field information and primary processing information as a gateway. Send to device 204. The gateway device 204 transmits the data received from the server device 6 to the preset alternative server device 201 via the Internet 203.
When the substitute server device 201 starts receiving the information of the server device 6, the substitute server device 201 starts processing as a substitute server. The alternative server device 201 acquires field information from a plurality of automobiles 100 by the same processing as that of the server device 6, generates primary processing information from the acquired field information, and transfers the generated primary processing information to the plurality of automobiles 100. Send repeatedly. The alternative server device 201 adds unique (identification) information provided for each wireless terminal of the automobile 100 to the automobile 100 for which information has been provided by the mobile information providing system 1 of the first embodiment, for example. The primary processing information is repeatedly transmitted to a plurality of automobiles 100. Here, the alternative wireless base station 202 may associate the information to the wireless terminals of the plurality of automobiles 100 with the unique information of each wireless terminal and collectively transmit the information in one transmission process. For example, the unique information of the automobile 100 includes an entry prohibited area by vehicle number, a predetermined day and time of vehicle entry prohibition, permission to use Express lane, presence / absence of ETC card use and lane, vehicle body width and cold region specifications. This is information that is uniquely set for the vehicle, such as the presence or absence of the vehicle. This unique information may include the server ID of the communication partner, and when requesting the behavior of the automobile 100 from the server device 6, the unique information of the vehicle including the server ID is transmitted to the server device 6. On the server device 6 side, the information can be recognized as that of the automobile 100 that transmitted the request. The unique information may include the system time of the vehicle.

As a result, the terminal devices 2 provided in the plurality of automobiles 100 can receive the primary processing information associated with their own identification information from the alternative radio base station 202. Even if the terminal devices 2 provided in the plurality of automobiles 100 cannot receive the primary processing information from the mobile information providing system 1 of the first embodiment, the primary processing information can be obtained from the alternative server device 201 and the plurality of alternative wireless base stations 202. Can be received. The control system 20 of the plurality of automobiles 100 can continue to determine and control the traveling based on the primary processing information for itself received by the terminal device 2.

As described above, in the present embodiment, when appropriate data transfer cannot be continued due to the occurrence of a disaster or the like, the terminal devices 2 of the plurality of automobiles 100 are switched from the system 3 on the base station side up to that point to a substitute one. Information can be continuously received from the system 3 on the base station side of the above.

[Third Embodiment]
The plurality of radio base stations 4 of the mobile information providing system 1 of the first embodiment are arranged along the road. The plurality of radio base stations 4 may be provided for each area that divides a plurality of areas.
However, such a plurality of radio base stations 4 may not always function so as to appropriately drive a plurality of automobiles 100 in a special area such as a parking lot beside a road. In special areas such as parking lots, unlike highways, moving objects such as pedestrians move back and forth within the area. Therefore, for a special area such as a parking lot, a special movement information providing system 1 different from the moving information providing system 1 of the first embodiment is used, and a plurality of special areas existing in the special area from another special moving information providing system 1. It is advisable to provide information for the automobile 100 of the automobile 100.
Further, when switching such a system, the automobile 100 is connected to the controlled area in the public space with closed communication. Since the systems 3 on the base station side that receive the information are different, the automobile 100 cannot use the information unless the priorities of the systems 3 on the side of a plurality of base stations before and after the switching are determined. An example thereof will be described below.

FIG. 12 is a configuration diagram of the movement information providing system 1 to the moving body according to the third embodiment.
The mobile information providing system 1 of FIG. 12 has a gateway device 304, an Internet 303, a special server device 301, and a special radio base station 302, in addition to the same configuration as that of FIG.

The special server device 301 and the special radio base station 302 are, for example, those of another mobile information providing system 1 provided by an entity, a nation, an organization, or the like different from the mobile information providing system 1 of the first embodiment.
The special server device 301 is connected to the special radio base station 302 and the Internet 303. The special server device 301 is connected to the special radio base station 302 by a public closed network.
The special radio base station 302 communicates with the terminal device 2 used in a plurality of automobiles 100 housed in a special area such as a parking lot.
The special server device 301 generates information on a course and a range of travel suitable for a special area such as a parking lot, and repeatedly transmits the information to a plurality of automobiles 100.

The mobile information providing system 1 has a gateway device 304. The gateway device 304 is connected to the server device 6 and the Internet 303.
For example, when the vehicle 100 traveling on the road reaches the vicinity of the destination, the server device 6 searches for a parking lot in which the vehicle 100 along the road can be parked. The server device 6 requests the special server device 301 for the searched parking lot to take over the information transmission. The information transmission takeover request is received by the special server device 301 through the gateway device 304 and the Internet 303.
Upon receiving the information transmission takeover request, the special server device 301 starts the process of repeatedly transmitting the information to the automobile 100 according to the request. The special server device 301 generates information on the course or the range of travel that leads to parking in the vacant space based on the availability of the parking lot. At this time, the special server device 301 takes into consideration the special situation in the parking lot, the movement of pedestrians, the start of the car 100 while the vehicle is parked and stopped, and the information on the course or the range of travel that can ensure safety for these. To generate. The special server device 301 adds the identification information of the automobile 100 related to the request to the generated information and transmits the information. The special radio base station 302 transmits the information received from the special server device 301 toward the parking lot.
The terminal device 2 of the automobile 100 to be taken over receives the information transmitted by the special radio base station 302. The control system 20 of the automobile 100 executes determination and control of the progress of the own vehicle based on the information received by the terminal device 2. The control system 20 of the automobile 100 converts the relative position of the received information as necessary, generates vector data having an azimuth angle for determining or controlling the course of the automobile 100, and based on this, the own vehicle Judgment and control of the progress of

As described above, in the present embodiment, information regarding the course of a special area such as a parking lot is transmitted from the system 3 on the base station side provided exclusively for the special area. The mobile information providing system 1 of the first embodiment can take over the information provision to the automobile 100 with the system 3 on the other base station side. The control system 20 of the automobile 100 gives priority to the system 3 on the base station side provided exclusively for a special area over the system 3 on the base station side of a normal road.

[Fourth Embodiment]
In the movement information providing system 1 of the first embodiment, basically, the course or the travelable range of each automobile 100 may be generated for each road.
On the other hand, some roads have a plurality of lanes that can pass in the same direction. The traffic congestion on the road and the number of vehicles in front may differ from lane to lane. At interchanges and junctions, the car 100 slows down and tends to be congested.
Hereinafter, an example corresponding to such a situation will be described.

FIG. 13 is an explanatory diagram for explaining the process of generating information on the course or the travelable range for each lane by the movement information providing system 1 to the moving body according to the fourth embodiment.
FIG. 13A is a road having a first lane and a second lane that can pass in the same direction as the first lane.
FIG. 13B is an operation chart of the traveling conditions of the plurality of automobiles 100 in the first lane.
FIG. 13C is an operation chart of the traveling conditions of the plurality of automobiles 100 in the second lane.
In the operation charts of the traveling conditions of FIGS. 13 (B) and 13 (C), the horizontal axis is a position along the lane. The vertical axis is time. The origin is the current time. Each line shown in the operation chart shows the movement of each car 100. Each automobile 100 moves along a line with the passage of time from the current position where it intersects the horizontal axis, and the position changes. The operation chart corresponds to the positions of the plurality of automobiles 100 in the current map and the positions of the plurality of automobiles 100 in the plurality of prediction maps having different times from each other, summarized by position and time.

The server device 6 generates an operation chart of the traveling conditions shown in FIGS. 13 (B) and 13 (C) based on the current position and speed included in the field information of the plurality of automobiles 100. For example, the server device 6 selects the one in the traveling lane from a plurality of operation charts for each lane of the road from the position or the history of the position acquired from the automobile 100. The server device 6 draws the current position and / or the expected position of the automobile 100 with respect to the selected operation chart by using the information such as the time, position, speed or acceleration acquired from the automobile 100.
Based on the operation chart, the server device 6 provides information on the course or travelable range of each vehicle 100 so that the line of each vehicle 100 does not intersect with or get too close to the lines of other vehicles 100 in front and behind. To generate.
For example, in the operation chart of FIG. 13B, the first to third automobiles 100 on the front side in the traveling direction are traveling from left to right in the figure with almost no speed difference. On the other hand, the fourth car 100 closest to the origin is traveling at a higher speed than the other three cars 100 traveling in front of it. If the vehicle continues to run as it is, the fourth vehicle 100 may collide with the third vehicle 100. The server device 6 estimates and determines the possibility of such a collision based on the mapping, and prevents the collision related to the determination from occurring, for example, for the first to third automobiles 100 at present. Information on the course or travelable range for maintaining the speed may be generated, and for the fourth vehicle 100, information on the course or travelable range for decelerating from the current speed to the same speed as the previous vehicle 100 may be generated. Then, based on the information acquired from the server device 6, the fourth vehicle 100 controls automatic driving so as to decelerate to a specified speed within a travelable range that does not collide with the third vehicle 100, for example. do.
Further, the server device 6 calculates, for example, the average speed of a plurality of automobiles 100 for each lane and compares them. The server device 6 may pre-read and compare the average speeds of the plurality of automobiles 100 at the timing corresponding to the prediction diagram. When there is a difference in the average speed between a plurality of lanes, the server device 6 changes the lane to the lane with the faster average speed or the movable range with respect to the vehicle 100 in the lane with the slower average speed. Generate information about. The server device 6 generates information on the course or movable range so as to change to the lane having the fastest average speed among the plurality of lanes. The server device 6 generates a lane change course or a movable range including acceleration / deceleration so as not to be too close to another vehicle 100 traveling in the changed lane.
The server device 6 transmits the generated lane change course or travelable range.
The control system 20 of the automobile 100 controls or determines the traveling of the own vehicle according to the lane change course or the travelable range received by the terminal device 2 from the radio base station 4. As a result, the automobile 100 changes lanes according to the instruction. The automobile 100 that has changed lanes can quickly travel while avoiding congestion and deceleration in the original lane. By executing such control for a plurality of automobiles 100, it can be expected to have an effect of preventing the occurrence of traffic jams and accelerating the elimination of traffic jams.
For example, the speeds of the plurality of automobiles 100 traveling in the lane of FIG. 13B and their average speeds are lower than those traveling in the lane of FIG. 13C. In this case, the server device 6 instructs, for example, the fourth vehicle 100 traveling in the lane of FIG. 13 (B) to change to the lane of FIG. 13 (C). When the fourth vehicle 100 in FIG. 13B receives the instruction information from the server device 6, the fourth vehicle 100 does not collide with the third vehicle 100, for example, within a travelable range based on the acquired information. , Automatically execute the instructed lane change. After that, the fourth vehicle 100 in FIG. 13 (B) is mapped as a new third vehicle 100 in FIG. 13 (C).

As described above, in the present embodiment, it is possible to generate information on the course or the travelable range so as to avoid traffic congestion.
In the present embodiment, in the server device 6 connected to the plurality of wireless base stations 4 by the dedicated network 5, the lane is changed according to the operation chart of the traveling condition corresponding to the summarization of the current time map and the forecast map. Generates information on the course or range of travel.
In this case, in a situation where a complicated flow of the automobile 100 such as an interchange or a junction occurs, the information on the course or the travelable range for changing lanes may be delayed. In such a case, a plurality of server devices 6 are provided for each of the plurality of radio base stations 4, and information on the course or travelable range for changing lanes is generated by distributed control by the plurality of server devices 6. You should try to do it. As a result, information transmission delay can be minimized.

[Fifth Embodiment]
In the mobile information providing system 1 of the first embodiment, the server device 6 is connected to a dedicated network 5 to which a plurality of wireless base stations 4 are connected. The server device 6 and the plurality of radio base stations 4 are connected to a private closed network dedicated to them.
However, it is not easy to newly establish a dedicated network 5 for all roads and areas on which the automobile 100 travels. It also costs money.
Therefore, in the mobile information providing system 1, the Internet 502 may be used.
Hereinafter, an example corresponding to such a situation will be described.

FIG. 14 is an explanatory diagram for explaining the process of generating information on the course or the travelable range for each lane by the movement information providing system 1 to the moving body according to the fifth embodiment.
In FIG. 14, the mobile information providing system 1 includes a plurality of radio base stations 4, a dedicated network 5, a gateway device 501, an Internet 502, and a server device 6.
The server device 6 is connected to the Internet 502. The gateway device 501 is connected to the dedicated network 5 and the Internet 502.
The plurality of radio base stations 4 and the server device 6 send and receive information to and from each other through the dedicated network 5, the gateway device 501, and the Internet 502.

FIG. 15 is an explanatory diagram for explaining the process of generating information on the course or the travelable range of the automobile 100 by the movement information providing system 1 to the moving body according to the fifth embodiment.
FIG. 15A is a road having a first lane and a second lane that can pass in the direction opposite to the first lane. Further, the road shown in FIG. 15A has shoulders on both sides of the lane.
FIG. 15B is an operation chart of the traveling conditions of the plurality of automobiles 100 with respect to the course S3 in which the automobile 100 traveling in the first lane extends out of the second lane, which is the oncoming lane, from the lane in which the automobile 100 should originally travel. Is.
FIG. 15C is an operation chart of the traveling conditions of the plurality of automobiles 100 with respect to the course S1 in which the automobile 100 traveling in the first lane fits in the lane and travels.
FIG. 15 (D) is an operation chart of the traveling conditions of the plurality of automobiles 100 with respect to the course S2 in which the automobile 100 traveling in the first lane protrudes from the lane in which the vehicle should originally travel to the shoulder of the road.

The server device 6 sets the current position of the plurality of automobiles 100 based on the field information regarding the traveling of the plurality of automobiles 100 traveling in the first lane, in any of the operation charts of FIGS. 15 (B) to 15 (D). Map to. The line of each of the mapped automobiles 100 has an inclination according to the speed of the automobile 100. As a result, the operation chart has information on the current chart and the forecast chart. The current position and the predicted position of each automobile 100 can be grasped from a plurality of operation charts.
When such mapping is performed, another automobile 100 is parked and stopped on the shoulder of the first lane in FIG. 15A. The automobile 100 traveling in the first lane needs to extend beyond the second lane, which is an oncoming lane, so as to avoid contact with other parked and stopped automobiles 100. Therefore, the server device 6 operates the vehicle 100 traveling in the first lane based on the current location in the section in which the vehicle travels while avoiding the other vehicles 100 parked and stopped, as shown in FIG. 15C. The mapping is made not to the chart but to the operation chart of FIG. 15 (B).
Based on the mapping results to the plurality of operation charts, the server device 6 provides information on the course or the travelable range in which the server device 6 runs out of the second lane, which is the oncoming lane, for the section in which the vehicle travels while avoiding the other automobiles 100. To generate.

As described above, in the present embodiment, when there is a temporary road construction or a situation of impassability, the server device 6 obtains the same mapping result based on the mapping result to the current position and the predicted position by a plurality of operation charts. Generate information on the course or range of travel so that it can be obtained. Based on the mapping result of the other automobile 100 that has traveled so as to avoid the other automobile 100 that is parked and stopped, information on the course or the travelable range is generated so that the same mapping result can be obtained. It is possible to generate information on the course or travelable range corresponding to a situation that is not reflected in the VICS (registered trademark) information, such as a temporary impassable state such as another parked vehicle 100.
The server device 6 uses a world map based on a plurality of operation charts to pre-read a specific future time passing through a specific route or point, and based on their behavior, which lane (including the shoulder) when passing. You can choose which route is the best solution if you want to detour.
It should be noted that even if a plurality of server devices 6 are provided for each of the plurality of radio base stations 4, and the distributed control by the plurality of server devices 6 is used to generate information on the course or the travelable range for the overrun. good. In this case, the information transmission delay can be minimized.

[Sixth Embodiment]
In the movement information providing system 1 of the first embodiment, one server device 6 executes a series of processes for generating information on a course or a travelable range from field information.
In this case, the amount of information sent and received by the server device 6 and the processing load of the server device 6 increase. On the Internet 602, it is not easy to transmit such an amount of information with low delay so as to ensure real-time performance.
Hereinafter, an example corresponding to such a situation will be described.

FIG. 16 is a configuration diagram of the movement information providing system 1 to the moving body according to the sixth embodiment.
The mobile information providing system 1 of FIG. 16 has a fog server device 601 and an Internet 602 in addition to the same configuration as that of FIG. The server device 6 is connected to the Internet 602.
The fog server device 601 is connected to the dedicated network 5 and the Internet 602.
The fog server device 601 receives field information regarding the running of the plurality of automobiles 100 from the dedicated network 5 and the plurality of radio base stations 4.
The fog server device 601 collects information on a plurality of vehicles 100 in a traffic jam that are traveling slowly in close proximity to each other within a predetermined distance, for example, into information on one virtual vehicle 100. The current location of the virtual automobile 100 may be, for example, the center of the current locations of a plurality of automobiles 100. The speed of the virtual vehicle 100 may be, for example, the average speed of a plurality of vehicles 100. The fog server device 601 transmits information on a virtual automobile 100, which is a collection of information on a plurality of automobiles 100, to the server device 6 via the Internet 602. The server device 6 receives the information of the virtual automobile 100 as field information, generates and transmits the information of the course or the travelable range of the virtual automobile 100.
The fog server device 601 generates information on a plurality of automobiles 100 from information on the course or travelable range of the virtual automobile 100 received from the server device 6. The fog server device 601 receives, for example, the difference between the center of the current location of the plurality of automobiles 100 used when generating the current location of the virtual automobile 100 and the center of the current location of each of the plurality of automobiles 100 from the server device 6. Add to the current position of the virtual automobile 100 to obtain the current position of each automobile 100. The fog server device 601 transmits the current position of the generated automobile 100.

As described above, in the present embodiment, the amount of information transmitted from the fog server device 601 to the server device 6 can be locally reduced by the pre-processing of the information by the fog server device 601. It can be expected that the time required to obtain the world map will be reduced due to the increase in the amount of information.
In this embodiment, although information is transmitted through the Internet 602 as an open space shared with other systems, the fog server device 601 reduces the transmission amount in the open space and is connected to the Internet 602. It is possible to suppress the delay that occurs in the cloud-type server device 6 that is used.

[Seventh Embodiment]
In the mobile information providing system 1 of the first embodiment, a single server device 6 and a plurality of radio base stations 4 under the single server device 6 are described.
However, in the practical mobile information providing system 1, it is necessary to provide a plurality of sets of the server device 6 and the plurality of radio base stations 4 under the server device 6. In this case, it is necessary that the information about the traveling automobile 100 is properly exchanged at the boundary between the two adjacent sets. Then, when two adjacent sets belong to one movement information providing system 1, it is appropriate to exchange information about the traveling automobile 100 only by exchanging data between a plurality of server devices 6 in charge of the adjacent area. Can be executed. The plurality of server devices 6 function as edge server devices 6. However, when two adjacent sets belong to different mobile information providing systems 1, it is difficult to enable data to be sent and received between a plurality of server devices 6 in charge of adjacent areas.
Hereinafter, an example corresponding to such a situation will be described.

In FIG. 17, the mobile information providing system 1 has a plurality of server devices 6 in charge of areas separated from each other. Another movement information providing system 701 is provided between these separated areas. The mobile information providing system 701 may have a server device, a dedicated network, and a plurality of radio base stations, similarly to the mobile information providing system 1. The other mobile information providing system 701 is in charge of the area between the areas separated from each other in charge of the plurality of server devices 6 of the mobile information providing system 1 of the first embodiment.
In this case, the server device 6 in charge of the area for accommodating the moving automobile 100 is different from the system in the system in charge of the area to separate the information regarding the traveling of the automobile 100 based on the fact that the automobile 100 deviates from the area. It is transmitted to the server device 6 of. When the automobile 100 moves to its own area, another server device 6 in the system transmits the information about the running of the automobile 100 held. As a result, the automobile 100 can receive the information provided by the system 3 on the base station side of the mobile information providing system 1 of the first embodiment without dropping. When the vehicle 100 is traveling at high speed and travels between these areas in a short time, the information about the traveling of the retained vehicle 100 is available in the vehicle 100.

In such processing, the plurality of server devices 6 may employ the Uplink Classifier (UL CL). In this case, the terminal device 2 requests the server device 6 accommodating it to switch. The server device 6 transmits the information of the automobile 100 to another server device 6 in charge of the area ahead of the moving direction of the automobile 100 using the terminal device 2. As a result, another server device 6 can transmit the information held for the moving vehicle 100 based on the fact that the moving vehicle 100 has advanced to its own area. It is possible to eliminate unpaid processing.
At this time, it is preferable that the session and service continuity (SSC) can be obtained as much as possible for the connection between the moving automobile 100 and the plurality of server devices 6.
In the "SSC Mode 1", as in the 4G communication standard, even if the terminal device 2 moves, the SSC is finally secured by following the same network route. In this case, when the automobile 100 passes between the two areas in a short time and is immediately connected, a particular problem is unlikely to occur.
In the "SSC Mode 2", when the terminal device 2 moves, the connection up to that point is temporarily disconnected, and the terminal device 2 is reconnected at the moving destination.
In the "SSC Mode 3", when the terminal device 2 moves, a new connection is established at the move destination. In addition, the terminal device 2 also holds the connection up to that point at the same time. In this case, the terminal device 2 will have two connections at the same time. Then, even if the terminal device 2 moves, the connection with the wireless base station 4 up to that point is maintained, so that the processing of the server device 6 can be waited for.

[Eighth Embodiment]
In the movement information providing system 1 of the first embodiment, a case where a plurality of automobiles 100 travel on a single straight road is described as an example.
However, roads are merged or intersected by multiple roads. In particular, at a confluence or an intersection without a signal, it is necessary to unify a plurality of flows for the automobile 100 into one. Further, at this time, if the traveling of each automobile 100 is suddenly changed or the movement is unexpectedly changed, the user may be anxious.
Hereinafter, an example corresponding to such a situation will be described.

In the server device 6, when a plurality of automobiles 100 are traveling from two or more directions with respect to a merging point or an intersection without a signal, merging occurs so that the plurality of automobiles 100 from each direction approach each other. Judge whether or not.
When merging occurs in which a plurality of automobiles 100 are close to each other, the server device 6 reduces the speed difference between the flows of the two merging automobiles 100, and the plurality of automobiles 100 traveling back and forth in each flow. Information on the course or safe driving range of the automobile 100 is generated and transmitted so as to increase the distance between vehicles. In this case, the speed of the rear vehicle 100 among the plurality of vehicles 100 traveling back and forth is slowly and greatly reduced.
The automobile 100 in the merging flow controls the traveling of the own vehicle based on the information generated by the server device 6.
As a result, the distance between the plurality of automobiles 100 that are front and rear in each flow is widened. Multiple flows slow down. By opening the space between the front and rear vehicles in the decelerated flow, the vehicle 100 in the other flow can easily enter between them. In addition, the change in movement for that purpose will be slow with a margin. No sudden braking or acceleration occurs. The user on board is unlikely to be surprised or anxious about the movement of the car 100.

[Ninth Embodiment]
In the mobile information providing system 1 of the first embodiment, only the information in the range in which the plurality of wireless base stations 4 can communicate is supplied to the plurality of automobiles 100.
However, in the event of a disaster or the like, it is necessary to drive the automobile 100 beyond the range in which the wireless base station 4 can communicate.
Hereinafter, an example corresponding to such a situation will be described.

FIG. 18 is a configuration diagram of the movement information providing system 1 to the moving body according to the ninth embodiment.
The mobile information providing system 1 of FIG. 18 has a gateway device 801, an Internet 802, a wide area server device 803, and a plurality of wide area radio base stations 804, in addition to the same configuration as that of FIG. The gateway device 801 is connected to the server device 6 and the Internet 802.

The wide area server device 803 and the wide area radio base station 804 are, for example, those of another mobile information providing system 200 provided by an entity, a nation, an organization, or the like different from the mobile information providing system 1 of the first embodiment. Another mobile information providing system 200 functions as a part of the mobile information providing system 1.
The wide area server device 803 and the wide area wireless base station 804 are connected to the Internet 802 and transmit and receive data via the Internet 802. Internet 802 is a public open network.
The plurality of wide area radio base stations 804 are provided, for example, in each area wider than the area of the mobile information providing system 1 or in each section of the road, and communicate with the terminal device 2 used in the plurality of automobiles 100 to be accommodated.
In the event of a disaster, the wide area server device 803 generates a route for evacuation that is wider than the area of the mobile information providing system 1 and extends beyond the area, and provides the route to a plurality of automobiles 100.

The server device 6 transmits a wide area processing request to the gateway device 801 when data can not be exchanged with a plurality of radio base stations 4 through the dedicated network 5 under its own control for a certain period of time due to, for example, a disaster. The gateway device 801 transmits the wide area processing request received from the server device 6 to the preset wide area server device 803 via the Internet 802.
Upon receiving the wide area processing request from the server device 6, the wide area server device 803 generates a route for a plurality of automobiles 100 controlled by the server device 6. Here, the wide area server device 803 generates a route for evacuation beyond the area of the mobile information providing system 1 which is wider than the area. Similar to the server device 6, the wide area server device 803 may construct a world map and generate a route based on the world map. The wide area server device 803 outputs the generated route information to a plurality of wide area radio base stations 804. The plurality of wide area radio base stations 804 transmit routes to a plurality of automobiles 100 accommodated by each of the plurality of wide area radio base stations 804.
The terminal devices 2 of the plurality of automobiles 100 receive the route from the wide area radio base station 804. The control system 20 of the automobile 100 moves the own vehicle along the received route.
As a result, the plurality of automobiles 100 can acquire the route over a wide area that cannot be instructed to travel by the system 3 on the base station side that accommodates the automobiles 100, and can control their own automobiles based on the routes. In the event of a disaster, you can evacuate to a distance beyond the communication range of system 3 on the base station side. The communication range of the system 3 on the base station side as a fog server is narrow, and even if the range of the system 3 on the base station side is in a disaster, the automobile 100 can move from another mobile information providing system 200. With information, you can evacuate from the disaster area over a wide area.

[10th Embodiment]
In the movement information providing system 1 of the first embodiment, when the automobile 100 is traveling, the server device 6 generates a current time map and a prediction map based on the field information, and positions them on the world map. Based on the relationship, a course or travelable range for each vehicle 100 is generated. Further, the server device 6 transmits the course or the travelable range of the plurality of automobiles 100.
On the other hand, the server device 6 may transmit world map information such as a current map to a plurality of automobiles 100. However, the amount of information on the world map is basically large. Repeatedly transmitting a world map consisting of such a large amount of data increases the communication load.
Hereinafter, an example corresponding to such a situation will be described.

The server device 6 determines whether or not it is the start timing for each of the plurality of automobiles 100.
Then, when there is a car 100 at the start timing, the server device 6 transmits a world map such as the latest current time map and forecast map at that time. The control system 20 of the automobile 100 can execute safe traveling control based on the information of the world map even in a situation where the terminal device 2 cannot communicate with the radio base station 4.
After that, the server device 6 acquires the difference between, for example, the latest current map as a newly generated world map and the immediately preceding current map, and transmits the difference information. The control system 20 of the automobile 100 updates the current map as a world map with the difference information. The amount of difference information is less than the total amount of information. Communication traffic is reduced.
In addition, even if the integrity of the information is protected when the information for each area is joined by obtaining a world map for an area larger than the area managed by one radio base station 4. , Can be adjusted based on the information on the world map. The sections are not patchy.

[Eleventh Embodiment]
In the movement information providing system 1 of the first embodiment, when the automobile 100 is traveling, the server device 6 generates a current time map and a prediction map based on the field information, and positions them on the world map. Based on the relationship, a course or travelable range for each vehicle 100 is generated. Further, the server device 6 transmits the course or the travelable range of the plurality of automobiles 100.
However, the plurality of radio base stations 4 communicate by, for example, DSRC (Dedicated Short Range Communications). The automobile 100 does not always travel within a range in which a plurality of radio base stations 4 of the mobile information providing system 1 can communicate with each other.
Hereinafter, an example corresponding to such a situation will be described.

The server device 6 transmits world map information such as a current time map and a forecast map together with a course or a travelable range for each of the generated automobiles 100. The server device 6 may transmit world map information to the automobile 100 within the boundary range of each radio base station 4.
The terminal device 2 of the automobile 100 receives from the radio base station 4 the information of the world map such as the current time map and the prediction map together with the route or the travelable range of each of the generated automobiles 100.
When the terminal device 2 can communicate with the radio base station 4, the control system 20 of the automobile 100 controls the traveling of the own vehicle based on the received information on the course or the travelable range of the own vehicle.
When the terminal device 2 becomes incommunicable with the radio base station 4, the control system 20 of the automobile 100 has a course on which the own vehicle can safely travel based on the current time map and the prediction map which are the last received world maps. Alternatively, the travelable range is determined and generated. The control system 20 of the automobile 100 controls the traveling of the own vehicle based on the information of the course or the travelable range of the own vehicle generated by itself.

As described above, in the present embodiment, even if the automobile 100 moves out of the communicable range of the plurality of radio base stations 4, the automobile 100 is based on the information of the world map several seconds ahead immediately before the departure, which has been received in advance. It can be generated by determining the course or the range in which the vehicle can safely travel. Even if information is not obtained from the alternative system of the system 3 on the base station side of the mobile information providing system 1, the automobile 100 has a course in which the vehicle can safely travel outside the range in which the plurality of wireless base stations 4 can communicate. Alternatively, it can be generated by determining the travelable range. Information from an alternative system such as "ETC2.0 Congestion Information Service" may not be required. It is less susceptible to transmission delays, as is the case when similar information is transmitted by an alternative system.

[Twelfth Embodiment]
In the movement information providing system 1 of the first embodiment, the server device 6 estimates a predicted position from the current position of the traveling vehicle 100, and generates information on a safe course or a travelable range based on the predicted position. .. Further, in the mobile information providing system 1, it is ideal that only the automobile 100 that can be controlled by the system exists in the range in which the plurality of wireless base stations 4 can communicate.
However, in reality, another automobile 100, which cannot be controlled by the mobile information providing system 1, may travel within a range in which a plurality of radio base stations 4 can communicate. The other automobile 100 may be controlled by another movement information providing system, or may be traveling completely autonomously. Such another automobile 100 may change its course suddenly, which is not normally assumed by the movement information providing system 1.
Hereinafter, an example corresponding to such a situation will be described.

The vehicle 100 receives the generated information on the course or travelable range of each vehicle 100 from the radio base station 4, and controls the travel of the vehicle based on the received information on the route or travelable range of the vehicle. do.
The automobile 100 detects other surrounding automobiles 100 by the detection of the autonomous sensor. The automobile 100 determines the possibility of a collision with another automobile 100 detected by the autonomous sensor. If there is a possibility of a collision with another vehicle 100 within a few seconds, the control system 20 of the vehicle 100 changes the course and adjusts before the collision so as to make an offset collision with the other vehicle 100. After that, the control system 20 of the automobile 100 offset-collides with another automobile 100.
As a result, in the present embodiment, the automobile 100 is less likely to collide with other automobiles 100 around the automobile 100 in a full lap.

[13th Embodiment]
In the movement information providing system 1 of the first embodiment, the server device 6 estimates a predicted position from the current position of the traveling vehicle 100, and generates information on a safe course or a travelable range based on the predicted position. .. Collisions are not considered.
However, in reality, even if the automobile 100 travels based on the movement information providing system 1, it is not always possible to completely avoid a collision with another moving object such as another automobile 100. For example, if there is another car 100 that suddenly changes course, it is not always possible to completely avoid a collision with it.
Hereinafter, an example corresponding to such a situation will be described.

The server device 6 transmits world map information such as a current time map and a forecast map together with a course or a travelable range for each of the generated automobiles 100.
The terminal device 2 of the automobile 100 receives from the radio base station 4 the information of the world map such as the current time map and the prediction map together with the route or the travelable range of each of the generated automobiles 100.
The control system 20 of the automobile 100 usually controls the traveling of the own vehicle based on the received information on the course or the travelable range of the own vehicle.
When the vehicle 100 collides, the control system 20 of the vehicle 100 confirms the safety around the vehicle based on the latest world map, the current time map and the prediction map, together with the detection information of the autonomous sensor. If the terminal device 2 is not out of order, the automobile 100 can receive the world map after the collision. The control system 20 of the automobile 100 confirms the safety around the own vehicle based on the world map of the confused state after the collision. The state after the collision in the range that cannot be confirmed by the autonomous sensor can be confirmed by the world map. The control system 20 of the automobile 100 can, for example, delicately move the position of the own vehicle so as not to cause further secondary damage after the collision.
For example, after a collision at an intersection with poor visibility, when trying to retreat to improve safety after the collision, the retreat is interrupted and another car 100 or walking that invades the intersection from outside the visible range. It becomes difficult to collide with a person.

[14th Embodiment]
In the movement information providing system 1 of the first embodiment, the server device 6 individually generates information on a safe course or a travelable range for each of the plurality of traveling automobiles 100. In this case, the plurality of automobiles 100 will travel individually in their respective paths.
However, the plurality of automobiles 100 may move to the same destination.
Hereinafter, an example corresponding to such a situation will be described.

The terminal devices 2 of the plurality of automobiles 100 transmit information about their respective destinations and planned routes to the server device 6.
The server device 6 generates a course or a travelable range for each of the automobiles 100 based on the field information received from the plurality of automobiles 100. At this time, the server device 6 compares the destinations or planned routes of the plurality of automobiles 100 in, for example, the current time map and the forecast map, and for the plurality of automobiles 100 whose routes are at least partially matched, the server device 6 travels in one platoon. As a group, information on the course or the range of travel for one platooning group is generated.
The terminal device 2 of the automobile 100 receives information on the course or the travelable range of one platoon traveling group from the radio base station 4.
The control system 20 of the automobile 100 determines the position and order of the own vehicle in the received platooning group, and travels behind the other preceding automobile 100 by the same route as the other preceding automobile 100.
Another automobile 100 due to merging or the like may try to enter between a plurality of automobiles 100 in such a platooning group. In this case, the control system 20 of the vehicle 100, which may intersect with the other vehicle 100, adjusts the course so as to leave a space between the vehicle and the preceding vehicle.
Further, even if the preceding vehicle of the platooning group passes the traffic light, the control system 20 of the automobile 100 stops at the red light.
In these cases, there is a gap between the preceding vehicle and the following vehicle of the platooning group. Between the preceding vehicle and the following vehicle, there is another vehicle 100 that does not belong to the platooning group.
Even if these situations occur, the control system 20 of the plurality of automobiles 100 of the platooning group receives and controls the information on the course or the travelable range of the common platooning group. The control system 20 for the following vehicle of the platooning group can continue traveling in a course where safety is ensured by the preceding vehicle. Based on the world map, you can enjoy the advantage of platooning, which is the driving in the area where the safety of the preceding vehicle is ensured, even if there is an interruption or interruption at a traffic light during platooning or accompanying sledding driving. ..

[Fifteenth Embodiment]
In the movement information providing system 1 of the first embodiment, the server device 6 collects field information regarding the traveling of the plurality of traveling vehicles 100, and based on this, a safe course or traveling possible for the movement of the plurality of vehicles 100. Generate range information. Then, the control system 20 of the automobile 100 basically controls the traveling of the own vehicle based on the information of the safe course or the travelable range generated by the server device 6.
However, on the road on which the automobile 100 actually travels, there may be other moving objects not managed by the movement information providing system 1 and various objects such as falling objects.
Hereinafter, an example corresponding to such a situation will be described.

The movement information providing system 1 transmits information on the course or travelable range of each of the plurality of automobiles 100 as well as information on the course or travelable range of other controlled automobiles 100 existing in the surrounding area. do.
The terminal device 2 of the automobile 100 receives information on the course or the travelable range of the plurality of automobiles 100 from the radio base station 4.
The control system 20 of the automobile 100 controls the traveling of the automobile 100 based on the received information on the course or the travelable range of the own vehicle.
Further, the control system 20 of the automobile 100 detects a surrounding moving object or an object by an autonomous sensor. The control system 20 of the automobile 100 is based on the information on the course or the travelable range of the other automobiles 100 under the control existing in the surroundings, and the relative direction and the relative direction of the other automobiles 100 with respect to the current location of the own vehicle. Calculate the distance. The control system 20 of the automobile 100 compares the relative direction and the relative distance of the object detected by the autonomous sensor with respect to the current location of the own vehicle with the calculated relative direction and the relative distance, and the surrounding moving objects are the same. It is determined whether or not the vehicle is another vehicle 100 whose traveling is controlled by the movement information providing system 1. When the surrounding moving body is not another automobile 100 whose traveling is controlled by the same movement information providing system 1, the control system 20 of the automobile 100 controls the traveling of the automobile 100 so as not to approach it.
The control system 20 of the automobile 100 does not have to determine an exact match in these comparisons. Even if the actual position deviates from the map information, the match can be judged. Further, the control system 20 of the automobile 100 may further compare the identification information of the automobile 100.

As described above, in the present embodiment, in the control system 20 of the automobile 100, whether or not the surrounding moving body detected by the autonomous sensor is another automobile 100 whose traveling is controlled by the same movement information providing system 1. If different, the running of the automobile 100 is controlled so as not to approach it.
It is not easy to determine whether or not the surrounding object is another automobile 100 whose running is controlled by the same movement information providing system 1 only from the information obtained by the autonomous sensor, but in the present embodiment, it is not easy to determine. This can be easily determined by using the information of another automobile 100 whose traveling is controlled by the same movement information providing system 1. The control system 20 of the automobile 100 is another automobile 100 whose travel is controlled by the same movement information providing system 1 that does not cause any problem even if it approaches, or it is better to avoid approaching, for example, by another moving information providing system. It is possible to easily determine whether or not the vehicle 100 is another vehicle whose travel is controlled.

[16th Embodiment]
In the movement information providing system 1 of the first embodiment, the server device 6 collects field information related to the traveling of a plurality of automobiles 100 whose traveling is controlled by the moving information providing system 1.
However, on the road on which the automobile 100 actually travels, there may be other moving objects not managed by the movement information providing system 1 and various objects such as falling objects.
Other automobiles 100 include those that drive dangerously or drive in a tilted manner.
Hereinafter, an example corresponding to such a situation will be described.

The server device 6 of the mobile information providing system 1 includes information on traveling of a plurality of automobiles 100 whose travel is controlled by the mobile information providing system 1, and other traveling within a range in which a plurality of radio base stations 4 can communicate. Collect information about driving about the vehicle 100. The server device 6 may receive travel-related information about the other vehicle 100 from another mobile information providing system.
The server device 6 maps all the received mobile objects to the current time map and the prediction map which are world maps.
Further, the server device 6 compares the traveling state such as the position and the speed in the previous current view with the traveling state such as the position and the speed in the current current view of the other automobile 100. When these differences are equal to or greater than the threshold value, the server device 6 picks up another vehicle 100 as a dangerous driving vehicle. The position and speed of the automobile 100 that is dangerously driven or tilted is likely to change suddenly due to sudden start or deceleration.
The server device 6 can track or travel about a plurality of automobiles 100 whose travel is controlled by the movement information providing system 1 so as not to intersect the path of the picked up dangerous driving vehicle in a short time and to keep away from the dangerous driving vehicle. Generate range information.
The terminal device 2 of the automobile 100 receives information on such a course or a travelable range from the radio base station 4.
The control system 20 of the automobile 100 controls the traveling of the automobile 100 based on the received information on the course or the travelable range of the own vehicle.
When the autonomous sensor detects a tilt or obstruction of a dangerous driving vehicle, the control system 20 of the vehicle 100 changes lanes.
When an autonomous sensor detects a dangerous driving vehicle's path obstruction or sudden stop, the control system 20 of the vehicle 100 stops the vehicle, locks the inside of the vehicle, promptly uploads information to the world map, and at the same time, police in the neighborhood. The vehicle information may be reported to the vehicle, the own vehicle may sound a loud alarm, and the image of the camera may be transmitted in real time.

[17th Embodiment]
The plurality of automobiles 100 whose travel is controlled by the movement information providing system 1 of the first embodiment are general vehicles.
However, an emergency vehicle may travel on the actual road on which the automobile 100 travels.
Hereinafter, an example corresponding to such a situation will be described.

The server device 6 transmits world map information such as a current time map and a forecast map together with a course or a travelable range for each of the generated automobiles 100.
The terminal device 2 of the automobile 100 receives from the radio base station 4 the information of the world map such as the current time map and the prediction map together with the route or the travelable range of each of the generated automobiles 100.
The control system 20 of the automobile 100 usually controls the traveling of the own vehicle based on the received information on the course or the travelable range of the own vehicle.
During such normal travel control, the autonomous sensor of the automobile 100 detects another automobile 100 approaching from behind the own vehicle.
The control system 20 of the automobile 100 determines whether or not another automobile 100 approaching from the rear of the own vehicle is an emergency vehicle. If it is not an emergency vehicle, the control system 20 of the vehicle 100 continues to perform normal travel control.
In the case of an emergency vehicle, the control system 20 of the vehicle 100 initiates special travel control for passing the emergency vehicle.
In this special travel control for passing an emergency vehicle, the control system 20 of the vehicle 100, for example, obtains a space in which the vehicle can quickly advance and stop, based on, for example, the latest world map. The control system 20 of the automobile 100 controls the course so as to immediately enter the acquired space and stop. The control system 20 of the automobile 100 also changes the criteria for approach determination based on the autonomous sensor to make the closest approach possible. For example, by making it possible to approach up to 1 cm, it becomes difficult to determine the approach based on the autonomous sensor when the emergency vehicle passes by. When the approach is determined based on the autonomous sensor, the control system 20 of the automobile 100 controls the traveling so as to separate the own vehicle, but such control can be prevented from being executed while the emergency vehicle is passing. ..

As described above, in the present embodiment, even if the emergency vehicle suddenly becomes an emergency state and starts traveling, the control system 20 of the automobile 100 will give way based on the latest world map received in advance. You can control the running. Irregular driving control for passing emergency vehicles can be executed. In the server device 6, it is not necessary to execute a special process for passing the emergency vehicle.

[18th Embodiment]
The plurality of radio base stations 4 of the mobile information providing system 1 of the first embodiment are arranged along the road. The plurality of radio base stations 4 may be provided for each area that divides a plurality of areas.
However, such a plurality of radio base stations 4 may not always function so as to appropriately drive a plurality of automobiles 100 in a special area such as a tollhouse or a parking lot. In special areas such as tollhouses and parking lots, unlike highways, there may not be clear lanes, and each car 100 may move in different directions from the direction straight to the tollhouse. be. Further, in special areas such as tollhouses and parking lots, a plurality of automobiles 100 having different systems coexist. Situations such as jumping out of children, cats, dogs, cows and deer, and escape of horses can also be assumed. Therefore, even if the information on the course or the travelable range of each automobile 100 is generated, there is a relatively high possibility that the vehicle cannot travel as it is.
Hereinafter, an example corresponding to such a situation will be described.

FIG. 19 is a configuration diagram of the movement information providing system 1 to the moving body according to the ninth embodiment.
In FIG. 19, the plurality of automobiles 100 are traveling around the tollhouse. The tollhouse will have multiple transit gates side by side.

For example, when a car 100 traveling on a road has a car 100 approaching a tollhouse or a parking lot, the server device 6 stops generating information on the course or travelable range of the car 100. Unlike other radio base stations 4, the server device 6 transmits the latest current map and forecast map as a world map of the tollhouse or parking lot for the radio base station 4 of the tollhouse or parking lot.
The terminal device 2 of the automobile 100 receives world map information such as the latest current time map and forecast map from the radio base station 4 about the tollhouse and the parking lot instead of the information on the course or the travelable range of the own vehicle. ..
The control system 20 of the automobile 100 determines a safe course at a tollhouse or a parking lot based on a world map such as an acquired current map or a forecast map. The position of the own vehicle can be specified by the unique ID. The control system 20 of the automobile 100 starts the traveling control based on the information of the course or the traveling range of the own vehicle determined by itself. For example, based on the information in the forecast map a few seconds ahead, the control system 20 of the vehicle 100 can select the route to the uncrowded transit gate. The control system 20 of the automobile 100 can obtain information on the range of movement up to several seconds ahead, and can avoid a collision between them.
When there is a high possibility that a danger such as a collision will occur, the control system 20 of the automobile 100 may suspend the own vehicle. In this case, the control system 20 of the automobile 100 may be stopped until new world map information is received.

Further, in a tollhouse or a parking lot, the radio base station 4 may simultaneously transmit the latest world map information in the server device 6 to a plurality of automobiles 100. Transmission delay can be suppressed by using open-type information transmission that is dropped into a public space.

In this way, at the toll booth and parking lot, the generation of the course and the like by the server device 6 is stopped, and the course is determined and the running is controlled based on the latest world map common to each of the control systems 20 of each automobile 100. do. As a result, the safety as a whole can be enhanced. The terminal device 2 of each automobile 100 may maintain a line with the corresponding wireless base station 4 even while the tollhouse or parking lot is running. When passing through a tollhouse or a parking lot, the control system 20 of each automobile 100 controls the course of the own vehicle based on the newly received information on the course or the travelable range.

[Nineteenth Embodiment]
When the control system 20 of the automobile 100 of the movement information providing system 1 of the first embodiment controls traveling by the own vehicle information, the information detected by the autonomous sensor is prioritized over the information received from the radio base station 4. To use.
However, each autonomous sensor may not be able to detect with sufficient accuracy depending on the driving environment. Therefore, it is conceivable that the control system 20 of the automobile 100 increases the types of autonomous sensors and controls the traveling based on their comprehensive detection. However, it is not preferable in the manufacture of the automobile 100 to increase the number of autonomous sensors that can be detected with high accuracy indefinitely. Moreover, even if the types of autonomous sensors are increased, it is not always possible to detect with sufficient accuracy in all driving environments.
Hereinafter, an example corresponding to such a situation will be described.

FIG. 20 is a flowchart of detailed processing for step ST67 of FIG.
The operation control ECU of the automobile 100 executes the process of FIG. 20 in step ST67 of FIG.

In step ST81, the operation control ECU determines whether or not the detection accuracy of the autonomous sensor is sufficient. The autonomous sensor includes, for example, a stereo camera that captures an image of the front of an automobile 100. A stereo camera may not be able to sufficiently capture surrounding moving objects and lanes on the road surface in an environment such as backlight. The stereo camera can determine the quality of the detection accuracy based on, for example, the overall brightness distribution of the captured image and the imageable range. When the captured image is good, the operation control ECU determines that the detection accuracy of the autonomous sensor is sufficient, and proceeds to the process in step ST82. If it cannot be determined that the captured image is good, the operation control ECU determines that the detection accuracy of the autonomous sensor is not sufficient, and proceeds to step ST83.

In step ST82, the operation control ECU preferentially uses the detected value of the autonomous sensor over the information received from the radio base station 4 to determine the course for controlling the traveling of the own vehicle.

In step ST83, the operation control ECU preferentially uses the information received from the radio base station 4 over the detection value of the autonomous sensor to determine the course for controlling the traveling of the own vehicle. The operation control ECU generates information of a pseudo sensor having the same physical quantity as the detection information of the autonomous sensor from the information received from the radio base station 4, and uses this to determine the course for controlling the running of the own vehicle. May be used.

As described above, in the present embodiment, the priority of the detected value of the autonomous sensor and the information received from the radio base station 4 is switched according to the detection accuracy of the autonomous sensor. In this embodiment, for example, it is possible to deal with temporary lost visibility.
For example, when the image recognition by the stereo camera is lost or falls below the threshold value due to backlight, the control control by the world map is temporarily prioritized over the information of the stereo camera. Since the information on the world map is a bird's-eye view information in a minute time, it is possible to extract the course that the preceding vehicle has passed. In addition, the information of the autonomous sensor of another automobile 100 is also reflected.
Further, when the operation control ECU is not suitable for use so that the recognition rate of the autonomous sensor is 80% or less even in the control of automatic braking, the recognition result of the autonomous sensor is compared with the information of the world map, and these If there is a difference greater than or equal to the threshold value, the world map information may be prioritized over the recognition result of the autonomous sensor.
Further, when the detection accuracy of some autonomous sensors is low, the operation control ECU generates pseudo sensor information based on the world map information instead, and combines this with the information of other autonomous sensors to control itself. It may be used to determine the course to control the running of the vehicle.

[20th Embodiment]
In the mobile information providing system 1 of the first embodiment, the infrastructure (traffic system such as a map and a traffic light) is in place, and a large number of mobile terminal devices 2 come and go at the time of processing. If so, it is possible to generate a world map that corresponds well to the actual traffic conditions.
However, when there is little traffic of the car 100 in deserts and plains, snowfields, grasslands, nights, etc., for example, small animals, moving objects outside the system, temporary immovable objects such as a large amount of garbage waiting for garbage collection, etc. Vulnerable to obstacles.
In particular, deserts and plains where the construction accuracy of the world map is reduced, snowfields, grasslands, and motorcycles approaching from behind, which is a blind spot for vehicles at night, may be other vehicles that are not originally targeted by the system. Is high. Bikes are fast and tricky to move, which makes them incompatible with system movement predictions.
Hereinafter, an example corresponding to such a situation will be described.

The terminal device 2 of the automobile 100 transmits the information of another moving body captured by the autonomous sensor to the server device 6 together with the information of the own vehicle.
The server device 6 determines whether or not the other mobile body captured by the autonomous sensor is another automobile 100 which is the original target of the system. If it is not the other vehicle 100 that is the original target of the system, another mobile body supplemented by the autonomous sensor is used as the new mobile body. The server device 6 maps another mobile body captured by the autonomous sensor to the current time map and the prediction map together with the automobile 100 which is the original target of the system. The server device 6 determines the types of motorcycles, bicycles, runners, pedestrians, etc. based on the accumulated actual movements of moving objects other than the automobile 100, which is the original target of the system. Obtain the current position and the predicted position according to. As a result, the world map such as the current map and the forecast map contains the course information about the moving body recognized as a motorcycle, for example. The server device 6 creates information on the course or travelable range of each automobile 100 with sufficient space for the course of the motorcycle. At this time, the server device 6 may generate information on the course or the travelable range that protrudes from the lane in which the own vehicle travels to the shoulder or the oncoming lane in order to secure a sufficient space for the course of the motorcycle.
As a result, the automobile 100 takes into consideration the movement of a moving body, which is not originally targeted by a system such as a motorcycle, without adding an expensive autonomous sensor such as a 360 ° camera or an external image monitor system provided on a pillar. Information on the course or the range of travel can be obtained.

In addition, in this embodiment, in order to correspond to a motorcycle or the like which is a moving body other than the automobile 100 which is the original target of the system, the course of each automobile 100 or the course of each automobile 100 is provided so as to leave a sufficient space for the course of the motorcycle. Generate information on the travelable range.
In addition to this, for example, when a plurality of automobiles 100 pass through while detouring so as to shift lanes on the world map, the server device 6 detects the detour point as a temporary road blockage or the like, and similarly detects the detour point. Information on the course or travelable range of each vehicle 100 may be generated with sufficient space for the detour point so as to detour. As a result, the server device 6 can prevent the vehicle 100 from determining that the vehicle 100 cannot pass through the temporary road blockage that cannot be passed through in the normal course. The detoured course at this time is, for example, a course that extends to the shoulder next to the lane or to the oncoming lane.

[21st Embodiment]
When the control system 20 of the automobile 100 of the movement information providing system 1 of the first embodiment controls traveling by the own vehicle information, the information detected by the autonomous sensor is prioritized over the information received from the radio base station 4. To use.
However, there may be situations where each autonomous sensor cannot detect sufficient information. For example, in a snowy field, a snowstorm, or a driving environment where visibility is lost, an autonomous sensor such as a stereo camera cannot detect sufficient information. The car 100 has no road, and it is unclear where it can run. In addition, an oncoming vehicle may suddenly appear. Autonomous sensors are not in a situation where they can be used properly, and the amount of information that can be captured is small.
Hereinafter, an example corresponding to such a situation will be described.

The control system 20 of the automobile 100 determines a traveling section in which the detection of the autonomous sensor cannot be expected based on the received world map and weather information.
When traveling in such a traveling section, the control system 20 of the automobile 100 estimates the width of the vehicle in which the vehicle can travel from, for example, a standing tree, and determines the course in the direction estimated to be travelable. The estimation of the travelable direction may be processed on the base station side by transmitting an image from the terminal device 2 of the automobile 100 to the server device 6 or the wireless base station 4.
When it can be determined that the field of view is completely lost based on the autonomous sensor, the control system 20 of the automobile 100 obtains from the received world map from the detection information of the autonomous sensor even when the driving is controlled by the own vehicle information. Priority is given to the information of the pseudo sensor. However, for information related to collision safety such as actual collision detection, priority is given to the detection information of the autonomous sensor. Driving in a snowstorm area is basically the slowest driving. The control system 20 of the automobile 100 determines the course by using the information of the pseudo sensor obtained from the world map. In such a process, the control system 20 of the automobile 100 further grasps the number of automobiles 100 traveling in the area, the current location of each automobile 100, and the timing of starting invasion into the area, and determines the traveling tracks thereof. You may simulate and decide the course based on it.

Further, when the server device 6 or the radio base station 4 detects that the oncoming vehicles are approaching each other based on the world map, the server device 6 or the radio base station 4 notifies both automobiles 100 of the warning. This makes it possible to avoid collisions.
Here, if the oncoming vehicle is out of the control of the system and is recognized outside the snowstorm section, the relevant vehicle is based on the estimated time when the vehicle will pass near it and the traveling locus of other vehicles up to now. You may simulate the passable area where the vehicle is expected to pass and notify your vehicle to avoid interference in that area. If interference is unavoidable, at least in the simulation, the calculation is performed so as not to interfere in the minute time that passes.
If an oncoming vehicle or motorcycle is not under the control of the system and is recognized for the first time within the snowstorm section, an emergency notification will be given to the vehicle running in the specific section and the vehicle will be posted on the world map. Simulate with an increase in uncertainties of moving objects that move quickly in the calculation, and raise an estimate of the need for safety (tilt in the direction of safety). If it is a person such as a child, notify the nearest vehicle and put it on the world map.

[22nd Embodiment]
In the mobile information providing system 1 of the first embodiment, the infrastructure (traffic system such as a map and a traffic light) is in place, and a large number of mobile terminal devices 2 come and go at the time of processing. If so, it is possible to generate a world map that corresponds well to the actual traffic conditions.
However, when the traffic of the automobile 100 is small, such as at night, information on the actual driving environment is insufficient.
Hereinafter, an example corresponding to such a situation will be described.

The server device 6 generates a world map using field information collected in the past from a plurality of automobiles 100 and the like. This makes it possible to supplement the missing information on the world map. The server device 6 generates a world map using the field information collected in the past at the same time zone as the current time.
Thereby, in the present embodiment, it can be expected that the information lacking in real time can be supplemented and a world map in a state close to the actual driving environment at the present time can be generated.

[23rd Embodiment]
In the movement information providing system 1 of the first embodiment, the control system 20 of the automobile 100 basically controls the traveling of the own vehicle based on the detection information of the autonomous sensor. In this case, even if the user depresses the accelerator pedal by mistake with the brake pedal in a state where the user does not recognize the pedestrian or the like, the vehicle can be prevented from starting toward the pedestrian or the like.
However, the autonomous sensor provided in the automobile 100 does not always operate normally. Due to aging, the autonomous sensor may not be able to detect normally. Further, when the detection result of the autonomous sensor is incorrect due to the driving environment such as nighttime, backlight, and the light of an oncoming vehicle, the control system 20 of the automobile 100 appropriately travels the own vehicle based on the detection information of the autonomous sensor. May be out of control.
Hereinafter, an example corresponding to such a situation will be described.

The control system 20 of the automobile 100 determines the suitability of the detection information of the autonomous sensor. For example, when the image captured by the stereo camera is totally dark or overexposed, the control system 20 of the automobile 100 determines that the detection information of the autonomous sensor is inappropriate. In this case, the control system 20 of the automobile 100 confirms another moving object in the traveling direction based on the information on the world map. When it is confirmed that there is another moving object in the traveling direction based on the information on the world map, the control system 20 of the automobile 100 moves the other moving object in the traveling direction even if it cannot be determined by the detection information of the autonomous sensor. It determines that the body exists and executes driving control accordingly. The control system 20 of the automobile 100 uses the detection information of the pseudo sensor obtained from the world map to execute braking control that does not start.
The control system 20 of the automobile 100 determines the situation in which a pedestrian or the like is recognized on the world map and only the autonomous sensor of the own vehicle cannot recognize the other vehicle while the other vehicle is visible. The information of the pseudo sensor may be used. In this case, the control system 20 of the automobile 100 may increase the reliability of the pseudo sensor when the determination occurs over an arbitrary time or occurs more than a predetermined number of times. The control system 20 of the automobile 100 uses the detection information of the pseudo sensor with high reliability to select a pedestrian that is not recognized by the autonomous sensor, a course that does not interfere with the moving direction, and a time difference, and selects them. Based on driving control may be performed.

[24th Embodiment]
The movement information providing system 1 of the first embodiment generates information on a course or a travelable range for a plurality of automobiles 100.
However, the user who uses the automobile 100 walks away from the automobile 100 when the automobile 100 breaks down. In addition, after parking and stopping the car 100 at an evacuation destination, staying in the car, etc., the car 100 is walked away from the car 100.
Hereinafter, an example corresponding to such a situation will be described.

The control system 20 of the automobile 100 generates a walking route of the user based on the latest received world map when the user gets off the automobile 100 and leaves the automobile 100. The control system 20 uses the information of a plurality of moving objects registered in the world map to generate a walking route that can safely move to the destination while avoiding those moving objects and falling objects. It is advisable to generate a walking route that allows a safe distance from an accident site where a large number of broken vehicles are parked due to multiple collisions so as not to obstruct the course of a following vehicle or an oncoming vehicle.
The control system 20 of the automobile 100 generates the generated walking route from the terminal device 2 to the terminal carried by the user. At this time, the accident site may be cut out from the world map and transmitted together with the generated walking route. As a result, after getting out of the car 100, the user can move according to the navigation of the walking route displayed on the mobile terminal.

[25th Embodiment]
In the movement information providing system 1 of the first embodiment, the control system 20 of the automobile 100 switches the operation mode between the automatic driving and the driving support for the manual driving by the user.
The user of the automobile 100 is basically responsible for driving in automatic driving.
For example, when the operation mode of the moving automobile 100 is switched from automatic driving to driving support, the user is responsible before and after the switching. In automatic driving, it is necessary to control driving so that the user is not liable for compensation, including the timing of switching to driving support.
In particular, when the user needs to perform a strong braking operation immediately after the operation mode of the moving automobile 100 is switched from automatic driving to driving support, the situation is severe for the user. In such a situation, it is expected that few users will be able to apply the full brake.
Hereinafter, an example corresponding to such a situation will be described.

The control system 20 of the automobile 100 repeatedly determines the reliability of the world map received by the terminal device 2 from the server device 6 while the automobile 100 is traveling. When the reliability of the received world map is low, the control system 20 of the automobile 100 prohibits switching the operation mode of the automobile 100 from the manual driving to the automatic driving.
The control system 20 of the automobile 100 repeatedly compares the detection information of the pseudo sensor obtained from the world map with the detection information of the autonomous sensor during automatic driving. Then, when these information are different by the threshold value or more, the control system 20 of the automobile 100 does not use the detection information of the pseudo sensor obtained from the world map. The control system 20 of the automobile 100 basically uses the detection information of the autonomous sensor to control the running of the automobile 100 during automatic driving.
When there is some kind of disturbance, the control system 20 of the automobile 100 terminates the automatic driving and executes a control for switching the operation mode of the automobile 100 from the automatic driving to the manual driving. In this transition control, the control system 20 of the automobile 100 first controls the traveling of the own vehicle so as to widen the distance between the vehicle and the preceding vehicle. The distance between the preceding vehicle and the own vehicle may be set according to the speed. When the autonomous sensor detects that a predetermined distance is obtained, the control system 20 of the automobile 100 notifies the user that the automatic driving is switched to the manual driving. The control system 20 of the automobile 100 does not use the information of the world map for this detection. After a few seconds, the control system 20 of the vehicle 100 switches the actual operating mode from automatic driving to manual driving.
By ensuring the distance between the vehicle and the preceding vehicle, it is less likely that the user needs to perform a strong braking operation immediately after the operation mode of the traveling vehicle 100 is switched from automatic driving to driving support. The user can understand that the automatic operation is switched to the manual operation by a judgment with a margin, and can start the operation for the manual operation. It is less likely that an urgent situation will occur in which the user needs to apply a strong brake immediately after switching to manual operation.

[26th Embodiment]
The server device 6 of each of the above-described embodiments collects information from a plurality of automobiles 100 moving in a predetermined area or a predetermined section in charge, maps the information, and uses the server device 6 for the movement determination or movement control of the plurality of automobiles 100. Is generated and transmitted to a plurality of automobiles 100. Each automobile 100 uses the information received from the server device 6 to execute the movement determination or movement control.
In addition to this, for example, a part or all of the processing by the server device 6 may be executed in each of the plurality of automobiles 100. For example, as shown in FIG. 7, each automobile 100 collects field information from another automobile 100, executes mapping to a current time map or a prediction map, and can be used for its movement determination or movement control in its own vehicle. Information on the possible range and course may be generated and used for movement judgment or movement control such as automatic driving of the own vehicle. In this case, the server device 6 and the plurality of wireless base stations 4 exert a function for transmitting and receiving data between the plurality of automobiles 100. The radio base station 4 is provided in a predetermined area or a predetermined section in which a plurality of automobiles 100 move, and communicates with a terminal device 2 used in the automobile 100 moving in the predetermined area or the predetermined section in charge.

In this case, the server device 6 generates and transmits the primary processing information based on the field information.
The terminal device 2 of the automobile receives the information generated by the server device 6 from the radio base station 4.
The automobile control system 20 generates travel control data as secondary processing information based on the field information received by the terminal device 2 or the primary processing information thereof.
Here, the primary processing information refers to information generated in the server device 6 based on the field information. The secondary processing information refers to information generated based on field information and primary processing information in the control system 20 of an automobile.

FIG. 21 is a flowchart of a field information collection process related to the movement of a plurality of automobiles 100 by the server device 6 of the present embodiment.
The server CPU 14 of the server device 6 repeatedly executes the collection process of FIG. 21 every time the server communication device 11 of the server device 6 receives new field information.

In step ST111, the server CPU 14 determines whether or not the field information is received. The field information includes, for example, own vehicle information transmitted by each terminal device 2 of a plurality of automobiles 100, and detection information of a detection device such as a camera installed on a road. The server device 6 (not shown) of the intelligent transportation system may transmit traffic information of the area to be managed to the server device 6. The server communication device 11 receives this information. If the server communication device 11 has not received the field information, the server CPU 14 repeats the process of step ST111. When the server communication device 11 receives the field information, the server CPU 14 advances the process to step ST112.

In step ST112, the server CPU 14 classifies the received field information according to the information source and stores it in the server memory 13. As a result, the server memory 13 of the server device 6 moves the information or peripheral information about the automobile 100 and the user received from each of the plurality of automobiles 100 as the field information related to the movement of the plurality of automobiles 100, or each automobile 100 moves. Accumulate and record traffic information in the area where you are working. The server CPU 14 may record the time when each field information is received in association with the received field information.

In step ST113, the server CPU 14 generates a mobile list for a plurality of automobiles 100 that the server device 6 needs to notify at the present time based on the received field information. The mobile list may include other mobiles, such as the other vehicle 100, which the server device 6 does not need to notify, so that it can be distinguished from the plurality of vehicles 100, which the server device 6 needs to notify.

FIG. 22 is a flowchart of a process of transmitting the collected field information by the server device of the 26th embodiment.
The server CPU 14 of the server device 6 repeatedly executes the transmission process of FIG. 22.

In step ST141, the server CPU 14 extracts information related to the running of each automobile 100 from the plurality of field information recorded in the server memory 13. For a certain automobile 100, the server CPU 14 may extract information related to the traveling of the preceding vehicle as well as information related to the traveling of the automobile.

In step ST142, the server CPU 14 transmits the extracted field information from the server communication device 11 to the communication device 71 of the automobile 100 corresponding thereto. The field information is transmitted from the server device 6 to the radio base station 4 through the dedicated network 5, and then transmitted from the radio base station 4 to the terminal device 2 of the automobile 100. The plurality of radio base stations 4 transmit field information to a plurality of terminal devices 2 provided in the plurality of automobiles 100.

In step ST143, the server CPU 14 determines whether or not the processing of the plurality of automobiles 100 in the mobile list has been completed. If the processing for all the automobiles 100 in the mobile list has not been completed, the server CPU 14 returns the processing to step ST141. The server CPU 14 selects the next unprocessed automobile 100 and repeats the processes from step ST141 to step ST143. When the processing for all the automobiles 100 in the mobile list is completed, the server CPU 14 ends the course generation processing of FIG.

As a result, the server device 6 transmits the field information used for each control or determination to the plurality of automobiles 100. The server device 6 may transmit the moving object list and the primary processing information indicating the traveling direction and the traveling speed of each of the plurality of automobiles 100 together with the field information. The primary processing information may further include the current position, the current time, the predicted time after a minute period from the current time, and the like as information for verification confirmation. Further, by repeating the processes of FIGS. 21 and 22, the server device 6 will continue to repeatedly transmit the field information regarding the course of the minute section to each of the plurality of automobiles 100.
The server device 6 may transmit the field information collected from the plurality of automobiles 100 to the plurality of automobiles 100 together with the field information or instead of the field information.

Then, each automobile 100 that has received the field information from the server device 6 executes the process of FIG. 6 to generate information on the course of the own vehicle. However, in this case, since each automobile 100 receives the mobile list or information based on the mobile list from the server device 6, it is not necessary to execute the process of step ST24.
Further, each automobile 100 controls the traveling of the own vehicle by executing the process of FIG. 9 using the information on the course of the own vehicle generated by the own vehicle.

As described above, in the present embodiment, the server device 6 collects field information related to the movement of the automobile 100 as a plurality of moving bodies and transmits the field information to each automobile 100. Then, each automobile 100 can determine and control each movement based on the information common to the plurality of automobiles 100. By executing the process based on the information common to the plurality of automobiles 100, the plurality of automobiles 100 can safely proceed so as not to collide with each other. It is possible to generate a course or a safe driving range of the vehicle and use the generated path or a safe driving range of a minute section. Each vehicle 100 is less susceptible to the unexpected movement of the other vehicle 100. Mutual safety during running of a plurality of automobiles 100 is enhanced.

This embodiment is an example in which the processing of the server device 6 in the first embodiment is carried out in the automobile 100. The processing of the server device 6 in the second to twenty-fifth embodiments described above can be the processing of the automobile 100 as in the present embodiment. In this case, the process of the server device 6 in each of the above-described embodiments may be read as the process of the control system 20 of the automobile 100. In this case, the processing of the server device 6 is distributed and individually processed for each of the automobiles 100 by the control systems 20 of the plurality of automobiles 100. Each automobile 100 basically executes processing for its own vehicle. It should be noted that each automobile 100 may execute the processing for the other automobile 100 on behalf of the other automobiles 100 and transmit the result, for example, according to the surplus capacity of the respective processing.
In such a case, the control system 20 of the automobile 100 may execute all the processes of the server device 6 in each embodiment, or may execute a part thereof.
For example, the server device 6 relays field information from a plurality of automobiles 100 and transmits the field information to the automobile 100. In this case, in this case, the control system 20 of each automobile 100 executes all the processes of the server device 6 in each embodiment from collecting field information from the plurality of automobiles 100.
For example, the server device 6 receives field information from a plurality of automobiles 100, collects it, and transmits it to the automobile 100. In this case, the control system 20 of each automobile 100 executes the processing of the server device 6 in each embodiment after collecting the field information from the plurality of automobiles 100.
For example, the server device 6 receives field information from a plurality of automobiles 100, collects it, and executes mapping to mapping data such as a current map or a forecast map. In this case, the control system 20 of each automobile 100 executes the processing after the processing based on the mapping data in each embodiment.
In any case, the mobile information providing system 1 of the above-described embodiment and its modification is a predetermined area in charge of the mobile information providing system 1 together with a plurality of terminal devices 2 that can be used by a plurality of moving automobiles 100. Alternatively, it has a server device 6 for collecting or relaying field information related to the movement of a plurality of automobiles 100 moving in a predetermined section. The server device 6 can communicate with a plurality of terminal devices 2 that can be used in each of the plurality of automobiles 100 as a plurality of mobile bodies through the radio base station 4 as a plurality of communication devices, and is in each of the above-described embodiments. It may be provided collectively as described above, or may be provided in a plurality of distributed manners in correspondence with a plurality of radio base stations 6 and the like. Then, the plurality of automobiles 100 and the server device 6 are divided into one or both, and the field information related to the movement of the plurality of automobiles 100 to be collected or relayed is mapped to the mapping data, and a plurality of the plurality of automobiles 100 and the server device 6 are based on the mapping data. Information may be generated for determining or controlling the movement of each of the vehicles 100 of the vehicle. Then, each of the plurality of automobiles 100 moves according to the information generated for each of the plurality of automobiles 100, so that the plurality of automobiles 100 can move safely without colliding with each other.

The above embodiments are examples of preferred embodiments of the present invention, but the present invention is not limited thereto, and various modifications or modifications can be made without departing from the gist of the invention.

For example, in the above-described embodiment, the server device 6 in the mobile information providing system 1 and the control system 20 of each automobile 100 cooperate to execute a series of processes of each embodiment.
In addition to this, for example, all the various processes of the above-described embodiment may be executed by the server device 6. In this case, the control system 20 of each automobile 100 transmits the information required for processing through the terminal device 2 and the radio base station 4 to the server device 6, and the processing result by the server device 6 is transmitted through the radio base station 4. It may be received by the terminal device 2. Further, the control system 20 of the automobile 100 may determine and control the traveling of the automobile 100 based on the received information.
Further, for example, the server device 6 may execute only a part of the various processes of the above-described embodiment, and the remaining processes may be executed in the control system 20 of each automobile 100. The server device 6 may simply collect the field information and transfer it to the terminal devices 2 of the plurality of automobiles 100. In this case, the control system 20 of each automobile 100 executes all the processes based on the field information.
Further, for example, instead of the server device 6, the control system 20 of each automobile 100 may execute all of the various processes of the above-described embodiment. In this case, the process of the server device 6 may be read as the process of each automobile 100. Then, the server device 6 may transmit the information collected from the plurality of automobiles 100 to each automobile 100 so as to relay the information. In this case, the server device 6 does not uniformly transmit the field information to each automobile 100, but may, for example, transmit the field information of other automobiles 100 in the peripheral range required for each automobile 100. .. For example, the server device 6 may transmit field information of other automobiles 100 in a predetermined section or a predetermined range classified according to the road on which they are traveling to each automobile 100.
Further, for example, the server device 6 may be provided so that the server device 6 is composed of a plurality of distributed server devices and is distributed among a plurality of radio base stations 4. The plurality of distributed server devices may be distributed and processed according to the stage of information processing, or may be distributed and processed for each region so as to correspond to the areas of the plurality of radio base stations 4. Then, a plurality of distributed server devices corresponding to each of the plurality of radio base stations 4 may be provided integrally with the radio base station 4. In this case, the distributed server device may manage the routing of data by the radio base station 4, for example, immediately process the data received from the automobile 100 and transmit it to the automobile 100. The radio base station 4 having the function of such a distributed server device can minimize the information transmission delay time. The radio base station 4 having the function of the distributed server device may function as a component of the control system 20 of the automobile 100 by substituting a part of the processing of the control system 20 of the automobile 100, for example. can. Then, the plurality of radio base stations 4 distribute and realize the above-mentioned processing of the server device 6 by, for example, collaborative processing in which they communicate with each other without going through the server device 6. In this case, each radio base station 4 fixedly installed on the road, for example, obtains information on a plurality of automobiles 100 accommodated in each communication area based on the position in each communication area and the like. The roads may be classified into a plurality of roads, grouped based on the classification of the roads, and the grouped information may be relayed and transferred to a plurality of other radio base stations 4. The server device 6 separate from the plurality of radio base stations 4 may be unnecessary. Further, the processing of the server device 6 described above may be distributed and realized by the collaborative processing of the plurality of radio base stations 4 and the server device 6.
Further, for example, the wireless base station 4 used together with the server device 6 is a wireless base provided exclusively for the automobile 100 or the like, even if it is a general-purpose wireless base station capable of communicating with a mobile terminal. It may be a station. A base station for ADAS communication is provided on the motorway. The base station for ADAS communication can be used as the radio base station 4 of the above-described embodiment. Further, the automobile 100 does not communicate directly with the base station or the server device 6, but may communicate with the base station or the server device 6 through another automobile 100 by, for example, V2V.

The time in the mobile information providing system 1 is the time when the automobile 100 transmits to the server device 6, the time when the server device 6 receives, the time when the server device 6 transmits the processing result to the automobile 100, and the time when the automobile 100 transmits the processing result. It is the received measurement time, the estimated time that the automobile 100 will pass, and the actual traveling time that the automobile 100 actually travels in the predicted section. In the closed system, the time difference between the automobile 100 and the server device 6 can be shortened.

1 ... Mobile information providing system, 2 ... Terminal device, 3 ... Base station side system, 4 ... Radio base station, 5 ... Dedicated network, 6 ... Server device, 11 ... Server communication device, 12 ... Server GNSS receiver, 13 ... Server memory, 14 ... Server CPU, 15 ... Server bus, 20 ... Control system, 21 ... Drive ECU, 22 ... Steering ECU, 23 ... Braking ECU, 24 ... Travel control ECU, 25 ... Driving operation ECU, 26 ... Detection ECU , 27 ... External communication ECU, 28 ... UI operation ECU, 30 ... Car network, 31 ... Bus cable, 32 ... Central gateway, 41 ... Display device, 42 ... Operation device, 51 ... Handle, 52 ... Brake pedal, 53 ... Accelerator Pedal, 54 ... shift lever, 61 ... speed sensor, 62 ... acceleration sensor, 63 ... stereo camera, 64 ... in-car camera, 65 ... microphone, 66 ... GNSS receiver, 71 ... communication device, 72 ... communication memory, 81 ... control Memory, 100 ... automobile (mobile body), 110 ... GNSS satellite

Claims (17)

Multiple terminal devices that can be used with multiple mobiles,
A plurality of communication devices provided in a predetermined area or a predetermined section in which a plurality of moving bodies move, and communicating with the terminal device used by the moving body moving in the predetermined area or a predetermined section in charge.
It is a mobile information providing system that has
The plurality of communication devices
Information that can be used for at least movement determination or movement control of each moving body is transmitted to the terminal device used by the moving body moving in a predetermined area or a predetermined section in charge.
A movement information providing system for moving objects.
The plurality of communication devices
Repeatedly receiving current and / or past information of a mobile body from the terminal device used by the mobile body moving in a predetermined area or a predetermined section in charge.
The movement information providing system to a moving body according to claim 1.
The plurality of communication devices are connected by a dedicated network, and are connected by a dedicated network.
The terminal used by a moving body moving in a predetermined area or a predetermined section in charge of at least one of the field information related to the movement of a plurality of moving bodies and the primary processing information obtained based on the field information. Send to device,
The movement information providing system to a moving body according to claim 1 or 2.
The plurality of terminal devices
Each provides information received from the communication device to the mobile body in which it is used.
The movement information providing system to a moving body according to any one of claims 1 to 3.
It has a plurality of terminal devices that are connected to the plurality of communication devices and can be used by each of the plurality of mobile bodies, and a server device capable of transmitting and receiving information.
The server device collects or relays field information related to the movement of the moving body moving in a predetermined area or a predetermined section.
The movement information providing system to a moving body according to any one of claims 1 to 4.
Each of the plurality of mobile bodies determines or controls each movement based on the information received by the plurality of terminal devices available in each.
The movement information providing system to a moving body according to any one of claims 1 to 5.
A server device connected to a plurality of the communication devices in the movement information providing system to the mobile body according to any one of claims 1 to 6.
An acquisition unit that acquires field information related to the movement of multiple moving objects or pre-processed information that is processed from the field information.
Based on the information acquired by the acquisition unit, a generation unit that generates primary processing information that can be used for movement determination or movement control of the moving body in the plurality of moving bodies and / or the plurality of terminal devices.
A transmission unit that transmits the generated primary processing information from the communication device to the terminal device provided on the mobile body.
A server device that has.
The acquisition unit provides field information related to the movement of a plurality of moving objects.
Obtaining information on the movement of the moving body and / or information specific to each moving body, and / or peripheral information or regional information of the moving body from the plurality of the moving bodies.
The server device according to claim 7.
The generator
The current position of the moving body estimated based on the collected field information is mapped to the current position diagram.
Based on the traveling direction, traveling speed or progress state of each of the moving bodies estimated based on the collected field information, and the current state map, the future predicted position of the moving body is estimated and used as a prediction map. Map and
Assuming the movement of the plurality of moving bodies from the position of the present time view to the position of the predicted drawing, a course or a travelable range of a minute section in which each of the plurality of moving bodies can travel is generated.
Generate primary processing information obtained based on the field information.
The server device according to claim 7 or 8.
The server device is provided in a plurality of distributed manners.
The server device according to any one of claims 7 to 9.
The generator
A mapping unit that maps at least the current position among the current position and the predicted position of the plurality of moving objects based on the information acquired by the acquisition unit.
A predictive generator that generates information on the path or travelable range of a minute section in which each of the plurality of mobile objects can travel by using the information on the positions of the plurality of mapped objects.
To generate primary processing information obtained based on the field information.
The server device according to any one of claims 7 to 10.
A vehicle as a mobile body in the movement information providing system to the mobile body according to any one of claims 1 to 6.
The terminal device receives information that can be used for at least movement determination or movement control of a moving body from the communication device provided by dividing a predetermined area and / or a predetermined section.
It has a movement control device that controls the movement of the moving body by using the information received by the terminal device.
The movement control device is
Based on at least one of the field information related to the movement of the moving body received by the terminal device and / or the primary processing information obtained based on the field information, the course of the vehicle is determined and the vehicle travels. Control or assist,
vehicle.
The vehicle has information on the movement of the vehicle, user information of the vehicle, vehicle-specific information, and an autonomous sensor that detects peripheral information or regional information of the vehicle.
The terminal device transmits current or past detection information by the autonomous sensor constituting the field information to the communication device capable of communicating in a predetermined area and / or a predetermined section of the vehicle.
The vehicle according to claim 12.
The movement control device is
An acquisition unit that acquires at least one of field information related to the movement of a plurality of moving objects and primary processing information obtained based on the field information, and an acquisition unit.
Based on the information acquired by the acquisition unit, the generation unit that generates the secondary processing information used for the movement determination and / or the movement control of the vehicle, and the generation unit.
A traveling control unit that executes movement determination and / or movement control of the vehicle using the generated secondary processing information.
The vehicle according to claim 12 or 13.
Based on the information acquired by the acquisition unit, the generation unit generates information on the course or travelable range of a minute section in which the vehicle can travel.
The travel control unit determines the travel route of the vehicle and controls the movement based on the information on the route and / or the travelable range of the minute section.
The vehicle according to claim 14.
The generator
The current position of the moving body estimated based on the information acquired by the acquisition unit is mapped to the current diagram.
Based on the traveling direction, traveling speed or progress state of each of the moving bodies estimated based on the collected field information, and the current state map, the future predicted position of the moving body is estimated and used as a prediction map. Map and
Assuming the movement of the moving body from the position of the present time view to the position of the predicted drawing, a course or a travelable range of a minute section in which each of the moving bodies can travel is generated.
Generates secondary processing information obtained based on the field information.
The vehicle according to claim 14 or 15.
The generator
A mapping unit that maps at least the current position among the current position and the predicted position of the plurality of moving objects based on the information acquired by the acquisition unit.
A predictive generator that generates information on the path or travelable range of a minute section in which each of the plurality of mobile objects can travel by using the information on the positions of the plurality of mapped objects.
To generate secondary processing information obtained based on the field information.
The vehicle according to any one of claims 14 to 16.

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