JP2022036775A - Road-to-vehicle communication device, road-to-vehicle communication method, road-to-vehicle communication program, and road-to-vehicle communication system - Google Patents

Abstract

To assist an automated vehicle to continue automated driving.SOLUTION: A road-to-vehicle communication device includes: a first receiver that periodically receives, from a detection device, first vehicle information of a first vehicle stopped on a road and peripheral information around the first vehicle on the road; a second receiver that periodically receives second vehicle information of a second vehicle traveling on the road with automated driving in a direction approaching the first vehicle; a determination unit; and an output unit. The determination unit determines, based on the first vehicle information, whether the first vehicle has been stopped for longer than a predetermined time, and if the first vehicle is determined to have been stopped for longer than the predetermined time, determines, based on surrounding information, whether the second vehicle can avoid the first vehicle and continue automated driving. When the determination unit determines that the second vehicle can avoid the first vehicle and continue automatic driving, the output unit outputs an avoidance notice to the second vehicle indicating that the second vehicle can avoid the first vehicle and continue automated driving.SELECTED DRAWING: Figure 4

Description

The present invention relates to a road-to-vehicle communication device, a road-to-vehicle communication method, and a road-to-vehicle communication system that support automatic driving of an autonomous vehicle traveling on a road.

When the self-driving vehicle is in automatic driving and the vehicle is stopped in front of the traveling route, the self-driving vehicle typically stops automatic driving and switches to non-automatic driving (manual driving). Then, the driver avoids the stopped vehicle by manual driving.

Japanese Unexamined Patent Publication No. 2019-21968

In this method, the self-driving vehicle stops automatic driving and switches to non-automatic driving regardless of whether the visibility of the oncoming lane is good or bad. In other words, the self-driving vehicle typically stops self-driving and switches to non-autonomous driving even when the need for non-autonomous driving is low.

In view of the above circumstances, an object of the present invention is to provide a technique for supporting the continuation of automatic driving when the necessity of non-automatic driving of the autonomous driving vehicle is low.

The road-to-vehicle communication device according to one embodiment of the present invention includes first vehicle information including position information of a first vehicle stopped on the road from a detection device capable of detecting an object existing on the road, and on the road. A first receiving unit that periodically receives peripheral information indicating an object existing in the vicinity of the first vehicle, and a second receiving unit that automatically drives on the road in a direction approaching the first vehicle. It has a second receiving unit, a determination unit, and an output unit that periodically receive the second vehicle information including the position information of the vehicle. The determination unit determines whether or not the first vehicle has stopped for a predetermined time based on the first vehicle information, and if it determines that the first vehicle has stopped for a longer time than a predetermined time, the peripheral area. Based on the information, it is determined whether or not the second vehicle can avoid the first vehicle and continue the automatic driving. When the determination unit determines that the second vehicle can avoid the first vehicle and continue automatic driving, the output unit causes the second vehicle to avoid the first vehicle and perform automatic driving. Outputs an avoidance notification indicating that it can be continued.

When the first vehicle is stopped for longer than a predetermined time, the first vehicle may be parked on the road. In this case, the determination unit determines that the second vehicle can avoid the first vehicle and safely continue the automatic driving. Conversely, the determination unit determines that it is not necessary for the second vehicle to stop the automatic driving and switch to the non-automatic driving (manual driving). The output unit outputs an avoidance notification to the second vehicle indicating that the first vehicle can be avoided and the automatic driving can be continued. As a result, the second vehicle stops the automatic driving. Without switching to non-automatic driving (manual driving), it is possible to avoid the stopped first vehicle and continue running by automatic driving.

According to one embodiment, when the traffic light is present on the road in or near the detection range of the detection device, the determination unit determines that the first vehicle has a predetermined time from the first time corresponding to the duration of the red light. It is determined whether or not the vehicle has stopped for a long time, and if there is no traffic light on the road in or near the detection range of the detection device, the first vehicle stops for a predetermined time longer than the second time, which is shorter than the first time. Judge whether or not it is done.

If there is a traffic light near the detector, there is a reason for the first vehicle to stop (waiting for a red light), but if there is no traffic light near the detector, the reason for the first vehicle to stop is basic. Not in. Therefore, the determination unit changes the threshold value for determining whether the first vehicle is on the road or simply stopped depending on whether the traffic light is present or not. As a result, the determination unit can appropriately determine whether the first vehicle is on the road or simply stopped, depending on the presence or absence of the traffic light.

According to one embodiment, when the determination unit determines that the first vehicle has stopped for a longer time than a predetermined time, the determination unit has a predetermined number or more around the first vehicle on the road based on the surrounding information. If it is determined that there are no stopped vehicles, people, or objects of a predetermined size or larger, it is determined that the second vehicle can avoid the first vehicle and continue automatic driving.

According to the present embodiment, the determination unit can safely continue the automatic driving by avoiding the first vehicle when the second vehicle avoids the first vehicle when there is no obstacle around the first vehicle on the road. judge. As a result, the information processing apparatus not only determines that the first vehicle may be parked on the road, but also determines that there is no obstacle in the vicinity of the first vehicle, and then the second vehicle. It is determined that the vehicle can avoid the first vehicle and safely continue the automatic driving. As a result, the determination unit can determine more appropriately and safely that the second vehicle can continue the automatic driving.

According to one embodiment, the avoidance notice includes the position information of the first vehicle.

Since the second vehicle acquires the position information of the first vehicle, it is possible to safely avoid the stopped first vehicle.

According to one embodiment, the first vehicle information includes the size information of the first vehicle, and the avoidance notification includes the size information of the first vehicle.

The size information of the first vehicle is typically a vehicle width, and may include a vehicle type such as a large vehicle, an ordinary vehicle, or a motorcycle. Since the second vehicle acquires the size information (vehicle width, vehicle type) of the first vehicle, it is possible to safely avoid the stopped first vehicle.

According to one embodiment, when the determination unit determines that the first vehicle has stopped for a longer time than a predetermined time, the determination unit has a predetermined number or more around the first vehicle on the road based on the surrounding information. If it is determined that there is a stopped vehicle, a person, and / or an object of a predetermined size or larger, it is determined that the second vehicle should stop the automatic driving.

According to the present embodiment, the determination unit determines that when an obstacle exists in the vicinity of the first vehicle on the road, the second vehicle can avoid the first vehicle and continue automatic driving safely. do. As a result, when the information processing device determines that there is an obstacle in the vicinity of the first vehicle, the second vehicle avoids the first vehicle even if the first vehicle may be parked on the road. Therefore, there is a possibility that automatic operation cannot be performed safely, and it is determined that automatic operation should be stopped. As a result, the determination unit can enhance the safety when the second vehicle determines that the automatic driving can be continued.

According to one embodiment, when the determination unit determines that the second vehicle should stop the automatic driving, the output unit notifies the second vehicle that the automatic driving should be stopped. Is output.

As a result, by receiving the stop notification from the information processing device, the second vehicle reliably stops the automatic driving regardless of the automatic driving system mounted on each second vehicle, so that the second vehicle can stop the automatic driving. It can increase safety.

According to one embodiment, the second vehicle does not have a lane in which the first vehicle is stopped, a lane in the same direction as the lane in which the first vehicle is stopped, or a central separation zone. Drive in the oncoming lane with respect to the lane in which the vehicle is stopped by automatic driving.

As a result, regardless of the positional relationship of the second vehicle with respect to the first vehicle, the second vehicle is the stopped first vehicle without stopping the automatic driving and switching to the non-automatic driving (manual driving). It is possible to avoid the problem and continue driving by automatic driving.

The road-to-vehicle communication method according to one embodiment of the present invention is
From the detection device capable of detecting an object existing on the road, the first vehicle information including the position information of the first vehicle stopped on the road and the vicinity of the first vehicle on the road are present. Periodically receive peripheral information indicating the object,
The second vehicle information including the position information of the second vehicle traveling on the road by automatic driving in the direction approaching the first vehicle is periodically received.
Based on the first vehicle information, it is determined whether or not the first vehicle has stopped for a longer time than a predetermined time.
If it is determined that the first vehicle has stopped for a longer time than a predetermined time, whether or not the second vehicle can avoid the first vehicle and continue the automatic driving based on the peripheral information. Judging whether
When the determination unit determines that the second vehicle can avoid the first vehicle and continue the automatic driving, the second vehicle avoids the first vehicle and the first vehicle is avoided. Outputs an avoidance notification indicating that automatic driving can be continued.

The road-to-vehicle communication program according to one embodiment of the present invention is
From the detection device capable of detecting an object existing on the road, the first vehicle information including the position information of the first vehicle stopped on the road and the vicinity of the first vehicle on the road are present. Peripheral information indicating an object, a first receiver that periodically receives, and
A second receiving unit that periodically receives second vehicle information including the position information of the second vehicle traveling on the road in the direction approaching the first vehicle by automatic driving.
The control unit of the road-to-vehicle communication device having the control unit,
Based on the first vehicle information, it is determined whether or not the first vehicle has stopped for a longer time than a predetermined time.
If it is determined that the first vehicle has stopped for a longer time than a predetermined time, whether or not the second vehicle can avoid the first vehicle and continue the automatic driving based on the peripheral information. Judgment unit to determine whether
When the determination unit determines that the second vehicle can avoid the first vehicle and continue the automatic driving, the second vehicle avoids the first vehicle and the first vehicle is avoided. Operates as an output unit that outputs an avoidance notification indicating that automatic operation can be continued.

The road-to-vehicle communication system according to one embodiment of the present invention is
A detector that can detect objects on the road,
From the detection device, first vehicle information including the position information of the first vehicle stopped on the road and peripheral information indicating an object existing around the first vehicle on the road are periodically generated. First receiver to receive
A second receiving unit that periodically receives second vehicle information including the position information of the second vehicle traveling on the road in the direction approaching the first vehicle by automatic driving.
Based on the first vehicle information, it is determined whether or not the first vehicle has stopped for a longer time than a predetermined time.
If it is determined that the first vehicle has stopped for a longer time than a predetermined time, whether or not the second vehicle can avoid the first vehicle and continue the automatic driving based on the peripheral information. Judgment unit to determine whether
When the determination unit determines that the second vehicle can avoid the first vehicle and continue the automatic driving, the second vehicle avoids the first vehicle and the first vehicle is avoided. It is equipped with a road-to-vehicle communication device having an output unit that outputs an avoidance notification indicating that automatic driving can be continued.

According to the present invention, it is possible to support the continuation of automatic driving when the need for non-automatic driving is low for the autonomous driving vehicle.

The effects described here are not necessarily limited, and may be any of the effects described in the present invention.

It is a schematic block diagram of the road-to-vehicle communication system which concerns on one Embodiment of this invention. It is a schematic plan view of the road to which the said road-to-vehicle communication system is applied. It is a block diagram which shows the structure of the road-to-vehicle communication device which concerns on one Embodiment of this invention. It is a flowchart which shows an example of the processing procedure executed in the said road-to-vehicle communication apparatus.

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

FIG. 1 is a schematic configuration diagram of a road-to-vehicle communication system according to an embodiment of the present invention. FIG. 2 is a schematic plan view of the road to which the road-to-vehicle communication system is applied.

The road-to-vehicle communication system 100 according to the present embodiment includes a detection device 10 and an information processing device 20.

The detection device 10 can detect the position information (latitude, longitude) and size information (width, length, height) of an object (running vehicle, stopped vehicle, person, object) existing on the road 30. Has a good sensor. The sensor typically includes an image sensor such as a camera, a range-finding sensor such as a millimeter-wave sensor, or LiDAR (Light Detection and Ranging) in which an image sensor and a range-finding sensor are combined.

The detection device 10 can detect the position information (latitude, longitude) and size information (width, length, height) of an object (running vehicle, stopped vehicle, person, object) existing on the road 30. It is installed in a suitable position. Typically, the detection device 10 is installed on the road side of the road 30 (particularly, a place where stopped vehicles frequently occur). The detection device 10 is installed, for example, on the upper part of the pole 11. The number of detection devices 10 may be one. Alternatively, a plurality of detection devices 10 may be arranged at regular intervals, for example, at intervals of installation of lighting devices (street lights). The detection range 10A of one detection device 10 and the detection range 10A of the adjacent detection device 10 are continuous. For example, a plurality of detection devices 10 having a detection range 10A having a radius of 20 m are arranged at regular intervals of 40 m. Thereby, a plurality of continuous detection devices 10 can detect an object existing on the road 30 over the traveling direction of the road 30.

The detection device 10 detects one or more vehicles V1 (first vehicle) that stop on the road 30 and generates vehicle information (hereinafter, also referred to as first vehicle information) regarding the vehicle V1. The first vehicle information includes the position information (latitude, longitude) and size information (width, length, height) of the vehicle V1. The size of the vehicle V1 is typically a vehicle width, and it is preferable to be able to distinguish between a large vehicle, an ordinary vehicle, a motorcycle, and the like. The method for determining the size of the vehicle V1 is not particularly limited, and any information obtained by analyzing the output of the sensor may be used. For example, when the sensor includes a camera, the size of the vehicle may be determined by reading the license plate of the vehicle V1 or performing image processing on the output of the camera.

The detection device 10 generates peripheral information indicating an object existing around the vehicle V1 on the road 30. Peripheral information includes the type of object (person, object, etc.), the position of the object, the size of the object, and the like.

The detection device 10 periodically (for example, at 1-second intervals) transmits the generated first vehicle information and peripheral information to the information processing device 20. The transmission method is not particularly limited, and may be wired communication or wireless communication.

The first vehicle information includes information about one vehicle. For example, when there is a vehicle following the vehicle V1, the detection device 10 generates vehicle information regarding the vehicle V1 and vehicle information regarding the vehicle following the vehicle V1 as separate first vehicle information, and also provides information individually. It is transmitted to the processing device 20.

The information processing device 20 is a road-to-vehicle communication device capable of communicating with one or more vehicles V2 (second vehicle) traveling on the road 30 by automatic driving. The vehicle V2 has an on-board unit capable of communicating with the information processing device 20. For example, the information processing apparatus 20 transmits information to the vehicle V2 by short-range wireless communication (for example, LTE (Long Term Evolution)).

One or more vehicles V2 travel on the road 30 by automatic driving in the direction approaching the vehicle V1 (arrow A1). The vehicle V2 autonomously controls the traveling of the vehicle V2 based on the surrounding environment information acquired by the vehicle-mounted sensor, GPS (Global Positioning System) information, and the like. The vehicle V2 typically travels in the lane 30A where the vehicle V1 is stopped (FIG. 2). Alternatively, the vehicle V2 may travel in a lane in the same direction as the lane 30A in which the vehicle V1 is stopped (not shown). Alternatively, the vehicle V2 may travel in the oncoming lane 30B with respect to the lane 30A in which the vehicle V1 is stopped, in which the median strip does not exist.

FIG. 3 is a block diagram showing the configuration of the information processing apparatus 20.

The information processing device 20 includes a first receiving unit 21, a second receiving unit 22, a control unit 23, and a storage unit 24.

The first receiving unit 21 receives from the detection device 10 the first vehicle information about the vehicle V1 and the peripheral information indicating an object existing in the vicinity of the vehicle V1 by wired or wireless communication.

The second receiving unit 22 receives vehicle information (hereinafter, also referred to as second vehicle information) including the position information of the vehicle V2 from the vehicle V2. The second receiving unit 22 receives the vehicle information transmitted from the vehicle V2 via an optical beacon or the like (not shown). Instead of this, the second receiving unit 22 may be configured to receive the vehicle information transmitted from the vehicle V2 via the base station 50, as shown in FIG.

For the information related to the position information (latitude, longitude) of the vehicle V2, for example, GPS information regarding the vehicle V2 can be referred to. The second vehicle information may include information regarding the size (vehicle width, etc.) of the vehicle V2. The second receiving unit 22 acquires vehicle information transmitted from the vehicle V2 traveling on the road 30 by automatic driving in the direction approaching the vehicle V1 (arrow A1) as the second vehicle information. Therefore, the vehicle information transmitted from the vehicle V2 moving away from the vehicle V1 (arrow A2) is not treated as the second vehicle information here.

The control unit 23 is a computer including a CPU (Central Processing Unit) and the like, and executes various functions described later by executing a program stored in the storage unit 24. The control unit 23 has a determination unit 231 and an output unit 232 as its functional block.

The determination unit 231 determines whether or not the vehicle V2 can avoid the vehicle V1 and continue the automatic driving based on the first vehicle information and the peripheral information regarding the vehicle V1.

When the determination unit 231 determines that the vehicle V2 can avoid the vehicle V1 and continue the automatic driving, the output unit 232 can avoid the vehicle V1 and continue the automatic driving with respect to the vehicle V2. The avoidance notification indicating is output by short-range wireless communication.

The storage unit 24 is a storage device such as an HDD (Hard Disk Drive), an SSD (Solid State Drive), or a semiconductor memory. The storage unit 24 stores a program that causes the control unit 23 to function as the determination unit 231 and the output unit 232.

FIG. 4 is a flowchart showing an example of a processing procedure executed by the control unit 23 of the information processing apparatus 20.

The detection device 10 continues to monitor the detection range 10A and detects the vehicle V1 and the object existing in the detection range 10A. The detection device 10 continues to periodically (for example, at 1-second intervals) transmit vehicle information (first vehicle information) regarding the detected vehicle V1 and peripheral information indicating an object to the information processing device 20. The first vehicle information includes the position information (latitude, longitude) and size information (width, length, height) of the vehicle V1. Peripheral information includes the type of object (person, object, etc.), the position of the object, the size of the object, and the like.

The information processing device 20 periodically obtains vehicle information (first vehicle information) regarding the vehicle V1 and peripheral information indicating an object existing in the vicinity of the vehicle V1 from the detection device 10 via the first receiving unit 21. (For example, at 1-second intervals).

The determination unit 231 of the information processing apparatus 20 detects that the vehicle V1 exists in the detection range 10A on the road 30 based on the first vehicle information received from the information processing apparatus 20 (step S101).

The determination unit 231 of the information processing apparatus 20 determines whether or not the position information included in the received first vehicle information has changed from the position information included in the first vehicle information received immediately before. When the determination unit 231 detects that the position information included in the received first vehicle information has changed from the position information included in the first vehicle information received immediately before, the vehicle V1 moves (typically). It is determined that the vehicle is running (step S102, NO). On the other hand, the determination unit 231 determines that the vehicle V1 is stopped if the position information included in the received first vehicle information does not change from the position information included in the first vehicle information received immediately before. (Step S102, YES).

When the determination unit 231 of the information processing apparatus 20 determines that the vehicle V1 is stopped (step S102, YES), the determination unit 231 reads out the peripheral information received from the information processing apparatus 20 (step S103).

The determination unit 231 of the information processing device 20 determines whether or not a traffic light exists on the road 30 in or near the detection range 10A of the detection device 10 (step S104). For example, when the information processing device 20 collects the first vehicle information and peripheral information from a plurality of detection devices 10, the information processing device 20 has a list of detection devices 10 having a signal in the vicinity in advance. Then, when the information processing device 20 receives the first vehicle information and the peripheral information, if the detection device 10 which is the transmission source is included in the list, the information processing device 20 determines that the signal is present in the vicinity of the detection device 10. good. Alternatively, when the information processing device 20 collects the first vehicle information and peripheral information from one detection device 10, the information processing device 20 knows in advance whether or not a signal is present in the vicinity of the detection device 10. You just have to.

The determination unit 231 of the information processing device 20 stops the vehicle longer than the first time (predetermined time) when the traffic light is present on the road 30 in or near the detection range 10A of the detection device 10 (step S104, YES). It is determined whether or not the information is being processed (step S105). The first time corresponds to the duration of the red light, for example, 60 seconds or more. The length of the first time may be the same as the length of the red signal duration of the traffic light existing in the vicinity of the detection device 10, or the typical red light duration (60 seconds) regardless of the individual traffic light. Etc.) may be the length.

When the determination unit 231 of the information processing apparatus 20 determines that the stop time of the vehicle V1 is equal to or less than the first time (corresponding to the duration of the red light), the vehicle V1 is stopped or another because it is waiting for the red light. (Step S105, NO). On the other hand, when the determination unit 231 determines that the vehicle V1 has stopped for a longer time than the first time (corresponding to the duration of the red light), the vehicle V1 is parked on the road instead of waiting for the red light or pausing. It is determined that there is a possibility (step S105, YES).

On the other hand, in the determination unit 231 of the information processing device 20, when the traffic light does not exist on the road 30 in or near the detection range 10A of the detection device 10 (step S104, NO), the vehicle starts from the second time (predetermined time). It is determined whether or not the vehicle has been stopped for a long time (step S106). The second time is typically shorter than the first time (corresponding to the duration of the red light), for example less than 60 seconds. If there is a traffic light in the vicinity of the detection device 10, there is a reason for the vehicle V1 to stop (waiting for a red light), but if there is no traffic light in the vicinity of the detection device 10, the reason for the vehicle V1 to stop is basically. There is no. Therefore, since it is assumed that the vehicle V1 basically does not stop, the second time may be shorter than the first time (corresponding to the duration of the red light). If there is a traffic sign such as a stop sign on the detection range 10A of the detection device 10 or the road 30 in the vicinity thereof, the second time may be at least 10 seconds (corresponding to the stop time). ..

When the determination unit 231 of the information processing apparatus 20 determines that the stop time of the vehicle V1 is equal to or less than the second time (shorter than the first time), it determines that the vehicle V1 is temporarily stopped for some reason. (Step S106, NO). On the other hand, when the determination unit 231 determines that the vehicle V1 has stopped for a longer time than the second time, it determines that the vehicle V1 may be parked on the road instead of being temporarily stopped (step S106, YES). ..

The case where the determination unit 231 of the information processing apparatus 20 determines that the vehicle V1 is waiting for a red light or is temporarily stopped (the stop time of the vehicle V1 is a predetermined time or less) will be described (step S105 or S106, NO). In this case, the vehicle V2 traveling on the road 30 in the direction approaching the vehicle V1 by automatic driving may autonomously control the traveling of the vehicle V2. In other words, the vehicle V2 determines that the vehicle V1 is waiting for a red light or is temporarily stopped based on the surrounding environment information acquired by the in-vehicle sensor, and autonomously controls the running of the vehicle V2 by automatic driving. You can switch from automatic operation to non-automatic operation (manual operation). The control conforms to the automatic driving system mounted on each vehicle V2. Therefore, when the determination unit 231 of the information processing apparatus 20 determines that the vehicle V1 is waiting for a red light or is temporarily stopped, the output unit 232 does not have to output a special notification to the vehicle V2.

On the other hand, the case where the determination unit 231 of the information processing apparatus 20 determines that the vehicle V1 may be parked on the road (the stop time of the vehicle V1 is longer than a predetermined time) will be described (step S105 or S106, YES). ). In this case, the determination unit 231 can continue the automatic driving by avoiding the stopped vehicle V1 by the vehicle V2 traveling on the road 30 in the direction approaching the vehicle V1 by the automatic driving based on the peripheral information (step S103). It is determined whether or not it is. Peripheral information includes the type of object (person, object, etc.), the position of the object, the size of the object, and the like.

On the other hand, the determination unit 231 of the information processing apparatus 20 determines whether or not there are a predetermined number or more of other stopped vehicles around the vehicle V1 on the road 30 based on the peripheral information (step S109). .. For example, the determination unit 231 determines whether or not there are a predetermined number (for example, two) or more of vehicles in addition to the vehicle V1 based on the peripheral information. If the determination unit 231 determines that there are two or more vehicles (three or more in total) in addition to the vehicle V1, the vehicle V1 is determined to be involved in a line waiting for a red light or a line of traffic jams. Step S109, NO). On the other hand, when the determination unit 231 determines that there is no vehicle other than the vehicle V1 or only one vehicle (two vehicles in total), the vehicle V1 is not involved in the line waiting for the red light or the line of traffic jam. Determination (step S109, YES).

In this case (step S109, YES), the determination unit 231 of the information processing apparatus 20 determines whether or not a person exists in the vicinity of the vehicle V1 on the road 30 based on the peripheral information (step S110). The person includes a driver or a passenger of the vehicle V1, a pedestrian unrelated to the vehicle V1, a person riding a bicycle or a wheelchair, and the like.

Further, the determination unit 231 of the information processing apparatus 20 determines whether or not an object having a predetermined size or larger exists in the vicinity of the vehicle V1 on the road 30 based on the peripheral information (step S111). The "predetermined size" is typically a size that can be a threshold value for whether or not the vehicle V2 traveling on the road 30 in the direction approaching the vehicle V1 by automatic driving can be safely avoided by automatic driving.

The determination unit 231 of the information processing apparatus 20 determines that there are no more than a predetermined number of other stopped vehicles in the vicinity of the vehicle V1 on the road 30 based on the peripheral information (step S109, YES), and a person It is determined that it does not exist (step S110, NO), and it is determined that an object of a predetermined size or larger does not exist (step S111, NO). In this case, the vehicle V1 may be parked on the road (step S105 or S106, NO), and there is no obstacle around the vehicle V1. Therefore, the determination unit 231 determines that the vehicle V2 can avoid the vehicle V1 (arrow A2 in FIG. 2) and safely continue the automatic driving (step S112). Conversely, the determination unit 231 determines that it is not necessary for the vehicle V2 to stop the automatic driving and switch to the non-automatic driving (manual driving).

The information processing apparatus 20 periodically (for example, at 1-second intervals) acquires the second vehicle information transmitted from the vehicle V2 via the second receiving unit 22. The second vehicle information includes the position information (latitude, longitude) of the vehicle V2. The determination unit 231 of the information processing device 20 determines that the determination unit 231 of the information processing device 20 automatically drives on the road 30 in the direction in which the vehicle V2 approaches the vehicle V1 based on the position information of the second vehicle information. judge. The output unit 232 of the information processing apparatus 20 outputs an avoidance notification indicating that the automatic driving can be continued by avoiding the vehicle V1 to the vehicle V2 by short-range wireless communication (step S113). The avoidance notification includes the position information of the vehicle V1 and the size information of the vehicle V1. The size information of the vehicle V1 is typically a vehicle width, and may include a vehicle type such as a large vehicle, an ordinary vehicle, or a motorcycle. The determination unit 231 of the information processing apparatus 20 does not output an avoidance notification unless it determines (detects) the vehicle V2 traveling on the road 30 by automatic driving in the direction approaching the vehicle V1.

The vehicle V2 traveling on the road 30 by automatic driving in the direction approaching the vehicle V1 receives an avoidance notification from the information processing device 20 by short-range wireless communication. As a result, the vehicle V2 can avoid the stopped vehicle V1 and continue the traveling by the automatic driving without stopping the automatic driving and switching to the non-automatic driving (manual driving).

On the other hand, the determination unit 231 of the information processing apparatus 20 determines that there are a predetermined number or more of other stopped vehicles around the vehicle V1 on the road 30 based on the peripheral information (step S109, NO), and a person. Is determined to exist (step S110, YES), and / or it is determined that an object of a predetermined size or larger exists (step S111, YES). In this case, the vehicle V1 may be parked on the road (step S105 or S106, NO), and there is an obstacle around the vehicle V1. Therefore, the determination unit 231 may determine that the vehicle V2 may not be able to safely drive automatically by avoiding the vehicle V1 and should stop the automatic driving (step S114). Conversely, the determination unit 231 determines that it is highly necessary for the vehicle V2 to stop the automatic driving and switch to the non-automatic driving (manual driving).

The output unit 232 of the information processing apparatus 20 outputs a stop notification to the vehicle V2 by short-range wireless communication indicating that the automatic driving should be stopped while avoiding the vehicle V1 (step S115). The avoidance notification includes the position information of the vehicle V1 and the size information of the vehicle V1. The size information of the vehicle V1 is typically a vehicle width, and may include a vehicle type such as a large vehicle, an ordinary vehicle, or a motorcycle. The determination unit 231 of the information processing apparatus 20 does not output a stop notification unless it determines (detects) the vehicle V2 traveling on the road 30 by automatic driving in the direction approaching the vehicle V1.

By the way, the avoidance notification should be positively output to the vehicle V2, but the necessity and demand for outputting the stop notification to the vehicle V2 are relatively low. Explain the reason.

First, the stop notification will be described. The vehicle V2, which automatically drives on the road 30 in the direction approaching the vehicle V1, autonomously controls the traveling of the vehicle V2. Therefore, the vehicle V2 can determine that the vehicle V1 is stopped and that there is an obstacle around the vehicle V1 based on the surrounding environment information acquired by the vehicle-mounted sensor. In this case, the vehicle V2 can autonomously switch from automatic driving to non-automatic driving (manual driving) without receiving a stop notification from the information processing device 20. The control conforms to the automatic driving system mounted on each vehicle V2. Therefore, when the determination unit 231 of the information processing device 20 determines that the vehicle V1 may be parked on the road and there is an obstacle around the vehicle V1 (step S114), the output unit 232 determines. It is not necessary to output the stop notification to the vehicle V2. On the other hand, by receiving the stop notification from the information processing device 20, the vehicle V2 reliably stops the automatic driving regardless of the automatic driving system mounted on each vehicle V2, so that the safety of the vehicle V2 can be enhanced. can.

Next, the avoidance notification will be described. The vehicle V2, which automatically drives on the road 30 in the direction approaching the vehicle V1, autonomously controls the traveling of the vehicle V2. The vehicle V2 determines that the vehicle V1 is stopped based on the surrounding environment information acquired by the vehicle-mounted sensor. At this time, the vehicle V2 does not determine the length of the stop time (temporary stop or parking on the road), and does not determine that there is no obstacle around the vehicle V1. Therefore, the vehicle V2 autonomously switches from automatic driving to non-automatic driving (manual driving) whenever the vehicle V1 is stopped. However, when the vehicle V1 is stopped (parked on the road) and there is no obstacle around the vehicle V1, the vehicle V2 can avoid the vehicle V1 and continue the automatic driving safely. .. Therefore, when the determination unit 231 of the information processing device 20 determines that the vehicle V1 may be parked on the road and there is no obstacle around the vehicle V1 (step S112), the output unit 232 Actively outputs an avoidance notification to the vehicle V2 to support the automatic driving of the vehicle V2. As a result, the vehicle V2 can avoid the stopped vehicle V1 and continue the traveling by the automatic driving without stopping the automatic driving and switching to the non-automatic driving (manual driving).

(1) As described above, according to the present embodiment, the road-to-vehicle communication device 20 has position information of the vehicle V1 stopped on the road 30 from the detection device 10 capable of detecting an object existing on the road 30. The first receiving unit 21 that periodically receives the first vehicle information including the vehicle information and the peripheral information indicating an object existing around the vehicle V1 on the road 30, and the road 30 in a direction approaching the vehicle V1. It has a second receiving unit 22, a determination unit 231 and an output unit 232, which periodically receive the second vehicle information including the position information of the vehicle V2 traveling on the vehicle by automatic driving. The determination unit 231 determines whether or not the vehicle V1 has stopped for a predetermined time based on the first vehicle information, and if it determines that the vehicle V1 has stopped for a longer time than a predetermined time, the determination unit 231 determines based on the peripheral information. , It is determined whether or not the vehicle V2 can avoid the vehicle V1 and continue the automatic driving. When the determination unit 231 determines that the vehicle V2 can avoid the vehicle V1 and continue the automatic driving, the output unit 232 determines that the vehicle V2 can avoid the vehicle V1 and continue the automatic driving. Outputs the avoidance notification shown.

When the vehicle V1 may be parked on the road (step S105 or S106, NO), the determination unit 231 allows the vehicle V2 to avoid the vehicle V1 (arrow A2 in FIG. 2) and safely continue automatic driving. (Step S112). Conversely, the determination unit 231 determines that it is not necessary for the vehicle V2 to stop the automatic driving and switch to the non-automatic driving (manual driving). The output unit 232 outputs an avoidance notification to the vehicle V2 indicating that the vehicle V1 can be avoided and the automatic driving can be continued (step S113). As a result, the vehicle V2 stops the automatic driving and is not. It is possible to avoid the stopped vehicle V1 and continue driving by automatic driving without switching to automatic driving (manual driving).

(2) When the traffic light is present on the road 30 in or near the detection range of the detection device 10, the determination unit 231 stops the vehicle V1 for a predetermined time longer than the first time corresponding to the duration of the red light. If there is no traffic light on the road 30 in or near the detection range of the detection device 10, whether the vehicle V1 has stopped for a predetermined time longer than the second time, which is shorter than the first time. Judge whether or not.

If there is a traffic light in the vicinity of the detection device 10, there is a reason for the vehicle V1 to stop (waiting for a red light), but if there is no traffic light in the vicinity of the detection device 10, the reason for the vehicle V1 to stop is basically. There is no. Therefore, the determination unit 231 changes the threshold value for determining whether the vehicle V1 is on the road or simply stopped depending on whether the traffic light is present or not. As a result, the determination unit 231 can appropriately determine whether the vehicle V1 is on the road or simply stopped, depending on the presence or absence of the traffic light.

(3) When the determination unit 231 determines that the vehicle V1 has stopped for a longer time than a predetermined time, another stopped vehicle of a predetermined number or more around the vehicle V1 on the road 30 based on the surrounding information. If it is determined that there is no person or an object of a predetermined size or larger, it is determined that the vehicle V2 can avoid the vehicle V1 and continue the automatic driving.

According to the present embodiment, the determination unit 231 can safely continue automatic driving by avoiding the vehicle V1 (arrow A2 in FIG. 2) when the vehicle V2 avoids the vehicle V1 when there is no obstacle in the vicinity of the vehicle V1 on the road 30. Is determined to be. As a result, the information processing apparatus 20 not only determines that the vehicle V1 may be parked on the road (step S105 or S106, NO), but also determines that there is no obstacle in the vicinity of the vehicle V1. After that, it is determined that the vehicle V2 avoids the vehicle V1 (arrow A2 in FIG. 2) and can safely continue the automatic driving. As a result, the determination unit 231 can determine that the vehicle V2 can continue the automatic driving more appropriately and safely.

(4) The avoidance notification includes the position information of the vehicle V1.

Since the vehicle V2 acquires the position information of the vehicle V1, the stopped vehicle V1 can be avoided more safely.

(5) The first vehicle information includes the size information of the vehicle V1, and the avoidance notification includes the size information of the vehicle V1.

The size information of the vehicle V1 is typically a vehicle width, and may include a vehicle type such as a large vehicle, an ordinary vehicle, or a motorcycle. Since the vehicle V2 acquires the size information (vehicle width, vehicle type) of the vehicle V1, the stopped vehicle V1 can be avoided more safely.

(6) When the determination unit 231 determines that the vehicle V1 has stopped for a longer time than a predetermined time, another stopped vehicle of a predetermined number or more around the vehicle V1 on the road 30 based on the surrounding information. If it is determined that a person and / or an object of a predetermined size or larger is present, it is determined that the vehicle V2 should stop the automatic driving.

According to the present embodiment, the determination unit 231 determines that the vehicle V2 cannot safely continue the automatic driving by avoiding the vehicle V1 when there is an obstacle in the vicinity of the vehicle V1 on the road 30. As a result, when the information processing apparatus 20 determines that an obstacle exists in the vicinity of the vehicle V1, the vehicle V2 may use the vehicle V1 even if the vehicle V1 may be parked on the road (step S105 or S106, NO). It is determined that the automatic operation should be stopped because there is a possibility that the automatic operation cannot be safely avoided (step S114). As a result, the determination unit 231 can enhance the safety when the vehicle V2 determines that the automatic driving can be continued.

(7) When the determination unit 231 determines that the vehicle V2 should stop the automatic driving, the output unit 232 outputs a stop notification to the vehicle V2 indicating that the automatic driving should be stopped.

As a result, the vehicle V2 receives the stop notification from the information processing device 20 to reliably stop the automatic driving regardless of the automatic driving system mounted on each vehicle V2, thereby enhancing the safety of the vehicle V2. Can be done.

(8) The vehicle V2 has a lane in which the vehicle V1 is stopped, a lane in the same direction as the lane in which the vehicle V1 is stopped, or an oncoming lane with respect to the lane in which the vehicle V1 is stopped. Drive by automatic driving.

As a result, regardless of the positional relationship of the vehicle V2 with respect to the vehicle V1, the vehicle V2 avoids the stopped vehicle V1 and travels by automatic driving without stopping the automatic driving and switching to the non-automatic driving (manual driving). Can be continued.

Although each embodiment and each modification of the present technology have been described above, the present technology is not limited to the above-described embodiment, and various changes may be made without departing from the gist of the present technology. Of course.

10 ... Detection device 20 ... Information processing device (road-to-vehicle communication device)
21 ... 1st receiving unit 22 ... 2nd receiving unit 23 ... Control unit 24 ... Storage unit 30 ... Road 100 ... Road-to-vehicle communication system 231 ... Judgment unit 232 ... Output unit V1, V2 ... Vehicle

Claims (11)

From the detection device capable of detecting an object existing on the road, the first vehicle information including the position information of the first vehicle stopped on the road and the vicinity of the first vehicle on the road are present. Peripheral information indicating an object, a first receiver that periodically receives, and
A second receiving unit that periodically receives second vehicle information including the position information of the second vehicle traveling on the road in the direction approaching the first vehicle by automatic driving.
Based on the first vehicle information, it is determined whether or not the first vehicle has stopped for a longer time than a predetermined time.
If it is determined that the first vehicle has stopped for a longer time than a predetermined time, whether or not the second vehicle can avoid the first vehicle and continue the automatic driving based on the peripheral information. Judgment unit to determine whether
When the determination unit determines that the second vehicle can avoid the first vehicle and continue the automatic driving, the second vehicle avoids the first vehicle and the first vehicle is avoided. A road-to-vehicle communication device including an output unit that outputs an avoidance notification indicating that automatic driving can be continued. The road-to-vehicle communication device according to claim 1.
The determination unit
When a traffic light is present on the road in or near the detection range of the detection device, whether or not the first vehicle has stopped for a longer time than the first time corresponding to the duration of the red light as the predetermined time. Judging,
If there is no traffic light on the road in or near the detection range of the detection device, whether or not the first vehicle has stopped for a longer time than the second time, which is shorter than the first time, as the predetermined time. Road-to-vehicle communication device to judge. The road-to-vehicle communication device according to claim 1 or 2.
The determination unit
When it is determined that the first vehicle is stopped for a longer time than a predetermined time, a predetermined number or more of other stopped vehicles and people are around the first vehicle on the road based on the peripheral information. A road-to-vehicle communication device that determines that the second vehicle can avoid the first vehicle and continue the automatic driving when it is determined that an object having a predetermined size or larger does not exist. The road-to-vehicle communication device according to any one of claims 1 to 3.
The avoidance notification is a road-to-vehicle communication device including the position information of the first vehicle. The road-to-vehicle communication device according to any one of claims 1 to 4.
The first vehicle information includes the size information of the first vehicle.
The avoidance notification is a road-to-vehicle communication device including the size information of the first vehicle. The road-to-vehicle communication device according to any one of claims 1 to 5.
The determination unit
When it is determined that the first vehicle is stopped for a longer time than a predetermined time, a predetermined number or more of other stopped vehicles and people are around the first vehicle on the road based on the peripheral information. And / or a road-to-vehicle communication device that determines that the second vehicle should stop the automatic driving when it is determined that an object of a predetermined size or larger is present. The road-to-vehicle communication device according to claim 6.
The output unit is
When the determination unit determines that the second vehicle should stop the automatic driving, it outputs a stop notification to the second vehicle indicating that the automatic driving should be stopped. Road-to-vehicle communication. Device. The road-to-vehicle communication device according to any one of claims 1 to 7.
The second vehicle is
The lane in which the first vehicle is stopped,
A road-to-vehicle communication device that automatically drives in an oncoming lane with respect to the lane in which the first vehicle is stopped, in which there is no lane in the same direction or a median strip different from the lane in which the first vehicle is stopped. From the detection device capable of detecting an object existing on the road, the first vehicle information including the position information of the first vehicle stopped on the road and the vicinity of the first vehicle on the road are present. Periodically receive peripheral information indicating the object,
The second vehicle information including the position information of the second vehicle traveling on the road by automatic driving in the direction approaching the first vehicle is periodically received.
Based on the first vehicle information, it is determined whether or not the first vehicle has stopped for a longer time than a predetermined time.
If it is determined that the first vehicle has stopped for a longer time than a predetermined time, whether or not the second vehicle can avoid the first vehicle and continue the automatic driving based on the peripheral information. Judging whether
When the determination unit determines that the second vehicle can avoid the first vehicle and continue the automatic driving, the second vehicle avoids the first vehicle and the first vehicle is avoided. A road-to-vehicle communication method that outputs an avoidance notification indicating that autonomous driving can be continued. From the detection device capable of detecting an object existing on the road, the first vehicle information including the position information of the first vehicle stopped on the road and the vicinity of the first vehicle on the road are present. Peripheral information indicating an object, a first receiver that periodically receives, and
A second receiving unit that periodically receives second vehicle information including the position information of the second vehicle traveling on the road in the direction approaching the first vehicle by automatic driving.
The control unit of the road-to-vehicle communication device having the control unit,
Based on the first vehicle information, it is determined whether or not the first vehicle has stopped for a longer time than a predetermined time.
If it is determined that the first vehicle has stopped for a longer time than a predetermined time, whether or not the second vehicle can avoid the first vehicle and continue the automatic driving based on the peripheral information. Judgment unit to determine whether
When the determination unit determines that the second vehicle can avoid the first vehicle and continue the automatic driving, the second vehicle avoids the first vehicle and the first vehicle is avoided. A road-to-vehicle communication program that operates as an output unit that outputs an avoidance notification indicating that autonomous driving can be continued. A detector that can detect objects on the road,
From the detection device, first vehicle information including the position information of the first vehicle stopped on the road and peripheral information indicating an object existing around the first vehicle on the road are periodically generated. First receiver to receive
A second receiving unit that periodically receives second vehicle information including the position information of the second vehicle traveling on the road in the direction approaching the first vehicle by automatic driving.
Based on the first vehicle information, it is determined whether or not the first vehicle has stopped for a longer time than a predetermined time.
If it is determined that the first vehicle has stopped for a longer time than a predetermined time, whether or not the second vehicle can avoid the first vehicle and continue the automatic driving based on the peripheral information. Judgment unit to determine whether
When the determination unit determines that the second vehicle can avoid the first vehicle and continue the automatic driving, the second vehicle avoids the first vehicle and the first vehicle is avoided. A road-to-vehicle communication system including a road-to-vehicle communication device having an output unit that outputs an avoidance notification indicating that automatic driving can be continued.

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