JP2022083123A - Confluence support device, confluence support method, and confluence support program - Google Patents

Abstract

To appropriately control displaying of availability of a confluence of confluence vehicle in a stopping state.SOLUTION: A confluence support device includes a time information string generation section, an arrival time setting section, an extension setting section, a margin setting section, a start time securing section, an attention setting section, a preparation setting section, and a display information generation section. The time information string generation section generates a time information string with time information arrayed therein. The arrival time setting section estimates a time when a main lane vehicle arrives at a confluence part so as to set time information to no-starting. The extension setting section sets time information after the time information set to no-starting to no-starting. The margin setting section sets time information before the time information set to no-starting to no-starting. The start time securing section sets a period between the time information set to no-starting to no-starting when the period between the time information set to no-starting is short. The attention setting section sets time information of start-allowing before the time information of no-starting to attention. The preparation setting section sets time information of no-starting before the time information of start-allowing to preparation.SELECTED DRAWING: Figure 1

Description

The present invention relates to a merging support device, a merging support method, and a merging support program that displays whether or not a merging vehicle in a stopped state can join the main road.

The techniques described in Patent Document 1 are known as conventional techniques for supporting merging on roads. The applicant of the present application is also involved in the development of the technique shown in Non-Patent Document 1, and the technique related to the merging support indicating whether or not the construction truck loaded with earth and sand can be merged on the Tomei Expressway is disclosed. ..

Japanese Unexamined Patent Publication No. 2020-060839

Masatsugu Sano, "Introduction of Truck Management System-Case on Tomei Expressway-", Monthly "Foundation", General Civil Engineering Research Institute Co., Ltd., January 2019, pp80-83.

The technique of Patent Document 1 is the merging of general vehicles, and it is shown that the driver of the merging vehicle can visually recognize the guidance information notifying the condition of the merging road (paragraph 008 of Patent Document 1, 0086 etc.). However, it is not a technique related to the merging of merging vehicles such as trucks that are waiting for the merging timing in a stopped state. In particular, the acceleration of construction trucks loaded with earth and sand is small, and the maximum speed is also low. When a merging vehicle such as a construction truck waiting for the merging timing in such a stopped state joins a road on which a general vehicle passes, there is a danger different from the merging of general vehicles. For example, if a low-speed truck merges in front of a general vehicle that exceeds the speed limit, the general vehicle may need to brake suddenly or change lanes suddenly. Such a situation can cause an accident. Non-Patent Document 1 introduces a technique for supporting the merging of trucks loaded with earth and sand. However, the specific content is not shown.
It is an object of the present invention to be able to appropriately control the display of whether or not a stopped merging vehicle can join the main road.

The merging support device of the present invention acquires vehicle speed information, which is information on the speed of a main line vehicle passing through a plurality of predetermined points on a main road upstream of a merging portion, and is a main line of a stopped merging vehicle. Outputs display information that indicates whether or not the vehicle can join the road. The merging support device of the present invention includes a time information string generation unit, an arrival time setting unit, an extension setting unit, a margin setting unit, a start time securing unit, a caution setting unit, a preparation setting unit, and a display information generation unit. The time information column generation unit divides the time for each predetermined time, sets the time information which is the information for each divided time to be startable, and generates the time information string in which the time information is arranged. Each time the arrival time setting unit acquires vehicle speed information, it estimates the time when the main line vehicle arrives at the confluence based on the acquired vehicle speed information, and makes it impossible to start the time information corresponding to the estimated arrival time. Set. The extension setting unit sets the first predetermined number of time information after the time information set by the arrival time setting unit to be non-startable. The margin setting unit sets the second predetermined number of time information before the time information set by the arrival time setting unit to be non-startable. After the processing of the extension setting unit and the margin setting unit, the start time securing unit is the time information on which the vehicle cannot be started when the number of time information on which the vehicle can be started is less than the third predetermined number between the time information on which the vehicle cannot be started. Set the time information between each other so that they cannot start. The caution setting unit carefully sets the fourth predetermined number of startable time information before the start impossible time information after the process of the start time securing unit. After the process of the start time securing unit, the preparation setting unit sets the fifth predetermined number of non-startable time information before the startable time information to the preparation. The display information generation unit generates display information for displaying whether or not the merging is possible based on the time and time information sequence in which the merging vehicle reaches the merging unit after starting.

According to the merging support device of the present invention, it is possible to appropriately control the display of whether or not the merging vehicle in the stopped state can join the main road, so that it is possible to support the merging vehicle so as to have a reasonable merging.

The figure which shows the configuration example of the merging support system. The figure which shows the processing flow of the merging support method. The figure which shows the example of the time information column. The figure which shows another example of the time information column. The figure which shows the functional configuration example of a computer.

Hereinafter, embodiments of the present invention will be described in detail. The components having the same function are given the same number, and duplicate explanations are omitted.

FIG. 1 shows a configuration example of the merging support system of the present invention. The merging support system 10 includes a merging support device 100, a measuring device 210, and a display device 290. The measuring device 210 acquires vehicle speed information, which is information on the speed of a main line vehicle passing through a plurality of predetermined points on the main road on the upstream side of the confluence. The "main road" is a road on which ordinary vehicles are traveling, and the "main road vehicle" is a vehicle traveling on the main road. For example, if three cameras are arranged, four points are set for each camera, and the speed of a main line vehicle passing through the points is measured, vehicle speed information can be acquired at 12 points. If there are multiple lanes on the main road, you can select multiple predetermined points from the lane where the merging vehicles such as trucks meet (usually the leftmost lane in Japan). Further, for example, when trying to estimate the arrival of a main line vehicle at a speed of 72 km / h (20 m / s per second) 30 seconds before, the upstream side of 600 m from the confluence should be one of the predetermined points. Just do it. Similarly, when trying to estimate the arrival of the main line vehicle at 108 km / h (30 m / s) 30 seconds before the confluence, 900 m upstream of the confluence may be set as one of the predetermined points. .. When arranging three cameras as described above, for example, a camera for detecting a high-speed main line vehicle is arranged so as to be able to measure 800 to 1000 m upstream from the confluence, and a medium-speed main line vehicle is detected. The camera for detecting a low-speed main line vehicle may be arranged so as to be able to measure 650 to 800 m upstream from the confluence, and the camera for detecting a low-speed main line vehicle may be arranged so as to be able to measure 500 to 650 m upstream from the confluence. The measuring device 210 may also acquire information on the merging portion, which is information on the speed of the main line vehicle passing through the merging portion. If the merging part information is also acquired, it is possible to make a more accurate judgment in determining whether or not the merging part is congested.

The display device 290 displays whether or not the merging vehicle in the stopped state can join the main road in the vicinity of the merging portion. The “near the merging part” includes the position where the merging vehicle temporarily stops (outside the main road). For example, a device such as a traffic light may be used, and a display method, a color, or the like may be appropriately selected according to the number of states to be displayed. The display device 290 may be arranged at a position where the driver of the merging vehicle can confirm it, or may be arranged at a position where the guard man who gives an instruction to start, stop, etc. to the driver of the merging vehicle can easily confirm. "Merge of a merging vehicle in a stopped state to the main road" means merging a merging vehicle such as a truck waiting for the timing of merging in a stopped state to the main road. The display shown on the display device 290 indicates the start timing at which the stopped merging vehicle can safely join at the merging portion. The display device 290 may further include a display unit (for example, a display board capable of displaying character information) for displaying the alert information at a position closer to the merging portion than the position where the merging vehicle temporarily stops. ..

The merging support device 100 acquires vehicle speed information, which is information on the speed of a main line vehicle passing through a plurality of predetermined points on the main road upstream of the merging portion, from the measuring device 210. Further, the merging support device 100 uses a display device 290 arranged near the position where the merging vehicle stops to display whether or not the merging vehicle in the stopped state can join the main road. As the "merging vehicle", the truck for construction work is assumed first, and it is particularly important to safely merge the truck loaded with earth and sand. However, if the vehicle is stopped and waiting for the timing of merging (especially when a vehicle slower than a typical vehicle merging), there are similar safety issues, so the "merging vehicle" is on the truck. It is not limited. For example, in the case of a light vehicle or a bus that is stopped and waiting for the timing of merging, it is considered that there is a similar safety problem. The merging support device 100 includes a vehicle speed information acquisition unit 105, a time information sequence generation unit 110, an arrival time setting unit 120, an extension setting unit 130, a margin setting unit 140, a start time securing unit 150, a caution setting unit 160, and a preparation setting unit. It includes 170, a display information generation unit 180, and a recording unit 190. The recording unit 190 records distances from a confluence unit of a plurality of predetermined points, a time information sequence described later, and the like. If the display device 290 also includes a display unit for displaying the alert information, the merging support unit 100 may further include an alert information generation unit 185. FIG. 2 shows a processing flow of the merging support method of the present invention executed by the merging support device 100.

The time information column generation unit 110 divides the time for each predetermined time, sets the time information 111 which is the information for each divided time to be startable, and generates the time information string 112 in which the time information 111 is arranged. (S110). FIG. 3 shows an example of a time information string. The "predetermined time" may be 1 second, 0.5 seconds, or any other time. The time information 111 is, for example, information for each time divided by dividing the time every second. The initial state of the time information 111 may be set to information indicating "start is possible". For example, if "0" is information indicating "start is possible", all time information 111 may be set to "0". The number on the left side of the time information column 112 is a number attached to the time information with the current time as 0. In FIG. 3, the current time is set to 0th, and the time information on the past side is shown in the negative order and the time information on the future side is shown in the positive order. In FIG. 3, the length of the time information string is not determined, but the length of the time information string may be fixed. For example, the past time information 111 is deleted every "predetermined time" described above. By adding the future time information 111, the same number of time information 111s may always be used as the time information column 112.

The "current time" in FIG. 3 is a time for indicating to the driver or guard man of the merging vehicle the start timing at which the merging vehicle can safely join. That is, the time information currently displayed by the display device 290 to the driver or guard man of the merging vehicle is defined as the "current time". In other words, the "current time" is the time considering the average value of the time from the start of the stopped merging vehicle to the arrival at the merging part (from the viewpoint of predicting the situation at the merging part, the merging). It is the time in the future for the time from the start of the vehicle to the arrival at the confluence). Therefore, it is appropriately determined in consideration of the acceleration of the merging vehicle, the speed at the time of merging, the distance from the stop position of the merging vehicle to the merging portion, and the like.

FIG. 4 is a diagram showing another example of the time information string. The time information on the side past the current time is deleted, and one time information string 112 is formed by 30 time information. (1) to (8) in the figure each show an example of the time information string 112. The number on the left side of the time information column 112 in (1) is a number attached to the time information with the current time as 0. The "current time" in FIG. 4 is also the time considering the average value of the time from the start of the stopped merging vehicle to the arrival at the merging part (from the viewpoint of predicting the situation at the merging part, the merging). It is the time in the future for the time from the start of the vehicle to the arrival at the confluence). The state indicated by the time information is indicated by a number surrounded by a square, "0" is "starting possible", "1" is "caution", "2" is "starting not possible", and "3" is "traffic jam". , "6" means "preparation". The time information string 112 in FIG. 4 (1) is an example of the time information string at the end of step S110.

The vehicle speed information acquisition unit 105 acquires vehicle speed information, which is information on the speed of a main line vehicle passing through a plurality of predetermined points on the main road upstream of the confluence unit, from the measuring device 210 (S105). The vehicle speed information acquisition unit 105 may communicate with the measuring device 210 at predetermined time intervals and acquire vehicle speed information when it is available, or the main line vehicle passing through a predetermined point by the measuring device 210. The vehicle speed information may be acquired when the vehicle speed is measured. Further, the vehicle speed information may also include vehicle identification information that identifies a vehicle on the main line. For example, when measuring a main line vehicle passing through four predetermined points from an image taken by one camera, the movement of the main line vehicle can be analyzed, so that the same main line vehicle passes through four predetermined points in sequence. It can be determined that it is. In such a case, the identifier for identifying the main line vehicle may be included in the vehicle speed information and recorded in the recording unit 190. Then, only the latest vehicle speed information needs to be used in the subsequent processing. When determining whether the vehicle is the same main line vehicle from the images taken by one camera, the identifier for identifying the main line vehicle recorded in the recording unit 190 is no longer used because the period during which it can be determined whether the vehicle is the same main line vehicle is short. When it happens, it should be erased.

When the acquired vehicle speed information includes information indicating that the speed is faster than the predetermined speed (when S122 is Yes), the arrival time setting unit 120 includes all the time information up to the time information determined by the predetermined standard. The time information of is set to be non-startable (S123). For example, the time information of the number 0, which is the current time in FIG. 3, to the time information of the number 20 are set to "2", which is a value indicating that the vehicle cannot start. The "predetermined speed" may be set to a speed at which the merging vehicles can safely merge. For example, the speed limit may be set, the speed may be slightly faster than the speed limit in consideration of the line-of-sight of the confluence, or the speed may be slightly slower. "Up to the time information determined by a predetermined standard" may be at least the time information corresponding to the time when the main line vehicle traveling at high speed passes. For example, it may be up to a predetermined fixed time information, or up to time information obtained by adding a fixed margin to the time information corresponding to the time when the main line vehicle arrives at the confluence, which is estimated based on the vehicle speed information. May be good. By including the processes of steps S122 and S123, it is possible to avoid causing the high-speed main line vehicle to suddenly brake or change lanes.

When the arrival time setting unit 120 determines that the merging part is in a congested state based on the acquired vehicle speed information or the information on the speed of the main line vehicle passing through the merging part (merging part information) (when S124 is Yes). Sets all time information from the time information corresponding to the current time to the sixth predetermined number after (S125). The arrival time setting unit 120 may determine, for example, whether or not the vehicle is in a traffic jam state based on the speed and the inter-vehicle distance of the main line vehicle passing through the point closest to the confluence among the "plurality of predetermined points". Alternatively, in order to more accurately detect that the merging part is congested, the merging support device 100 may also acquire the merging part information which is information on the speed of the main line vehicle passing through the merging part from the measuring device 210. good. In this case, the arrival time setting unit 120 may determine whether or not the merging unit is in a congested state based on the merging unit information. (8) in FIG. 4 is an example in which a traffic jam is set. In this example, the "sixth predetermined number" is 29, and the traffic jam is set from the time information of the number 0, which is the current time, to the time information of the number 29. However, the "sixth predetermined number" does not necessarily have to be 29, and other values such as 15 and 20 may be used. Congestion is less dangerous in the merging itself, but if a large number of merging vehicles merge, it may cause further congestion, so it is necessary to limit the number of merging vehicles to be merged. If the merging support device 100 can be accessed from the terminal of the construction site including the processing of steps S124 and S125, it can be grasped at the construction site that the number of merging vehicles to be merged is limited.

Each time the arrival time setting unit 120 acquires vehicle speed information, it estimates the time when the main line vehicle arrives at the merging unit based on the acquired vehicle speed information, and cannot start the time information corresponding to the estimated arrival time. (S126). The arrival time setting unit 120 acquires vehicle speed information each time the main line vehicle passes through any of "a plurality of predetermined points". Then, when the time information corresponding to the time when the main line vehicle reaches the confluence, including the vehicle speed information acquired in the past, is on the future side of the current time, the time information is set to be non-startable. The time of arrival may be obtained from the distance between the passing point and the confluence and the speed of the main line vehicle. In the example of FIG. 4, the time information corresponding to the time when the vehicle A, which is the main line vehicle, is estimated to arrive is the third time information, and the time information corresponding to the time when the vehicle B, which is the main line vehicle, is estimated to arrive is the time information. The twelfth time information, the time information corresponding to the time when the main line vehicle C is estimated to arrive is the 16th time information, and the time information corresponding to the time when the main line vehicle D is estimated to arrive is the time information. This is the 24th time information. The time information string 112 in FIG. 4 (2) is an example of the time information string at the end of step S120. The time information in bold "2" surrounded by a thick frame is the time information set in step S120.

The arrival time setting unit 120 may not change the setting of the time information after the seventh predetermined number or more from the time information corresponding to the current time. In merging support, it is only necessary to consider mainline vehicles whose merging time has been shortened to some extent. For example, when a relatively slow mainline vehicle passes through the farthest point among "plurality of predetermined points", It takes a long time to reach it, so there is no need to consider it. The "seventh predetermined number" may be determined in consideration of the time to reach, which should be taken into consideration when supporting the merger. For example, if the time information is a time delimiter every second, the current time in FIG. 4 is the "current time", and it is sufficient to consider up to 29 seconds later, the current time in FIG. 4 is set to the 0th position. Change the setting of the time information string formed by the time information up to the 29th. In this case, the "seventh predetermined number" is 30, and it is not necessary to set the time information 30 or more later than the time information corresponding to the current time so that the vehicle cannot start. In the case of a slow main line vehicle, if the arrival time setting unit 120 sets the time information to be non-startable using the vehicle speed information when passing a point near the confluence in "plurality of predetermined points". It is enough. It was explained that the "current time" shown in FIGS. 3 and 4 actually means the future only by the time until the merging vehicle reaches the merging portion after starting. The "current time" in the sentence explaining the seventh predetermined number is the "current time" shown in FIGS. 3 and 4 (actually, only the time until the merging vehicle reaches the merging part after starting) is the future. It may be the same or it may be the actual current time. This is because the seventh predetermined number may be appropriately adjusted depending on which one is used as a reference.

The above description does not refer to information that identifies the main line vehicle. If the main line vehicle passes through "multiple predetermined points" at a constant speed, the estimated time to reach the confluence is constant, and there is no need to be aware of whether or not the information is for the same main line vehicle. .. However, the speed can change. Therefore, the vehicle speed information may also include vehicle identification information that identifies a vehicle on the main line. As explained in the explanation of the vehicle speed information acquisition unit 105, for example, when measuring a main line vehicle passing through four predetermined points from an image taken by one camera, the movement of the main line vehicle can be analyzed, so that they are the same. It can be determined that the main line vehicle is passing through four predetermined points in sequence. In such a case, the identifier for identifying the main line vehicle may be included in the vehicle speed information and recorded in the recording unit 190. Then, only the latest vehicle speed information needs to be used in the subsequent processing. When determining whether the vehicle is the same main line vehicle from the images taken by one camera, the identifier for identifying the main line vehicle recorded in the recording unit 190 is no longer used because the period during which it can be determined whether the vehicle is the same main line vehicle is short. When it happens, it should be erased. In this case, the arrival time setting unit 120 determines whether or not the vehicle speed information of the same main line vehicle as the vehicle speed information acquired in the past is acquired only within a predetermined time.

Further, the arrival time setting unit 120 may perform the following processing. When the arrival time setting unit 120 acquires the vehicle speed information of the same main line vehicle as the vehicle speed information acquired in the past, and the time information corresponding to the estimated arrival time changes by an eighth predetermined number or more. Changes the setting of the time information after the ninth predetermined number or more of the time information corresponding to the current time so that the vehicle can start, and changes the time when the vehicle on the main line arrives at the confluence. Then, for the time information after the ninth predetermined number or more, the arrival time setting unit 120, the extension setting unit 130, the margin setting unit 140, the start time securing unit 150, the caution setting unit 160, and the preparation setting unit 170 are processed. (S120, S130, S140, S150, S160, S170) is executed. The processing (S130, S140, S150, S160, S170) of the extension setting unit 130, the margin setting unit 140, the start time securing unit 150, the caution setting unit 160, and the preparation setting unit 170 will be described later. The "eighth predetermined number" may be, for example, 1 or 2, but may be another value. Assuming that the time information is a time delimiter every second, setting the "eighth predetermined number" to 1 means that the estimated arrival time has changed by one second, and the "eighth predetermined number" is changed to one. Setting it to 2 means that the estimated arrival time has changed by 2 seconds. Although it is related to the processing of the extension setting unit 130 and the margin setting unit 140, which will be described later, the “eighth predetermined number” may be determined depending on how much the estimated time change can be tolerated. The "9th predetermined number" may be, for example, 5 or 10, or may be another value. If it is too close to the current time, the processing (S130, S140, S150, S160, S170) of the extension setting unit 130, the margin setting unit 140, the start time securing unit 150, the caution setting unit 160, and the preparation setting unit 170, which will be described later, becomes effective. It will not be possible to utilize it. Therefore, the time information less than the ninth predetermined number close to the current time may be set not to be changed. The specific "9th predetermined number" is the processing (S130, S140, S150, S160, S170) of the extension setting unit 130, the margin setting unit 140, the start time securing unit 150, the caution setting unit 160, and the preparation setting unit 170. It should be set so that it can be used effectively. It was explained that the "current time" shown in FIGS. 3 and 4 actually means the future only by the time until the merging vehicle reaches the merging portion after starting. The "current time" in the sentence explaining the ninth predetermined number is the "current time" shown in FIGS. 3 and 4 (actually, only the time until the merging vehicle reaches the merging part after starting) is the future. It may be the same or it may be the actual current time. This is because the ninth predetermined number may be appropriately adjusted depending on which one is used as a reference.

The extension setting unit 130 sets the first predetermined number of time information after the time information set by the arrival time setting unit 120 to be non-startable (S130). The "first predetermined number" may be appropriately set in consideration of avoiding the risk that the arrival time of the main line vehicle to the merging portion is delayed and the variation in the time until reaching the merging portion of the merging vehicle. For example, if all of the merging vehicles are trucks loaded with earth and sand, the variation is small. On the other hand, if the merging vehicle is a truck loaded with earth and sand, a truck not loaded with earth and sand, and a light vehicle, the variation becomes large. When the variation is large, the "first predetermined number" may be increased. For example, when the time information is a time delimiter every second, the "first predetermined number" may be set to 2, but another value may be used. The time information string 112 in (3) of FIG. 4 is a time information string when the "first predetermined number" is set to 2 and step S130 is completed. The time information in bold “2” surrounded by the thick frame in (3) of FIG. 4 is the time information set in step S130.

The margin setting unit 140 sets the second predetermined number of time information before the time information set by the arrival time setting unit 120 to be non-startable (S140). The "second predetermined number" may be appropriately set in consideration of avoiding the risk that the arrival time of the main line vehicle to the merging portion will be earlier and the variation in the time until reaching the merging portion of the merging vehicle. When the variation is large, the "second predetermined number" may be increased. For example, when the time information is a time delimiter every second, the "second predetermined number" may be set to 2, but another value may be used. The time information string 112 in FIG. 4 (4) is a time information string when the “second predetermined number” is set to 2 and steps S130 and S140 are completed. The time information in bold “2” surrounded by the thick frame in FIG. 4 (4) is the time information set in step S140.

In the start time securing unit 150, after the processing (S130, S140) of the extension setting unit 130 and the margin setting unit 140, the number of startable time information between the non-startable time information is smaller than the third predetermined number. Occasionally, the time information between the non-startable time information is set to be non-startable (S150). The start time securing unit 150 further determines the time information from the current time to the first non-startable time information even when the number of time information from the current time to the first non-startable time information is less than the third predetermined number. Should be set so that the vehicle cannot start. The "third predetermined number" means the minimum time for which the vehicle can be started. For example, when the time information is a time delimiter every second, the "third predetermined number" may be set to 4, but another value may be used. In this case, when the number of startable time information between the non-startable time information is less than 4 (when 3 or less), the startable is changed to non-startable. The time information string 112 in (5) of FIG. 4 is a time information string when the “third predetermined number” is set to 4 and step S150 is completed. The time information in bold “2” surrounded by the thick frame in FIG. 4 (5) is the time information set in step S150.

Attention The setting unit 160 carefully sets the fourth predetermined number of startable time information before the start impossible time information after the process (S150) of the start time securing unit 150 (S160). The "fourth predetermined number" may be set so as to secure the time required for notifying that the state will change so that the vehicle cannot start in the near future. For example, in the example of FIG. 4, the "fourth predetermined number" is set to 2. The time information string 112 in FIG. 4 (6) is a time information string when the “fourth predetermined number” is set to 2 and step S160 is completed. The time information in bold “1” surrounded by the thick frame in FIG. 4 (6) is the time information set in step S160.

The preparation setting unit 170 sets the fifth predetermined number of non-startable time information before the startable time information (S170) after the process (S150) of the start time securing unit 150. The "fifth predetermined number" may be set so as to secure the time required for notifying that the state will change so that the vehicle can start in the near future. For example, in the example of FIG. 4, the "fifth predetermined number" is set to 2. The time information string 112 in FIG. 4 (7) is a time information string when the “fifth predetermined number” is set to 2 and steps S160 and S170 are completed. The time information in bold “6” surrounded by the thick frame in FIG. 4 (7) is the time information set in step S170.

The display information generation unit 180 generates display information for displaying whether or not the merging is possible based on the time and time information string when the merging vehicle reaches the merging unit after starting, and transmits it to the display device 290 (S180). If the display device 290 is a red, blue, or yellow signal, the states such as start possible, start impossible, caution, preparation, and traffic jam may be displayed depending on which color is to be lit or a combination of colors to be lit. .. In this case, the display information is information that indicates which color is to be turned on or a combination of colors to be turned on. The display information generation unit 180 generates display information based on the next time information for each "predetermined time" that is a time delimiter of the time information, and transmits the display information to the display device 290. When adding time information to the time information column for each "predetermined time", the time information column generation unit 110 also adds new time information (startable time information) for each "predetermined time". Generate and add to the time information column. At that time, the current time and the time information number shown in FIGS. 3 and 4 may be moved one by one. Then, the merging support device 100 may repeat the processes of steps S120 to S180 every time the vehicle speed information is acquired (S105).

It is considered that this does not occur if only the processes of steps S130 to S170 described above are performed, but due to the influence of other processes such as the arrival time setting unit 120 not setting the time information before the ninth predetermined number. , If the time information next to the startable time information is not startable, if the 4th predetermined number or more of the time information next to the non-startable time information is startable, the startable time information is less than the 4th predetermined number. If the time information before is careful, there is a possibility that the time information before the preparation time information can be started. Since it is difficult to change the time information near the current time, the display information generation unit 180 may perform the following processing.

If the time information next to the startable time information cannot be started, the display information generation unit 180 may carefully change the startable time information to generate the display information. By doing so, it is possible to call attention to the driver or guard man of the merging vehicle even for a shorter time than usual. When the fourth predetermined number or more of the time information next to the non-startable time information can be started, the display information generation unit 180 may change the non-startable time information to preparation and generate the display information. By processing in this way, it is possible to avoid missing the opportunity to start. If the time information before the startable time information of less than the fourth predetermined number is careful, the display information generation unit 180 may change the startable time information to be careful and generate the display information. By processing in this way, it is possible to avoid prompting the start even though the minimum time for continuing the start is not secured. When the time information before the preparation time information can be started, the display information generation unit 180 may change the preparation time information to startable and generate the display information. By processing in this way, the startable time can be effectively used.

The merging support device 100 may also include a warning information generation unit 185. The alert information generation unit 185 is predetermined to include the time when the merging vehicle arrives at the merging unit when the merging vehicle starts according to the startable display information after the display information generation unit 180 generates the startable display information. When the vehicle speed information of the main line vehicle arriving at the confluence is acquired within the specified time, the warning information is generated (S185). The alert information is displayed on the display unit for displaying the alert information of the display device 290. As described above, the display unit for displaying the alert information is arranged at a position closer to the merging unit than the position where the merging vehicle temporarily stops. On a main road with multiple lanes, the lane where the main lane vehicle joins near the merging part after the "current time (time when the display device 290 indicates whether or not the merging vehicle can start)" in the time information. It is possible to change lanes. That is, since the main line vehicle has changed lanes after the time when the display device 290 indicates that the vehicle can start, the main line vehicle may reach the confluence at a time close to the time when the confluence vehicle reaches the confluence. obtain. Since the main line vehicle usually travels faster than the speed at which the merging vehicle merges, it is particularly dangerous if the main line vehicle arrives shortly after the time when the merging vehicle reaches the merging portion. Therefore, "within a predetermined time" may be defined so that the time after the time when the merging vehicle reaches the merging portion is longer than before. When the warning information is displayed, the driver of the merging vehicle may slow down and wait for the main line vehicle to pass, and so on. In addition, "after the display information generation unit 180 generates the display information that the merging vehicle can start" does not mean whether or not the merging vehicle actually started, but after the timing when the merging vehicle may have started. The "time to reach the merging portion when the merging vehicle starts according to the display information indicating that the merging vehicle can be started" means the time to reach the merging portion if the merging vehicle is starting at that timing. ing.

According to the merging support device 100, it is possible to appropriately control the display of whether or not the merging vehicle, which is waiting for the merging timing in the stopped state, can join the main road, so that the merging vehicle can be merged reasonably. I can help. If the merging support device 100 is used, it is possible to support a truck loaded with earth and sand so as to have a reasonable merging.

[Program, recording medium]
In the above-mentioned various processes, the recording unit 2020 of the computer 2000 shown in FIG. 5 is read with a program for executing each step of the above method, and the control unit 2010, the input unit 2030, the output unit 2040, the display unit 2050, and the like operate. It can be carried out by letting it.

The program describing the processing content can be recorded on a computer-readable recording medium. The recording medium that can be read by a computer may be, for example, a magnetic recording device, an optical disk, a photomagnetic recording medium, a semiconductor memory, or the like.

Further, the distribution of this program is performed, for example, by selling, transferring, renting, or the like a portable recording medium such as a DVD or a CD-ROM in which the program is recorded. Further, the program may be stored in the storage device of the server computer, and the program may be distributed by transferring the program from the server computer to another computer via a network.

A computer that executes such a program first temporarily stores, for example, a program recorded on a portable recording medium or a program transferred from a server computer in its own storage device. Then, when the process is executed, the computer reads the program stored in its own recording medium and executes the process according to the read program. Further, as another execution form of this program, a computer may read the program directly from a portable recording medium and execute processing according to the program, and further, the program is transferred from the server computer to this computer. You may execute the process according to the received program one by one each time. In addition, the above-mentioned processing is executed by a so-called ASP (Application Service Provider) type service that realizes the processing function only by the execution instruction and the result acquisition without transferring the program from the server computer to this computer. May be. The program in this embodiment includes information used for processing by a computer and equivalent to the program (data that is not a direct command to the computer but has a property that regulates the processing of the computer, etc.).

Further, in this embodiment, the present device is configured by executing a predetermined program on a computer, but at least a part of these processing contents may be realized in terms of hardware.

10 Confluence support system 100 Confluence support device 105 Vehicle speed information acquisition unit 110 Time information column generation unit 111 Time information 112 Time information column 120 Arrival time setting unit 130 Extension setting unit 140 Margin setting unit 150 Start time securing unit 160 Caution setting unit 170 Preparation setting unit 180 Display information generation unit 185 Attention information generation unit 190 Recording unit 210 Measuring device 290 Display device

Claims (12)

The vehicle speed information, which is the speed information of the main line vehicles passing through a plurality of predetermined points on the main road upstream of the merging part, is acquired, and whether or not the stopped merging vehicle can join the main road is determined. It is a merging support device that outputs display information for display.
A time information column generator that divides the time for each predetermined time, sets the time information that is the information for each divided time to be startable, and generates a time information string in which the time information is arranged, and a time information column generator.
Each time vehicle speed information is acquired, the time when the main line vehicle arrives at the confluence is estimated based on the acquired vehicle speed information, and the time information corresponding to the estimated arrival time is set so that the vehicle cannot start. Department and
An extension setting unit that sets the first predetermined number of time information after the time information set by the arrival time setting unit to be non-startable, and an extension setting unit.
A margin setting unit for setting a second predetermined number of time information before the time information set by the arrival time setting unit to be non-startable, and a margin setting unit for setting non-startable time information.
After the processing of the extension setting unit and the margin setting unit, when the number of startable time information between the non-startable time information is less than the third predetermined number, the start non-startable time information is between the two. The start time securing unit that sets the time information so that it cannot be started,
After the processing of the start time securing unit, the caution setting unit for carefully setting the fourth predetermined number of startable time information before the start impossible time information,
After the process of the start time securing unit, the preparation setting unit that sets the fifth predetermined number of non-startable time information before the startable time information in preparation, and the preparation setting unit.
A merging support device including a display information generation unit that generates display information for displaying whether or not the merging is possible based on the time when the merging vehicle reaches the merging unit after starting and the time information sequence. The merging support device according to claim 1.
When the acquired vehicle speed information includes information indicating that the speed is faster than a predetermined speed, the arrival time setting unit makes it impossible to start all the time information up to the time information determined by the predetermined standard. A merging support device characterized by being set. The merging support device according to claim 1 or 2.
The information on the confluence, which is the information on the speed of the main line vehicles passing through the confluence, is also acquired.
When the arrival time setting unit determines that the confluence is in a congested state based on the confluence information, all the time information from the time information corresponding to the current time to the sixth predetermined number after is congested. A merging support device characterized by being set. The merging support device according to any one of claims 1 to 3.
The arrival time setting unit is a merging support device characterized in that the setting of time information 7th or more after a predetermined number of times from the time information corresponding to the current time is not changed. The merging support device according to any one of claims 1 to 4.
The vehicle speed information also includes vehicle identification information that identifies a vehicle on the main line.
When the arrival time setting unit acquires the vehicle speed information of the same main line vehicle as the vehicle speed information acquired in the past, and the time information corresponding to the estimated arrival time changes by the eighth predetermined number or more. Changes the setting of the time information after the ninth predetermined number or more of the time information corresponding to the current time so that the vehicle can start, and after changing the time when the main line vehicle arrives at the confluence.
9th For time information after a predetermined number or more
A merging support device characterized by executing the processes of the arrival time setting unit, the extension setting unit, the margin setting unit, the start time securing unit, the caution setting unit, and the preparation setting unit. The merging support device according to claim 5.
The arrival time setting unit is a merging support device characterized in that it determines whether or not the vehicle speed information of the same main line vehicle as the vehicle speed information acquired in the past is acquired only within a predetermined time. The merging support device according to any one of claims 1 to 6.
When the time information next to the startable time information is not startable, the display information generation unit carefully changes the startable time information to generate display information, and next to the startable time information. 4. A merging support device characterized in that when more than a predetermined number of time information can be started, the above-mentioned non-startable time information is changed to preparation and display information is generated. The merging support device according to any one of claims 1 to 7.
The display information generation unit is characterized in that when the time information before and after the startable time information of less than the fourth predetermined number is careful, the display information is generated by carefully changing the startable time information. Confluence support device. The merging support device according to any one of claims 1 to 8.
The display information generation unit is a merging support device characterized in that, when the time information before and after the preparation time information can be started, the display information is generated by changing the preparation time information to be startable. The merging support device according to any one of claims 1 to 9.
After the display information generation unit generates the display information of the startability, the merging unit is within a predetermined time including the time when the merging vehicle reaches the merging unit when the merging vehicle starts according to the display information of the startability. A merging support device characterized in that it also has a warning information generation unit that generates warning information when the vehicle speed information of the main line vehicle that reaches is acquired. The vehicle speed information, which is the speed information of the main line vehicles passing through a plurality of predetermined points on the main road upstream of the merging part, is acquired, and whether or not the stopped merging vehicle can join the main road is determined. It is a merge support method that outputs display information for display.
A time information column generation step that divides the time for each predetermined time, sets the time information that is the information for each divided time to be startable, and generates a time information string in which the time information is lined up.
Each time vehicle speed information is acquired, the time when the main line vehicle arrives at the confluence is estimated based on the acquired vehicle speed information, and the time information corresponding to the estimated arrival time is set so that the vehicle cannot start. Steps and
An extension setting step for setting the first predetermined number of time information after the time information set to be non-startable in the arrival time setting step, and an extension setting step for setting the non-startable time information.
A margin setting step for setting a second predetermined number of time information before the time information set as non-startable in the arrival time setting step, and a margin setting step for setting non-startable.
After the processing of the extension setting step and the margin setting step, when the number of startable time information between the non-startable time information is less than the third predetermined number, the start non-startable time information is between the two. A start time securing step that sets the time information so that it cannot be started,
After the process of the start time securing step, a caution setting step for carefully setting the fourth predetermined number of startable time information before the start impossible time information, and
After the process of the start time securing step, the preparation setting step for setting the fifth predetermined number of non-startable time information before the startable time information to the preparation, and the preparation setting step.
A merging support method for executing a display information generation step of generating display information for displaying whether or not the merging is possible based on the time when the merging vehicle reaches the merging portion after starting and the time information string. A merging support program for operating a computer as the merging support device according to any one of claims 1 to 10.

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