JP4770392B2 - Vehicle control apparatus and vehicle network system - Google Patents

Description

  The present invention relates to a vehicle control device and a vehicle network system.

  There is known a method of performing risk determination related to vehicle operation based on information on a vehicle traveling around (see Patent Document 1). In this conventional method, the in-vehicle computer detects the operation status of the vehicle, generates vehicle operation information according to the operation status, and transmits the vehicle operation information to the management server. The management server receives vehicle operation information from the in-vehicle computer, determines a risk based on the vehicle operation information, generates warning information based on the vehicle operation information of the vehicle determined to be high risk, and determines the vehicle as high risk Warning information is transmitted to vehicles traveling around.

JP 2004-86699 A

  However, in such a conventional method, the management server monitors the vehicle and issues a warning to surrounding vehicles based on the vehicle determined to be high risk. Therefore, if the vehicle is in a state where communication with the management server is not possible, or if communication cannot be performed while receiving information, the server monitoring and warning information cannot be received, and stable and sufficient The problem arises that it is not possible to perform proper risk management. In addition, when risk management is performed, risk management considering the whole is required depending on the situation.

The vehicle control device provided in the vehicle of the present invention includes a network construction unit that constructs a wireless network with surrounding vehicles, an operation state collection unit that collects the operation state of the host vehicle, and a network that displays the operation state of the surrounding vehicles. A peripheral vehicle operation status acquisition means to be acquired via the vehicle, a risk calculation means for calculating the risk level of each vehicle based on the operation status of the own vehicle and the operation status of the peripheral vehicle, and the calculated risk level and the own vehicle Risk avoidance calculation means for calculating the risk avoidance method for each vehicle based on the operation status of the vehicle and the surrounding vehicle, and risk avoidance for notifying the surrounding vehicle of the calculated risk avoidance method for the surrounding vehicle via the network Method notifying means and history information storage means for storing history information on risk avoidance methods calculated in the past.
Then, the risk avoidance method calculating means uses the history information stored in the history information storage means in addition to the calculated degree of risk, the operation status of the own vehicle, and the operation status of surrounding vehicles. The risk avoidance method is calculated.
Alternatively, the network construction means constructs a network using history information stored in the history information storage means.
The vehicle network system of the present invention is constituted by a plurality of the vehicle control devices provided in a plurality of vehicles, respectively.

  Since the present invention is configured as described above, stable and sufficient vehicle risk management can be performed. At the same time, efficient and appropriate risk management according to the situation can be performed.

  FIG. 1 is a diagram showing a vehicle network system according to an embodiment of the present invention. In FIG. 1, a vehicle control device 1 mounted on a vehicle A, a vehicle control device 2 mounted on a vehicle B, a vehicle control device 3 mounted on a vehicle C, a vehicle control device 4 mounted on a vehicle D, a network 5. Thus, one vehicle network system is formed.

  The vehicle control device 1 includes a control unit 11, various sensors 12, a communication unit 13, a storage unit 14, and the like. The control unit 11 includes a microprocessor and peripheral circuits, and executes a predetermined program to control the entire vehicle and manage the risk of the vehicle, which will be described later. The various sensors 12 are a set of various sensors for acquiring the operation status of the vehicle used for risk management. The communication unit 13 performs wireless communication with surrounding vehicles and exchanges various data. The storage unit 14 includes a hard disk and stores various data and programs such as history information described later.

  The vehicle control devices 2 to 4 are also configured in the same manner as the vehicle control device 1, and include control units 21, 31, 41, various sensors 22, 32, 42, communication units 23, 33, 43, storage units 14, 24, 34, 44. The network 5 is configured by a wireless communication path through which wireless communication is performed by the communication units 13, 23, 33, and 43. Wireless communication may be by radio waves or by light such as infrared rays.

  The operation status of the vehicle acquired by the various sensors 12 refers to the surrounding situation of the vehicle, driving information, vehicle information, and the like. The various sensors 12 include, for example, a CCD camera that acquires the situation around the vehicle as image data, a laser radar that detects the inter-vehicle distance, a vehicle speed sensor that detects the vehicle speed of the host vehicle, a GPS sensor that detects the current location of the host vehicle, There are various types such as switches for detecting the on / off state of the headlamp and the state of the direction indicator.

  FIG. 2 is a diagram illustrating functional blocks related to risk management of the vehicle control device 1. The functional blocks of the vehicle control device 1 include an operation status collection unit 51 that collects vehicle surroundings, driving information, and vehicle information, a network construction unit 52 that constructs a network (communication route) between neighboring vehicles, A risk calculation unit 53 that calculates the risk of the vehicle, a parent determination unit 54 that determines a parent based on the risk of each vehicle in the network, a risk avoidance method calculation unit 55 that calculates a risk avoidance method for each vehicle in the network, and the host vehicle The vehicle control unit 56 that controls the vehicle to avoid the risk of the vehicle, the data communication unit 57 that performs data communication with the surrounding vehicle, and the surrounding vehicle operation status acquisition unit 58 that acquires the operation status of the surrounding vehicle. A history information storage unit 59 that stores history information related to risk avoidance in the affiliated network or other networks in the storage unit 14. That.

  In the vehicle network system of the present embodiment, a dedicated management server for managing risk management in the vehicle network is not provided, but a vehicle control device for a vehicle with the lowest risk in the vehicle network is used as a parent. Risk management within. A feature is that a vehicle network is constructed and a risk avoidance method is calculated while using historical information regarding past risk avoidance, that is, taking into account. The vehicle control device of each vehicle has a program that can function regardless of whether it is a parent or a child, and shares the operation status of each vehicle within the vehicle network.

  In addition, the risk said in this Embodiment means the content which a driver feels dangerous when driving a vehicle, or the content which he / she wants to avoid while driving. For example, a short distance between the vehicle and the vehicle ahead is a kind of risk. It is also a kind of risk that there are obstacles ahead and vehicles that pass over while repeating meandering are approaching.

  Such various risks are calculated based on the vehicle surroundings, driving information, vehicle information, and the like collected by the operation status collecting unit 51. To calculate the risk is to calculate the degree of risk and the amount of risk. For example, the shorter the inter-vehicle distance is, the higher the risk is calculated. Furthermore, the degree of risk that is calculated also varies depending on whether the distance between the vehicles changes in the direction of shortening or whether the headlamp is turned on or off at night.

  FIG. 3 is a diagram illustrating a flowchart of a control program executed by the control unit 11 of the vehicle control device 1. The program of FIG. 3 is started when the ignition key of the vehicle is set to the on position. That is, it is started when the engine of the vehicle is started. A similar program is executed for the vehicle control devices 2 to 4.

  In step S1, it is determined whether or not a plurality of vehicles are close to each other. If a plurality of vehicles are close to each other, the process proceeds to step S2, and if a plurality of vehicles are not close to each other, the process proceeds to step S19. Whether or not a plurality of vehicles are close to each other is determined based on the operation status of the vehicle collected by the operation status collection unit 51. The operation status of the vehicle includes, for example, laser radars provided on the front, rear, left and right sides of the vehicle as various sensors 12, and distance information between the front, rear, left and right vehicles measured by the laser radars is included.

  In step S <b> 2, history information related to the risk avoidance command content stored in the storage unit 14 is read.

  In step S3, a network 5, that is, a vehicle network is constructed between neighboring vehicles (peripheral vehicles). In the present embodiment, a vehicle network is constructed with vehicles having an inter-vehicle distance within a predetermined reference value. The operation status of each vehicle includes the above-described distance information between the front, rear, left and right vehicles and the current location information of each vehicle. Each vehicle can refer partially to the operation status of neighboring vehicles via the data communication unit 57 of each vehicle. Refer to the current location information that is the operation status of each vehicle, for example, identify a vehicle that is traveling in front of the host vehicle, and determine whether the inter-vehicle distance is within a predetermined reference value based on the inter-vehicle distance information that is the operation status of the host vehicle. to decide. If the inter-vehicle distance with the vehicle traveling ahead is within a predetermined reference value, the same vehicle network is constructed with the vehicle traveling forward. Such processing is performed at each vehicle as needed, and a vehicle network is constructed between neighboring vehicles. Further, in the present embodiment, the optimum vehicle network is constructed by referring to the history information read in step S2. This will be described later.

  In step S4, a risk avoidance instruction content from another vehicle network is awaited. In step S5, if the risk avoidance instruction content is transmitted from another vehicle network, it is received and stored in the storage unit 14 as history information.

  In step S6, it sets so that the data of the operation condition of a vehicle can be shared within a vehicle network. In step S3, only data necessary for constructing the vehicle network could be referred to. However, in step S6, the data is shared so that all the operation situations that can calculate the degree of risk of each vehicle can be referred to.

  In step S7, the history information regarding the risk avoidance command content stored in the storage unit 14 is read again.

  In step S8, the degree of risk (risk amount) of each vehicle is calculated based on the shared operation status of each vehicle. The operation status of neighboring vehicles is obtained by accessing the data shared and set by each vehicle via the vehicle network. Each vehicle refers to all of its own vehicles and neighboring vehicles that form a vehicle network. The degree of risk of each vehicle is determined by obtaining the size and distance of the disturbance around the vehicle according to the situation around the vehicle, obtaining the presence or absence of vehicle control means from the vehicle information, and the presence or absence of risk avoidance work and the time required for risk avoidance based on the driving information. Is calculated based on the acquired information.

  In step S9, when the degree of risk of the own vehicle is the lowest in the vehicle network, it is determined that the own vehicle becomes a parent in the vehicle network. In step S10, it is determined whether or not the host vehicle has become a parent. If it becomes a parent, the process proceeds to step S11. If not, the process proceeds to step S17. In step S11, it is determined whether risk avoidance is necessary based on the calculated risk level of each vehicle. That is, when the degree of risk (risk amount) of any vehicle in the vehicle network is equal to or greater than a predetermined value, it is determined that risk avoidance is necessary.

  In step S12, a risk avoidance method for each vehicle is calculated. The risk avoidance method is not calculated for a vehicle whose risk amount is less than a predetermined value and does not require risk avoidance. The risk avoidance method is information provision for risk avoidance and vehicle control for risk avoidance. In providing information, information for risk avoidance is output as voice data or display data on a monitor, and in vehicle control, a signal for controlling the operation of the vehicle itself is output. As the vehicle control signal, for example, various signals corresponding to the risk are output, such as a signal for applying a brake, a signal for returning the accelerator pedal, and a signal for making it difficult to turn the steering wheel in a predetermined direction. In the present embodiment, the risk avoidance method for each vehicle is calculated with reference to the history information read in step S7. This will be described later.

  In step S13, the calculated risk avoidance method is notified to each vehicle. In step S14, the risk avoidance instruction content for each vehicle in the own vehicle network is also transmitted to vehicles in other vehicle networks. Steps S15 and S16 are independent steps. In step S15, when the own vehicle is a parent, the information is provided according to the risk avoidance method of the own vehicle output in step S13 or the vehicle is controlled. When the own vehicle is a child, the other vehicle that is the parent Provide information and control the vehicle according to the risk avoidance method notified. In step S16, the risk avoidance instruction content for each vehicle in the vehicle network is stored in the storage unit 14 as history information.

  Through step S5 and step S16, the storage unit 14 stores and accumulates, as history information, risk avoidance instruction contents performed in the past in the vehicle network including the host vehicle and risk avoidance instruction contents performed in other vehicle networks. To do.

  In step S17, it is determined whether or not there is a change in the operation status of each vehicle in the vehicle network. If it is determined that there is a change, the process proceeds to step S18. If it is determined that there is no change, the process proceeds to step S6 and the process is repeated.

  In step S18, it is determined whether or not there is a change in the vehicles that construct the vehicle network. That is, this is the case where a vehicle that has built a vehicle network leaves the vehicle network, or a vehicle that is not included in the vehicle network enters the vehicle network. This can be determined by referring to the operation status of the vehicle in a range where wireless communication is possible via the data communication unit 57. If there is a change in the vehicle that constructs the vehicle network, the process returns to step S1 to repeat the process of reconstructing the vehicle network. If there is no change in the vehicles that construct the vehicle network, the process returns to step S4 and is repeated.

  On the other hand, in step S19, the degree of risk of the host vehicle is calculated based on the operation status of the host vehicle, and it is determined whether risk avoidance is necessary. If it is determined that risk avoidance is necessary, the process proceeds to step S20. If it is determined that risk avoidance is not necessary, the process returns to step S1 and the process is repeated. In step S20, risk-avoidance vehicle control is performed by the host vehicle alone. Then, it returns to step S1 and repeats a process. The processes of steps S19 and S20 are risk avoidance processes for the host vehicle alone when the vehicle network is not constructed.

(About history information)
In the present embodiment, as described above, the vehicle network is constructed using the history information read from the storage unit 14 in step S3, and each history information read from the storage unit 14 is used in step S12. Calculate vehicle risk avoidance methods. This history information will be described below.

  The memory | storage part 14 memorize | stores the information regarding risk avoidance in all the vehicle networks comprised in the past as historical information. Every vehicle network configured in the past includes not only a vehicle network including the host vehicle but also a vehicle network not including the host vehicle. However, each vehicle has a similar program, and a vehicle network constructed between vehicles that may construct a vehicle network according to the present embodiment is targeted. Each history information includes (1) problems and causes when a certain risk avoidance is performed in a certain vehicle network, (2) configuration of the vehicle network, (3) avoidance method and result, (4) related problems, (5) Consists of similar past problems. Each history information has a history data number, for example, a serial number, and the corresponding history information can be referred to by the history data number.

  (1) The problem and cause are problems or causes when risk avoidance is performed, and are information on the occurrence status of risk. It consists of data such as the cause of risk and the degree of risk of each vehicle in the vehicle network. The cause of the risk stores, for example, information on the fact that there is an obstacle in front of the vehicle, the reason for the accident in the case of an accident, the road condition at that time, and the like. The degree of risk of each vehicle in the vehicle network stores the degree of risk of each vehicle calculated in the vehicle network.

  (2) The configuration of the vehicle network is information regarding the configuration of the vehicle network when risk avoidance is performed, and is various information of each vehicle in the vehicle network. It consists of data such as the number of vehicles, vehicle type, road conditions, and driver skills. The number of vehicles is the number of vehicles that make up the vehicle network, the vehicle type is vehicle type information such as sedans and SUVs, the road conditions are information about rain, slopes, curves, and driver skills. Information such as the driver's habit of each vehicle and accident history is stored.

  (3) The avoidance method and result are information such as the risk avoidance method when risk avoidance is performed, that is, the contents of the risk avoidance instruction and the state of the vehicle network as a result of the instruction. It consists of data such as risk avoidance methods and avoidance results for each vehicle in the vehicle network. The avoidance result also stores information about whether or not the avoidance was possible.

  (4) A related problem is a problem related to a problem when risk avoidance is performed, and is information related to the problem affected by this problem and other problems affected. This information relates to a problem that has occurred as a result of risk aversion as a result of risk aversion as a result of the occurrence of this problem. Specifically, the history data number assigned to the history information when a problem that has occurred is avoided is stored. That is, other history data numbers generated by (3) of the history data and other history data numbers for which risk is avoided in relation to the occurrence of (1) of the history data are stored.

  (5) For similar past problems, for example, other history data numbers having two or more similar configurations among the configurations (1) to (3) of the history data are stored. In addition, the results of risk avoidance are the same among the configurations of (1) to (3), but other configurations are different, or the results of risk avoidance are not the same, but similar and other configurations are different. In some cases, the history data number is stored as a similar past problem.

(Vehicle network construction example 1)
The construction of the vehicle network performed in step S3 described above will be described in further detail. FIG. 4 is a diagram for explaining a first construction example of a vehicle network using history information in the present embodiment. 4 (a) and 4 (b) are diagrams showing a state in which there is an obstacle 62 in front of the vehicle network in the past, and the vehicle network 1 composed of the vehicles A, B, D, and E has performed risk avoidance. .

  As history information, (1) information that the obstacle 62 is ahead in the problem and cause, (2) information that the vehicle network 1 is configured with the vehicles A, B, D, and E in the configuration of the vehicle network, (3) As a result of the avoidance method and results, the avoidance method in which the vehicles A and B change their lanes as shown in FIG. 4A and the arrangement of vehicles in the vehicle network 1 are as shown in FIG. 4B. (4) Information related to (4) related problems, as a result of risk avoidance of the vehicle network 1, the vehicle C that did not participate in the vehicle network 1 approached an obstacle, and there was little room for avoidance, (5) If there are other problems that have brought about the result of FIG. 4B in the similar past problems, information on the contents is stored.

  When it is found that there is a relationship between neighboring vehicles (peripheral vehicles) as shown in FIG. 4A or FIG. 4B and the history information recorded in the storage unit 14 includes the history information as described above. A vehicle network 1 ′ incorporating the vehicle C ′ behind the vehicle network 1 where danger is predicted from the information is constructed (FIG. 4C). As a result, when there is an obstacle 62 ahead of the vehicle network 1 ′, the vehicle network 1 ′ configured by the vehicles A ′, B ′, C ′, D ′, and E ′ performs risk avoidance. Specifically, the vehicle A ′, the vehicle B ′, and the vehicle C ′ change lanes as shown in FIG. 4C, and the arrangement of the vehicles in the vehicle network 1 ′ becomes as shown in FIG. As a result, the vehicle C ′ can avoid the obstacle 62 without problems at an early stage.

  When the history information is not used, as shown in FIG. 4A, the vehicle network 1 is merely constructed with the vehicles A, B, D, and E whose inter-vehicle distances are within a predetermined reference value.

(Vehicle network construction example 2)
FIG. 5 is a diagram for explaining a second construction example of a vehicle network using history information in the present embodiment. FIG. 5A shows that, in the past, the vehicle network 1 is composed of the vehicle A and the vehicle B, the vehicle network 2 is composed of the vehicle C and the vehicle D, the vehicle A discovers the vehicle E, and the vehicle network 1 is the risk. It is a figure which shows a mode that the avoidance was performed. Each vehicle A, B, C, D, E was about to enter the intersection.

  As history information, (1) information about the problem and cause that each vehicle A, B, C, D, E was about to enter the intersection, (2) vehicle A and vehicle B in the vehicle network configuration As shown in FIG. 5 (a), the vehicle A and the vehicle B of the vehicle network 1 are composed of the network 1 and the information that the vehicle C and the vehicle D constitute the vehicle network 2, and (3) the avoidance method and the result. Information on avoidance method to turn left and result of left turn, (4) Regarding related problems, vehicle network 1 was able to avoid risk, but vehicle network 2 was unable to find vehicle E and went straight ahead and increased the risk of accident occurrence Information, (5) Information on the contents of other past problems that have brought about the result of (4) is stored in similar past problems.

  The hatched area shown in FIG. 5 is a surrounding vehicle confirmation range, and shows that the vehicle E can be confirmed only when the vehicle A is in the position. That is, it is indicated that the vehicle network 2 cannot acquire the surrounding situation sufficiently and has a risk of occurrence of an accident.

  When there is a vehicle network 1 and a vehicle network 2 as shown in FIG. 5A, the vehicle network 1 finds the vehicle E, and the history information recorded in the storage unit 14 has the history information as described above. A vehicle network 2 that may not be able to confirm the vehicle E is taken in and a new vehicle network 3 is constructed. As a result, the vehicles A, B, C, and D can confirm the vehicle E at an early stage, and a risk avoidance method such as turning left or stopping in the vehicle network 3 is instructed, and the occurrence of risk can be avoided.

(About risk calculation)
The risk calculation performed in step S8 described above will be described in more detail. FIG. 6 is a diagram for explaining risk calculation in the present embodiment. 6A shows a case where a vehicle network is not formed between the vehicle A and the vehicle B as in the present embodiment, and FIG. 6B is a diagram between the vehicle A and the vehicle B. The case where the vehicle network is formed is shown.

  In FIG. 6A, the vehicle A uses various sensors 12 to detect a disturbance 61 such as an obstacle or a vehicle that cannot participate in the network. Disturbance refers to obstacles that interfere with vehicle operation, other vehicles, road conditions, road environment, and the like. If the size of the disturbance 61 is s and the distance to the disturbance 61 is d, the risk level of the vehicle A can be calculated by taking the disturbance 61 into account by the function f (s, d). Also for the vehicle B, when the disturbance 61 can be detected by the various sensors 12 of the vehicle B, the risk level of the vehicle B can be calculated by taking the disturbance 61 into consideration using the similar function f (s, d). However, when the disturbance 61 is within the detection capability range of the various sensors 12 of the vehicle B, the presence of the disturbance 61 cannot be recognized, and the disturbance 61 is not considered in the risk calculation of the vehicle B.

  On the other hand, when the vehicle network as shown in FIG. 6B is constructed, the disturbance 61 can be recognized via the vehicle A even if the disturbance 61 is within the detection capability range of the various sensors 12 of the vehicle B. it can. That is, the vehicle B can share information on the disturbance 61 of the other vehicle A. For example, if the distance between the vehicle A and the vehicle B is d2, the risk level of the vehicle B can be calculated in consideration of the disturbance 61 by the function f (s, r (d, d2, θ)).

(Risk avoidance calculation)
The calculation of the risk avoidance method performed in step S12 described above will be described in further detail. First, the calculation of the risk avoidance method when the history information stored in the storage unit 14 is not used will be described. FIG. 7 is a diagram for explaining the calculation of the risk avoidance method when the history information is not used. In this embodiment, since the vehicle network is constructed, the risk avoidance method is calculated so that the risk is dispersed and absorbed in the vehicle network.

  FIG. 7A shows a state where the vehicles A, B, C, D, and E are traveling at a sufficient inter-vehicle distance. Vehicles A, B, C, D, and E form one vehicle network. The vehicle B is under ACC (adaptive auto cruise) automatic control, and the vehicles A, C, D, and E are under manual control by the driver.

  FIG. 7B shows a state in which the vehicle D is about to interrupt between the vehicles A and B. The safety distance between the vehicles A and B decreases due to the approach of the vehicle D, which causes a risk in each vehicle. FIG. 7C shows a case where a vehicle network is not formed, and FIG. 7D shows a case where a vehicle network is formed. In FIG.7 (c), the ACC automatic control start of the vehicle B is started and the degree of the risk by the safety distance reduction increases in the vehicles A and C. The drivers of vehicles A and C perform risk avoidance operation manually after risk recognition.

  On the other hand, in the case where there is a vehicle network in FIG. 7D, the ACC automatic control of the vehicle B is first started in the same manner. Risk due to reduction of safety distance of vehicles A and C increases. The parent vehicle in the vehicle network calculates a risk avoidance method for providing information for ensuring a safe distance to the vehicles A and C. Furthermore, if the parent vehicle in the vehicle network can determine that the driver of the vehicles A and C is avoiding the risk by looking at information or the like, the risk avoidance method for vehicle control is not output. On the other hand, when there is no risk avoidance, a risk avoidance method for controlling the vehicles A and C is calculated.

  As described above, since the risk can be distributed and absorbed by the plurality of vehicles in the vehicle network with respect to the generated risk, safe and quick risk avoidance can be realized. That is, the parent vehicle computes a risk avoidance method for each vehicle by predicting or anticipating the behavior of the vehicle in the vehicle network with respect to the generated risk. The calculated risk avoidance method is simultaneously notified to the vehicles in the vehicle network. As a result, each vehicle predicts or anticipates the behavior of the vehicle in the vehicle network with respect to the generated risk, and at the same time, the risk avoiding operation is performed, and appropriate and quick risk avoidance can be realized.

In the present embodiment, the amount and content of information provided for risk avoidance are changed according to the degree of risk. Therefore, a parameter called information amount judgment value calculated by the following formula is used.
Information amount judgment value = risk degree x (risk avoidance limit time-risk avoidance work time)
× Presence / absence of risk avoidance work (Yes = 1, No = 0)

  When the information amount determination value> 0, information is provided and the information amount is changed according to the value. In other words, there is a case where there is a risk avoidance operation to be calculated and the operation time of the calculated risk avoidance operation is within a limit time for avoiding the risk. When the information amount determination value <0, information provision and vehicle control are not performed. That is, even if there is a risk avoidance work to be calculated, the work time of the calculated risk avoidance work exceeds the limit time for avoiding the risk. When the information amount determination value = 0, vehicle control is performed. That is, since there is no risk avoidance work to be calculated, a signal for vehicle control is output.

  Next, calculation of a risk avoidance method using history information will be described. FIG. 8 is a diagram for explaining a calculation example of the risk avoidance method using history information in the present embodiment. FIGS. 8A and 8B are diagrams for explaining how the vehicle networks 1 and 2 have performed risk avoidance in the past, stored in the history information.

  In FIG. 8A, there is an obstacle 63 in front of the vehicle network 1, the vehicle network 1 composed of the vehicles A, B, D, and E performs risk avoidance, and the behavior of the vehicle due to the risk avoidance of the vehicle network 1 is illustrated. It is a figure which shows a mode that the vehicle network 2 comprised by seeing vehicles C and F is performing risk avoidance. FIG. 8B is a diagram showing a state in which the vehicle network 2 finds an obstacle 63 at a distance D and urgently avoids risk.

  As history information, (1) information that the obstacle 63 is ahead in the problem and cause, (2) information that the vehicle network 1 is configured by the vehicles A, B, D, and E in the configuration of the vehicle network, (3) As a result of the avoidance method and result, the avoidance method in which the vehicles A and B change the lane as shown in FIG. 8A and the arrangement of the vehicles in the vehicle network 1 are as shown in FIG. 8B. (4) Regarding the related problem, as a result of risk avoidance of the vehicle network 1, the vehicle F of the vehicle network 2 needs to avoid risk as shown in FIG. 8A. As a result, the vehicle network 2 Information related to the need to avoid the risk of finding an obstacle 63 at a distance D and urgently changing lanes for both vehicle C and vehicle F, (5) For similar past problems, see FIG. Other problems that resulted in Information about the content if there is stored.

  FIGS. 8C and 8D are diagrams for explaining how to derive an appropriate risk avoidance method using history information. When the vehicle network 1 ′ finds that there is an obstacle 63 ahead and there is another vehicle network 2 ′ behind it, the following risk avoidance method is calculated. Thus, a method is derived that has little influence outside the vehicle network and is free from the burden on the driver of each vehicle network.

  That is, instead of simply calculating the risk avoidance method as shown in FIG. 8 (a), the vehicle network 1 ′ is a risk avoidance method that performs the lane directions of the vehicles A ′ and B ′ while reducing the overall speed. Calculate and give instructions. Since the vehicle network 1 ′ decreases in speed, the vehicle network 2 ′ also decreases in speed. As a result, the vehicle network 2 ′ finds the obstacle 63 with a margin at the distance D ′. As a result, the vehicle C ′ in the vehicle network 2 ′ can avoid the obstacle 63 with a margin.

(Variation of vehicle network construction)
In the above, as an example of a network construction rule between adjacent vehicles, an example in which the distance between vehicles is a vehicle within a reference value is shown. That is, an example in which a network is constructed with vehicles that affect driving in a vehicle safety space is shown. However, as another example, similar vehicles such as vehicle status and driving history may be collected. As a result, it is possible to construct a network in which behavior is unified in consideration of factors of vehicle behavior such as speed, vehicle performance, vehicle behavior, and driver's condition. In this case as well, it is preferable to construct an appropriate vehicle network using the history information.

  Moreover, you may make it collect by the destination of a vehicle, or the use reason of a vehicle. As a result, it is possible to construct a network in which behaviors are unified with vehicles having the same vehicle behavior due to road branching or the like. Further, these construction rules may be combined. By doing in this way, a network can be constructed with a vehicle having the smallest driving load and information providing amount according to the situation change. Further, other factors may be used. In these cases, it is preferable to construct an appropriate vehicle network using the history information. Note that the number of vehicles in the vehicle network may be limited to a reference number or less.

The vehicle network system and the vehicle control apparatus of the present embodiment described above have the following effects.
(1) Since a vehicle network is constructed between neighboring (peripheral) vehicles without providing a fixed management server, there is no problem that communication with the management server is interrupted, and stable and sufficient risk management is performed. Can do.
(2) Since the vehicle with the lowest degree of risk is the parent in the vehicle network, stable risk management can be performed without being affected by the risk.
(3) Since the vehicle control apparatus for any vehicle has a program for processing while becoming a parent or a child, the degree of freedom in building a vehicle network increases. Further, a special element for network construction such as a management server is not required, and a network can be easily constructed. Furthermore, since programs can be shared, management is easy and development costs can be reduced.
(4) Since a network is constructed between vehicles having a predetermined distance relationship such as an inter-vehicle distance, it is possible to construct a network between vehicles that affect driving in a safe space. Thereby, risk management, such as efficient risk avoidance, can be performed.
(5) Since the operation status of other vehicles is shared, an accurate degree of risk can be calculated, and an efficient, detailed and quick risk avoidance method can be calculated. For example, since the data of sensors of other vehicles can be used, even if there are disturbances and road information outside the sensor's capability range, the risk level and risk avoidance method are calculated taking them into account. be able to.
(6) Since the risk can be distributed and absorbed by a plurality of vehicles in the vehicle network with respect to the generated risk, safe, appropriate and prompt risk avoidance can be realized.
(7) Since the vehicle network is reconstructed according to the change in the vehicle operation status, appropriate and prompt risk avoidance according to the change in the vehicle operation status can be realized.
(8) Since the vehicle network is constructed using the past history information, it is possible to construct an appropriate vehicle network according to the situation with less risk and less burden on the driver.
(9) Since the risk avoidance method is calculated using the past history information, there is little influence on other vehicle networks, and there is less burden on the driver of each vehicle network. It can be calculated. As a result, it is possible to avoid risk taking into consideration the overall view of the problem in consideration of not only the vehicle network but also the vehicle networks existing in the vicinity.
(10) Since past history information is used to construct a vehicle network or to calculate a risk avoidance method, it has learning ability.
(11) Since similar cases that have occurred in the past in one's own or other vehicle networks are stored as information and collated with the occurring events, the risk avoidance method for vehicles without a vehicle network is calculated. A good risk avoidance method can be calculated.
(12) With reference to similar cases that have occurred in the vehicle network in the past, the operation for risk avoidance of vehicles in the vehicle network is calculated, so it is easy to understand the movement of the vehicle network and predict the subsequent movement. become. In addition, by using past results, it is possible to derive risk avoidance instruction contents more quickly and accurately.

  In the above embodiment, an example has been described in which the degree of risk of all other vehicles is calculated for each vehicle. However, the present invention is not necessarily limited to this content. Each vehicle may calculate the risk level of its own vehicle, and other vehicles may refer to the calculation result via the vehicle network.

  In the above embodiment, the storage unit 14 has been described as an example of storing information on risk avoidance performed in the past in the vehicle network including the host vehicle and other vehicle networks as history information. There is no need to limit. The history information of only the vehicle network in which the host vehicle is included may be included. In addition to past history information of the vehicle network including the host vehicle and other vehicle networks, information on risks and risk avoidance that can be assumed on the desk, information on risks and risk avoidance that can be derived by computer simulation, etc. May be stored.

  In the above embodiment, an example in which the program executed by the control device of the vehicle control device has already been stored in the device has been described, but it is not necessarily limited to this content. The control unit may be connected to the Internet via the communication unit, and a program may be received from an application server connected via the Internet. The vehicle control device may be provided with a DVD or CD-ROM drive, and the program may be received from a recording medium such as a DVD or CD-ROM.

  Although various embodiments and modifications have been described above, the present invention is not limited to these contents. Other embodiments conceivable within the scope of the technical idea of the present invention are also included in the scope of the present invention.

  Hereinafter, the correspondence between the constituent elements of the claims and the constituent elements of the above-described embodiment will be described. The vehicle control device corresponds to the vehicle control device 1, the network construction means corresponds to the control section 11, the communication section 13, and the network construction section 52, the operation status collection means corresponds to the various sensors 12 and the operation status collection section 51, The peripheral vehicle operation status acquisition means corresponds to the control unit 11, the communication unit 13, and the peripheral vehicle operation status acquisition unit 58, the risk calculation means corresponds to the control unit 11 and the risk calculation unit 53, and the risk avoidance method calculation means corresponds to the control unit. 11 and the risk avoidance method calculation unit 55, the risk avoidance method notifying unit corresponds to the control unit 11, the communication unit 13, and the data communication unit 57, and the history information storage unit corresponds to the storage unit 14 and the history information storage unit 59. The parent determination unit corresponds to the control unit 11 and the parent determination unit 54, and the risk avoidance processing unit corresponds to the control unit 11 and the vehicle control unit 56. Stage corresponds to the control unit 11 and the history information storage unit 59, the history information transmitting unit corresponds to the communication unit 13 and the data communication unit 57 and the control unit 11. The description of this association is merely an example, and the present invention is not construed as being limited to this association.

It is a figure which shows the vehicle network system which is one embodiment of this invention. It is a figure which shows the functional block relevant to the risk management of the vehicle control apparatus. It is a figure which shows the flowchart of the control program which the control part 11 of the vehicle control apparatus 1 performs. It is a figure explaining the 1st example of construction of a vehicle network using history information in this embodiment. It is a figure explaining the 2nd example of construction of a vehicle network using history information in this embodiment. It is a figure explaining the risk calculation in this Embodiment. It is a figure explaining the calculation of the risk avoidance method when not using history information. It is a figure explaining the example of a calculation of the risk avoidance method using the history information in this Embodiment.

Explanation of symbols

1, 2, 3, 4 Vehicle control device 5 Network 11, 21, 31, 41 Control unit 12, 22, 32, 42 Various sensors 13, 23, 33, 43 Communication unit 14, 24, 34, 44 Storage unit

Claims (11)

A vehicle control device provided in a vehicle,
Network construction means for constructing a wireless network with surrounding vehicles;
Operation status collection means for collecting the operation status of the own vehicle;
Peripheral vehicle operation status acquisition means for acquiring the operation status of the peripheral vehicles via the network;
Risk calculating means for calculating the degree of risk of each vehicle based on the operation status of the host vehicle and the operation status of the surrounding vehicles;
A risk avoidance method calculating means for calculating a risk avoidance method for each vehicle based on the calculated degree of risk, the operation status of the host vehicle, and the operation status of the surrounding vehicles;
A risk avoidance method notifying means for notifying the surrounding vehicle via the network of the calculated risk avoidance method of the surrounding vehicle;
History information storage means for storing history information on risk avoidance methods calculated in the past,
The risk avoidance method calculation means uses the history information stored in the history information storage means in addition to the calculated degree of risk, the operation status of the host vehicle, and the operation status of the surrounding vehicles. A vehicle control device that calculates a risk avoidance method for each vehicle. The vehicle control device according to claim 1,
The vehicle control apparatus, wherein the network construction unit constructs the network using the history information stored in the history information storage unit. A vehicle control device provided in a vehicle,
Network construction means for constructing a wireless network with surrounding vehicles;
Operation status collection means for collecting the operation status of the own vehicle;
Peripheral vehicle operation status acquisition means for acquiring the operation status of the peripheral vehicles via the network;
Risk calculating means for calculating the degree of risk of each vehicle based on the operation status of the host vehicle and the operation status of the surrounding vehicles;
A risk avoidance method calculating means for calculating a risk avoidance method for each vehicle based on the calculated degree of risk, the operation status of the host vehicle, and the operation status of the surrounding vehicles;
A risk avoidance method notifying means for notifying the surrounding vehicle via the network of the calculated risk avoidance method of the surrounding vehicle;
History information storage means for storing history information on risk avoidance methods calculated in the past,
The vehicle control apparatus, wherein the network construction unit constructs the network using the history information stored in the history information storage unit. In the vehicle control device according to any one of claims 1 to 3,
Based on the calculated risk level of each vehicle, a parent determination unit that determines the host vehicle as a parent in the network when the risk level of the host vehicle is the smallest,
A risk avoidance processing means for performing processing for risk avoidance of the own vehicle based on a risk avoidance method notified from either the own vehicle determined as the parent or a surrounding vehicle determined as the parent;
The risk avoidance method calculating means calculates a risk avoidance method for each vehicle when the host vehicle is determined as a parent,
The risk avoidance method notification means notifies the risk avoidance processing means of the risk avoidance method of the calculated own vehicle amount when the host vehicle is determined as a parent, and calculates the calculated risk avoidance of the surrounding vehicle. A vehicle control apparatus that notifies the surrounding vehicle of a method via the network. In the vehicle control device according to any one of claims 1 to 4,
A vehicle control apparatus, further comprising: a storage control unit that additionally stores information on the calculated risk avoidance method in the history information storage unit as the history information. The vehicle control device according to claim 5, wherein
The storage control unit additionally stores information on a risk avoidance method transmitted from another network in the history information storage unit as the history information. The vehicle control device according to claim 4 , wherein
A vehicle control apparatus, further comprising history information transmitting means for transmitting information relating to the calculated risk avoidance method to a vehicle in another network when the host vehicle is determined as a parent. In the vehicle control device according to any one of claims 1 to 7,
The history information includes information on the problem or cause that caused the risk when calculating the risk avoidance method in the past, information on the network configuration at that time, information on the risk avoidance method at that time, risk avoidance at that time The vehicle control apparatus characterized by including the information regarding a result. The vehicle control device according to claim 8, wherein
The history information includes information related to a problem that has occurred as a result of the risk avoidance.   A vehicle network system comprising a plurality of vehicle control devices according to claim 1. A vehicle control method for avoiding vehicle risks,
Build a network with surrounding vehicles,
Collect the operation status of your vehicle,
Obtaining the operation status of the surrounding vehicles via the network;
Based on the operation status of the host vehicle and the operation status of the surrounding vehicles, the degree of risk of each vehicle is calculated,
Based on the degree of risk, the operation status of the host vehicle, and the operation status of the surrounding vehicles, calculate a risk avoidance method for each vehicle,
Notifying the surrounding vehicle via the network of the calculated risk avoidance method of the surrounding vehicle,
Store historical information on risk avoidance methods calculated in the past,
When building a network with the surrounding vehicles or calculating a risk avoidance method for each vehicle, the stored history information regarding the risk avoidance method calculated in the past is taken into consideration. A vehicle control method.

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