JP5423500B2 - Traveling method calculation device and program - Google Patents

Description

  The present invention relates to a traveling method calculation apparatus and program, and more particularly, to a traveling method calculation apparatus and program for calculating a traveling method in which energy consumption is optimal.

  2. Description of the Related Art Conventionally, there is known a route search method for generating an optimum route connecting a given starting point and destination in a road network where various types of costs exist (Patent Document 1). In this method, first, a link cost determined for each link is selected, and a sum of these link costs is defined as an extended “distance” of the link. Next, an appropriate number of routes having the shortest “distance” are generated by applying the algorithm of the kth shortest route problem to the road network in which the “distance” is defined. Finally, for each generated route, the total cost is calculated in consideration of the non-link cost, which is a cost that does not depend on the link, and the route having the minimum total cost is selected as the optimum route.

  A travel plan generation device that generates a travel plan that optimizes the energy consumed by a vehicle in consideration of the travel environment is known (Patent Document 2). In this device, a speed pattern is generated based on a set condition, a traffic situation is acquired, and a travel plan is generated based on the generated speed pattern and the acquired traffic situation.

JP 2001-264097 A JP 2009-70101 A

  However, since the technology described in Patent Document 1 does not consider the feasibility of a traveling method that minimizes the total cost, the total cost is not minimized even when the selected optimum route is guided. There is a problem that there is.

  In addition, since the technology described in Patent Document 2 does not consider the feasibility of a travel plan that optimizes energy consumption, the energy consumption is optimal even if route guidance is performed according to the generated travel plan. There is a problem that it may not become.

  The present invention has been made to solve the above-described problems, and provides a traveling method calculation apparatus and program that can obtain a traveling method that is highly feasible and that optimizes energy consumption. Objective.

  In order to achieve the above object, a travel method calculation apparatus according to the present invention comprises road information storage means for storing road network data and signal information representing the time of a lighting cycle of each signal on the road network, Information acquisition means for acquiring traffic congestion information of each link on the road network or driving state information of the vehicle on each link, and based on the traffic congestion information or the driving state information acquired by the information acquisition means, Route search means for searching for at least one route candidate from the vehicle to the destination and each signal on the route candidate for each of the route candidates searched by the route search means based on the signal information. Extraction means for extracting at least one signal passing diagram candidate indicating a sequence of cycle information of the green signal when passing by a blue signal For each of the extracted signal passing diagram candidates, a driving method according to the amount of energy consumed when driving the corresponding route candidate based on the traffic jam information or the driving state information acquired by the information acquisition means And calculating means for calculating the amount of energy consumed by the driving method, and for each of the extracted signal passing diagram candidates, pass through the cycle information of the green signal of each signal indicated by the signal passing diagram candidate Realization calculation means for calculating the realization indicating the degree of realization of the running, and for each of the calculated running methods, the amount of energy consumed by the running method and the realization of the corresponding signal passing diagram candidates And ordering means for performing ordering based on the degree.

  The program according to the present invention includes a computer, road information storage means for storing road network data and signal information indicating the time of a lighting cycle of each signal on the road network, and congestion information on each link on the road network. Or a route candidate from the departure point of the vehicle to the destination based on the traffic information or the traveling state information acquired by the information acquiring unit for acquiring the traveling state information of the vehicle on each link Route search means for searching for at least one, cycle information of the green signal when each signal on the route candidate is passed as a blue signal for each of the route candidates searched by the route search means based on the signal information Extracting means for extracting at least one candidate for a signal passing diagram indicating a sequence of For each of the diagram candidates, based on the traffic jam information or the driving state information acquired by the information acquisition means, a driving method according to the amount of energy consumed when driving the corresponding route candidate is calculated, and the driving Calculating means for calculating the amount of energy consumed by the method, and for each of the extracted signal passing diagram candidates, the degree of realization of traveling through the green signal cycle information of each signal indicated by the signal passing diagram candidates. The realization degree calculation means for calculating the realization degree to be shown and the calculated traveling method are ordered based on the amount of energy consumed by the traveling method and the realization degree of the corresponding signal passing diagram candidates. It is a program for functioning as ordering means.

  According to the present invention, the information acquisition means acquires the traffic jam information of each link on the road network or the traveling state information of the vehicle on each link. The route search means searches for at least one route candidate from the departure point of the vehicle to the destination based on the traffic jam information or traveling state information acquired by the information acquisition means.

  Then, for each of the route candidates searched by the route search means based on the signal information by the extraction means, a signal passing diagram showing a sequence of the cycle information of the green signal when each signal on the route candidate is passed as a blue signal. At least one candidate is extracted. For each of the candidate signal passing diagrams extracted by the calculation means, a driving method according to the amount of energy consumed when driving the corresponding route candidate based on the traffic jam information or the driving state information acquired by the information acquisition means. Along with calculation, the amount of energy consumed by the driving method is calculated.

  Then, for each of the extracted signal passing diagram candidates, a degree of realization indicating the degree of realization of traveling through the green signal cycle information of each signal indicated by the signal passing diagram candidate is calculated by the realization level calculating means. . The ordering unit performs ordering for each of the calculated traveling methods based on the amount of energy consumed by the traveling method and the degree of realization of corresponding signal passing diagram candidates.

  In this way, the travel method according to the energy consumption amount when traveling along the route candidate is calculated, the realization degree of the corresponding signal passing diagram candidate is calculated, the energy consumption amount according to the travel method, and the corresponding signal passing By performing the ordering based on the degree of realization of the candidate of the diagram, it is possible to obtain a traveling method that is highly feasible and that optimizes the amount of energy consumption.

  The calculation means according to the present invention, for each of the signal passing diagram candidates corresponding to the predetermined number of upper-order traveling methods ordered last time, the traveling method and the amount of energy consumption based on the current traffic jam information or traveling state information. The realization calculation means repeatedly calculates the current traffic jam information or the driving state information and the calculation means this time for each of the signal passing diagram candidates corresponding to the predetermined predetermined number of driving methods ordered last time. The degree of realization is repeatedly calculated based on the traveling method, and the ordering unit can repeatedly perform ordering for each of the repeatedly calculated traveling methods. Thereby, according to the current traffic environment, it is possible to obtain a traveling method that reduces the amount of calculation, is highly feasible, and optimizes the amount of energy consumption.

  Further, the traveling method calculation apparatus for repeatedly calculating according to the present invention further includes a determination unit that determines whether or not a new traffic jam has occurred on the route candidate based on the current traffic jam information, and the route search unit includes: When it is determined by the determination means that a new traffic jam has occurred on the route candidate, again, based on the current traffic jam information or traveling state information acquired by the information acquisition means, search for at least one route candidate, The extraction unit can extract at least one signal passing diagram candidate for each of the route candidates searched again by the route search unit based on the signal information. As a result, even when the traffic environment changes greatly, it is possible to obtain a traveling method that is highly feasible and that optimizes the amount of energy consumption according to the current traffic environment.

  The ordering means according to the present invention can perform ordering by arranging each of the calculated traveling methods in ascending order of the amount of energy consumed by the traveling method and in descending order of realization of corresponding signal passing diagram candidates. .

  The realization calculation means according to the present invention, when traveling based on the traveling method calculated for the signal passing diagram candidates, of the green signal of the adjacent signal pair of each signal indicated by the signal passing diagram candidates By calculating the degree of realization of traveling that passes through the cycle information for each signal pair and multiplying the calculated degree of realization of each signal pair, traveling that passes through the cycle information of the green signal of each signal is realized. The degree of realization can be calculated.

  The program of the present invention can also be provided by being stored in a storage medium.

  As described above, according to the traveling method calculation apparatus and program of the present invention, the traveling method according to the amount of energy consumed when traveling on the route candidate is calculated, and the realization degree of the corresponding signal passing diagram candidate is calculated. By calculating and ordering based on the amount of energy consumed by the traveling method and the realization of the corresponding signal passing diagram candidates, a traveling method that is highly feasible and that optimizes the energy consumption is obtained. The effect that it can be obtained.

It is a block diagram which shows the route search apparatus which concerns on the 1st Embodiment of this invention. It is a figure for demonstrating a signal passage diagram. It is a figure which shows the speed in each time when a driving | running route is divided | segmented by time. It is a graph which shows the relationship between speed, a driving force, and fuel consumption. It is a figure for demonstrating the upper limit speed and the lower limit speed for passing by a green signal. It is a graph which shows the probability distribution of speed. It is a flowchart which shows the content of the route search process routine in the route search apparatus which concerns on the 1st Embodiment of this invention. (A) The figure which shows a mode that it stopped at the signalized intersection, and (B) The figure which shows a mode that it did not stop at the signalized intersection.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. An example will be described in which the present invention is applied to a route search device that is mounted on a vehicle and guides a route to a destination for a driver of the host vehicle.

  As shown in FIG. 1, the route search device 10 according to the first exemplary embodiment includes an information receiving unit 12 that receives traffic information from a traffic information center, a position measuring unit 14 that measures the position of the host vehicle, The input operation unit 16 for the driver to input the destination and a route to the destination that optimizes the amount of energy consumption are searched, and a driving method that optimizes the amount of energy consumed on the route to the destination is calculated. The computer 18 includes a display unit 20 that displays the searched route and the calculated traveling method to the driver. In the present embodiment, a case where route search device 10 is mounted on a vehicle equipped with an internal combustion engine will be described as an example.

  The traffic information center collects travel information indicating the vehicle speed of the vehicle traveling on each link and traffic information indicating the traffic jam length of each link using road sensors, and the collected travel information for each link and Send traffic information including traffic information.

  The position measurement unit 14 is configured using, for example, a GPS sensor, and measures the current position of the host vehicle.

  The computer 18 includes a CPU, a RAM, and a ROM that stores a program for executing a route search processing routine described later, and is functionally configured as follows. The computer 18 acquires the traffic information collection unit 22 that collects the traffic information received by the information reception unit 12 and the position of the host vehicle measured by the position measurement unit 14 as a departure point, and also uses the input operation unit 16 by the driver. The own vehicle information acquisition unit 24 for acquiring the destination input by the operation, road network data, road information indicating the road gradient and speed limit of each link on the road network, and the lighting cycle of each signal on the road network A road network database 26 storing signal information to represent, a route search unit 28 for searching a plurality of route candidates from the departure point to the destination based on the collected traffic information and road network data, and a search based on the signal information For each of the route candidates, the cycle of the green light when passing through each signal on the route candidate The signal passing candidate extraction unit 30 for extracting the signal passing diagram candidates represented by the cycle information column shown in the figure, and for each of the extracted signal passing diagram candidates, the energy consumption amount is optimized based on the collected traffic information For each of the driving method on each link and the optimum driving calculation unit 32 that calculates the amount of energy consumed by the driving method and the extracted signal passing diagram candidates, it is expected that the signal passing diagram candidates will be realized. The realization prediction degree calculation unit 34 for calculating the realization prediction degree indicating the degree to which the vehicle is to be operated and the travel methods for optimizing the calculated energy consumption are ranked, and the ranked travel methods are assigned to the corresponding travel methods. Based on the collected traffic information, the ranking unit 36 that makes a list with the route and outputs it to the display unit 20 It determines whether deal of change has occurred, in accordance with the determination result and a change determination unit 38 that controls so as to repeat the above process.

  The traffic information collection unit 22 is an example of an information acquisition unit, and the road network database 26 is an example of a road information storage unit.

  The road network database 26 stores road network data, road information of each link on the road network, and signal information of each signal on the road network. The signal information indicates the lighting cycle time for each signal. It is the information represented.

  The route search unit 28 selects a plurality of route candidates from the departure point to the destination using an algorithm for searching for the shortest route or an algorithm for searching for the route with the shortest time based on the collected traffic information and road network data. Explore. As the route search algorithm, a conventionally known algorithm may be used, and detailed description thereof is omitted.

  First, the signal passing candidate extraction unit 30 is based on the speed limit of the road information and the signal information. When the current position departs at the current time, among the green signal cycles of the signals of the links on all the route candidates, Cycles that cannot be passed are extracted and registered in the prohibition list. For example, as shown in FIG. 2, a green light cycle existing on the left side of the dotted line indicating the speed limit is registered in the prohibition list. Also, combinations of green signal cycles of adjacent signal intersection signals that cannot be passed are extracted and registered in the prohibition list. For example, the combination “(1,1) → (2,1)” of the green signal cycle information of the signal at the adjacent signal intersection in FIG. 2 is registered in the prohibition list.

  In addition, the signal passing candidate extraction unit 30 performs, for each extracted route candidate, a green signal cycle that is not registered in the prohibition list, or an adjacent signal, from the green signal cycle of each signal on the route candidate indicated by the signal information. The green signal cycle combinations are extracted, and the signal passing diagram candidates indicating the sequence of the green signal cycle information of each signal on the path candidate are extracted. The signal passing diagram shows how many green signals pass through each signalized intersection, and is a cycle information sequence consisting of a number identifying the signalized intersection and a number identifying the cycle as follows. Represented.

(1,1) → (2,2) → (3,2) → (4,3) ...

  As will be described below, the optimum traveling calculation unit 32 is a vehicle traveling method in which each signal is passed through the extracted signal passing diagram candidates as described below, and Calculate the driving method that optimizes the amount of energy consumed.

First, as shown in FIG. 3, the traveling route is divided by time, speed changes and the traveling speed _{v i} at each time point element vector _{X = (v 0, v 1} , ···, v N) with respect to, Model as a nonlinear programming problem that minimizes the objective function.

  The objective function is expressed by the following equation (1).

Here, P () is a function representing energy consumption, and v _i is a traveling speed at time point i. F () is a function representing the driving force, and θ _i is a road gradient at the time point i.

  P () is a function for determining the energy consumption amount based on the speed and the driving force. As shown in FIG. 4, a predetermined correspondence between the combination of the speed and the driving force and the energy consumption amount. A function based on relationships. The road gradient θ is a value obtained from road information. Further, δ representing the acceleration constraint is a value determined in advance from the characteristics of the target vehicle, and V representing the speed constraint is a value obtained from the speed limit of the road information. Further, D representing the travel distance is a value obtained from the distance to the destination.

In order to realize the traveling through the cycle of the green signal in the adjacent signal represented by the candidate of the signal passing diagram, as shown in FIG. 5, the upper limit V _U and the lower limit V for the average speed of the section between the signal intersections. _L exists. In the traveling method that realizes the signal passing diagram candidates, the average speed v of the section between the signal intersections must be in the meantime. Therefore, a speed constraint related to the average speed is added to the objective function P.

  Moreover, you may add a restriction | limiting sequentially with respect to the objective function P according to traffic environment. For example, when a speed constraint is added to a certain section [D1 to D2] due to traffic jam information or travel information, a speed constraint expressed by the following equation (2) may be added.

  However, V ′ is an upper limit speed determined by traffic jam information or travel information (speed of preceding vehicle).

  The optimum travel calculation unit 32 calculates a speed transition vector that satisfies various constraints and minimizes the objective function of the above equation (1) for the candidate signal passing diagram, and optimizes the energy consumption. The method. Further, the optimum travel calculation unit 32 calculates the amount of energy consumed when traveling with the travel method that optimizes the obtained energy consumption.

  The realization prediction degree calculation unit 34 calculates the realization prediction degree for each of the signal passing diagram candidates corresponding to the traveling method that optimizes the calculated energy consumption as follows.

  First, each passing realization prediction degree between adjacent signals in a signal passing diagram candidate is calculated from traffic jam information, travel information (speed information of preceding vehicle), and the like.

In order to realize the traveling that passes through the cycle of the green signal in the adjacent signal represented by the signal passing diagram candidate, as shown in FIG. 5 above, the upper limit V _U and the lower limit V _L exists.

The speed v in the optimum operation method for realizing this diagram must be between the upper limit V _U and the lower limit V _{L as} shown in the following equation (3).

  On the other hand, the speed at which the driver will actually drive does not necessarily match v. Even in the case of automatic driving, it may not be possible to match v due to changes in traffic conditions.

  Therefore, as shown in FIG. 6, the speed that will be actually achieved in the future is indicated by a certain probability density function including the calculated v, and the speed transition vector and the traffic information in the driving method in which the amount of energy consumption is optimal. The probability density function is determined based on the traffic jam information and the travel information (speed information of the preceding vehicle).

At this time, each passing realization prediction degree between adjacent signals is represented by the integral of the shaded portion [V _L , V _U ] in the probability density function of FIG.

  As described above, for each of the adjacent signals (for example, (1, 1) → (2, 2), (2, 2) → (3, 3),...) In the candidate signal passing diagram, A predicted pass-through realization is calculated.

  Then, by multiplying all the combinations between the adjacent signals by the predicted pass realization degree, the expected realization degree of the candidate for the signal pass diagram is calculated.

By performing the above processes on all the route candidates and all the signal passing diagram candidates, as shown below, the energy consumption and the predicted realization are obtained for each combination of the route candidate and the signal passing diagram candidate as shown below. The optimal driving method is calculated.
Consumption energy Realization expectation Route Signal passing diagram Driving method (1) 600 30% Route A (1,1) → (2,2) ...
(2) 700 40% Path A (1,2) → (2,2) ...
(3) 700 10% Path B (1,1) → (2,1) ...

  The ranking unit 36 uses the energy consumption amount as a first reference item and the realization expectation as a second reference item, and includes an optimum traveling including a traveling route, a signal passing diagram, a consumed energy amount, and a traveling method that optimizes the consumed energy. Data is arranged in the ascending order of energy consumption → descending order of realization expectation, ranking is performed, and the candidate list is saved. At this time, only candidate signal passing diagrams whose realization prediction degree is equal to or higher than a predetermined value are stored in the candidate list, and other candidates (those whose realization prediction degree is less than the predetermined value) are candidate lists as signal passing diagrams with low realization. In addition to registering to the prohibition list.

  In addition, the candidate list is output to the display unit 20 and displayed to the driver, so that the driver is guided to the highest travel route and travel method that optimizes energy consumption.

  The change determination unit 38 acquires current traffic information and determines whether a new traffic jam or an accident has occurred on the route candidate in the candidate list. When it is determined from traffic information such as traffic jam information that a new traffic jam or accident has occurred, it is determined that there has been a significant change in the traffic environment. Do. On the other hand, if it is determined that no traffic jam or accident has occurred, it is determined that there is no significant change in the traffic environment, and the optimal travel calculation unit 32 performs optimal travel only for a predetermined number of top candidates in the candidate list. The above processes are performed again from the above calculation. At this time, candidates with low feasibility are excluded in advance, so that it is possible to save calculation resources and speed up calculation when sequentially executing similar calculations in a feedback loop.

  In the iterative process, the route / traveling method being guided to the driver may be calculated first. As a result, the information transmission delay in presenting information to the driver can be greatly reduced.

  Next, the operation of the route search apparatus 10 according to the first embodiment will be described. First, in the route search device 10, when the driver operates the input operation unit 16 and inputs a destination, a route search processing routine shown in FIG. 7 is executed in the computer 18.

  First, in step 100, the information receiving unit 12 receives and collects traffic information from the traffic information center, and acquires the current position of the host vehicle measured by the position measuring unit 14. Also, information indicating the destination input by the driver is acquired.

  In step 102, it is determined whether or not there is a significant change in the traffic environment as compared to the previous processing. If it is the first processing, or if it is determined that a new traffic jam or accident has occurred based on the traffic information acquired in step 100, the process proceeds to step 104, but acquired in step 100. If it is determined that no new traffic jam or accident has occurred based on the traffic information as compared with the previous processing, the process proceeds to step 124.

  In step 104, the current position of the host vehicle acquired in step 100 is set as a departure point, the input destination is set, and a route candidate from the departure point to the destination is determined by a route search algorithm. Extract multiple.

  In the next step 106, road information and signal information are obtained from the road network database 26, and for each signal in all the route candidates extracted in step 104, an unrealizable green signal cycle is extracted according to the speed limit. Then, a combination of green light cycles that cannot be realized at adjacent signalized intersections is extracted and additionally registered in the prohibition list.

  In step 108, one route candidate is set as a target route candidate, and a plurality of signal passing diagram candidates are extracted for the target route candidate using a signal cycle other than the prohibition list signal cycle. In step 110, one signal passing diagram candidate is set as a target candidate, and the energy consumption is optimized for the target signal passing diagram candidate based on the traffic jam information and the travel information acquired in step 100 above. Calculate the driving method.

  Then, in step 112, the expected degree of realization of the signal passing diagram candidate of interest in the traveling method calculated in step 110 is calculated. In step 114, the optimal driving data including the driving route of interest, the signal passing diagram of interest, the amount of energy consumption, and the driving method that optimizes the energy consumption are arranged in ascending order of energy consumption amount → descending order of realization expectation. , Add to the candidate list. At this time, if the realization expectation is less than the predetermined value, it is added to the prohibited list without being added to the candidate list.

  In step 116, it is determined whether or not the processing in steps 110 to 114 has been executed for all candidates for the signal passing diagram for the target route candidate. If there is a signal passing diagram candidate for which the processes of steps 110 to 114 are not performed, the process returns to step 110, is set as a candidate of interest, and the above process is repeated. On the other hand, when the processing of step 110 to step 114 is executed for all candidates for the signal passing diagram, the processing of step 108 to step 116 is performed for all the route candidates extracted in step 104 in step 118. It is determined whether or not it has been executed. If there is a route candidate that has not been subjected to the processing of step 108 to step 116, the processing returns to step 108, is set as a route candidate of interest, and the above processing is repeated. On the other hand, when the processing of step 108 to step 116 is executed for all route candidates, in step 120, the travel route and the travel method of the optimum travel data registered in the candidate list are changed to a predetermined number of optimal travels. Only the data is output to the display unit 20.

  In step 122, the current position of the host vehicle measured by the position measuring unit 14 is acquired and set as a departure point, and the green light cycle related to the signalized intersection that the host vehicle has passed is excluded from the prohibition list. Then, the process returns to step 100. Further, if there is a candidate list that includes another route branched at a signalized intersection that has passed with respect to the route on which the host vehicle has traveled, it is excluded from the candidate list.

  On the other hand, in step 124, one optimum traveling data is set as attention data among a predetermined number of optimum traveling data from the top of the candidate list obtained in the previous processing, and a signal passing diagram candidate of the attention data is set. Based on the current traffic jam information and travel information acquired in step 100, a travel method for optimizing the energy consumption is calculated, and the amount of energy consumed in the travel method is calculated.

  Then, in step 126, the expected realization degree of the signal passing diagram candidate of the data of interest in the traveling method calculated in step 124 is calculated. In the next step 128, the order in the candidate list is updated so that the optimum running data of interest is arranged in the ascending order of the energy consumption amount → the descending order of the realization expectation. At this time, if the realization prediction degree is less than the predetermined value, the focused optimum travel data is deleted from the candidate list and added to the prohibition list.

  In step 130, it is determined whether or not the processes in steps 124 to 128 have been executed for all the optimum travel data at the top of the candidate list. If there is upper optimum travel data for which the processing of step 124 to step 128 has not been executed, the process returns to step 124, set as attention data, and the above processing is repeated. On the other hand, when the processing of step 124 to step 128 is executed for all the upper optimal driving data, the process proceeds to step 120.

  When the route search processing routine is executed, the travel route and the travel method according to the current traffic environment are displayed on the display unit 20 at any time. At this time, for example, in a vehicle-mounted navigation system, a process for guiding the driver to the searched route and traveling method to the destination point is performed.

As described above, according to the route search device according to the first embodiment, the travel method that optimizes the amount of energy consumed when traveling the route candidate is calculated, and the corresponding signal passing diagram candidate is calculated. By calculating the realization expectation and ranking based on the amount of energy consumed by the driving method and the realization expectation of the corresponding signal passing diagram candidates, the feasibility is high and the amount of energy consumption is optimal It is possible to ask for a driving method.

  A signal passing diagram that optimizes the energy consumption can be selected by comparing driving methods that optimize the energy consumption for each candidate of the signal passing diagram. Furthermore, by evaluating the feasibility of the signal passing diagram based on traffic jam information and speed information of the preceding vehicle, even if the signal passing diagram that is optimal for energy consumption cannot be realized due to traffic jams, etc. Since a signal passing diagram and its traveling method can be calculated sequentially, it is possible to calculate a traveling method that optimizes energy consumption according to the situation.

  Furthermore, the brute force search is not required in the signal passing diagram candidate extraction process due to the prohibition list relating to the cycle information of the green light. Also, if there is no significant change in the traffic environment, it is sufficient to recalculate only the top candidates in the candidate list, so that it is possible to greatly reduce the calculation time for the sequential calculation.

  In addition, it is almost impossible to realize a traveling method for optimizing the energy consumption calculated in advance due to a large change in traffic conditions during traveling. Therefore, even if it becomes clear that the original optimal energy consumption driving cannot be realized during driving by sequentially calculating the feasibility for the signal passing diagram candidates, the change to the next best measure is executed smoothly. can do.

  Next, a second embodiment will be described. In addition, since the structure of the route search apparatus which concerns on 2nd Embodiment is the structure similar to 1st Embodiment, it attaches | subjects the same code | symbol and abbreviate | omits description.

  In the second embodiment, an example will be described in which a route search device is mounted on a vehicle that stops idling to optimize the amount of energy consumed when the host vehicle stops at a red light.

  The objective function P of the optimization problem described above in the optimal travel calculation unit 32 can be expressed as a continuous function when it does not stop halfway, but it becomes a discontinuous function when idling stops after stopping halfway. It cannot be handled by a general nonlinear optimization algorithm.

  Also, as shown in FIG. 8A, when stopping on the way, the traveling method for optimizing the amount of energy consumed from the stop point (point A) and the amount of energy consumed from the point A to the destination are shown. The sum of the energy consumed by the driving method to be optimized is the optimum energy consumption.

  Therefore, the optimum travel calculation unit 32 in the second embodiment compares this energy consumption amount with the optimum energy consumption when not stopping halfway as shown in FIG. If the amount of consumed energy is smaller, the traveling method that stops at a red light is calculated as the traveling method that optimizes the consumed energy amount.

  Note that other configurations and operations of the route search apparatus according to the second embodiment are the same as those of the first embodiment, and thus the description thereof is omitted.

  In the first embodiment and the second embodiment described above, the case where the route search device is mounted on a vehicle has been described as an example. However, the present invention is not limited to this, and a device on the traffic information center side. In addition, the present invention may be applied. In this case, the data indicating the starting point and the destination are transmitted from the target vehicle for route search to the device on the traffic information center side, and the result of the route search (travel method and travel route) is transmitted to the vehicle. do it.

  Moreover, although the case where the route search device is mounted on a vehicle driven by an internal combustion engine has been described as an example, the present invention is not limited to this, and an electric vehicle driven by a motor, or a hybrid driven by both an internal combustion engine and a motor A route search device may be mounted on the vehicle. In this case, a function representing the energy consumption amount in the objective function P may be defined according to the type of vehicle.

  Moreover, although the case where the calculated driving method and the driving route are displayed on the display unit has been described as an example, the present invention is not limited to this, and the calculated driving method and the driving route are used in the engine / electric control system. It is also possible to output and perform energy optimum control.

DESCRIPTION OF SYMBOLS 10 Route search device 12 Information receiving part 14 Position measurement part 16 Input operation part 18 Computer 22 Traffic information collection part 24 Own vehicle information acquisition part 26 Road network database 28 Route search part 30 Signal passage candidate extraction part 32 Optimal driving | running | working calculation part 34 Realization Anticipation degree calculation unit 36 Ranking unit 38 Change determination unit

Claims (6)

Road information storage means for storing road network data and signal information representing the lighting cycle time of each signal on the road network;
Information acquisition means for acquiring traffic information of each link on the road network or driving state information of a vehicle on each link;
A route search unit that searches for at least one route candidate from the departure point of the vehicle to the destination based on the traffic jam information or the running state information acquired by the information acquisition unit;
Based on the signal information, for each of the route candidates searched by the route search means, a signal passing diagram candidate indicating a sequence of the cycle information of the green signal when each signal on the route candidate is passed with a green signal. Extraction means for extracting at least one;
For each of the extracted signal passing diagram candidates, a driving method according to the amount of energy consumed when driving the corresponding route candidate based on the traffic jam information or the driving state information acquired by the information acquisition means. And calculating means for calculating the amount of energy consumed by the traveling method;
Realization degree calculating means for calculating a degree of realization indicating the degree of realization of traveling through the green signal cycle information of each signal indicated by the candidate signal passage diagram for each of the extracted signal passage diagram candidates; ,
Ordering means for performing ordering for each of the calculated traveling methods based on the amount of energy consumed by the traveling method and the realization of corresponding signal passing diagram candidates;
The travel method calculation apparatus including The calculation means, for each of the signal passing diagram candidates corresponding to the predetermined number of upper order traveling methods ordered last time, based on the current traffic jam information or the traveling state information, the traveling method and the energy consumption amount Is repeatedly calculated,
The realization degree calculation means is calculated by the calculation means at this time for the current traffic jam information or the driving state information and each of the signal passing diagram candidates corresponding to the predetermined predetermined number of driving methods ordered last time. Based on the driving method, the realization degree is repeatedly calculated,
The traveling method calculation apparatus according to claim 1, wherein the ordering unit repeatedly performs ordering for each of the repeatedly calculated traveling methods. Based on the current traffic jam information, further comprising a determination means for determining whether a new traffic jam has occurred on the route candidate;
When it is determined by the determination unit that a new traffic jam has occurred on the route candidate, the route search unit is again based on the current traffic jam information or the traveling state information acquired by the information acquisition unit. And searching for at least one of the route candidates,
The travel method calculation apparatus according to claim 2, wherein the extraction unit extracts at least one candidate for the signal passing diagram for each of the route candidates searched again by the route search unit based on the signal information.   The ordering means performs ordering by arranging each of the calculated traveling methods according to an ascending order of energy consumption by the traveling method and a descending order of realization of corresponding signal passing diagram candidates. The traveling method calculation apparatus according to claim 3.   The realization degree calculation means, when traveling based on the traveling method calculated for the signal passing diagram candidate, the green signal of the adjacent signal pair of each signal indicated by the signal passing diagram candidate The degree of realization in which traveling through the cycle information is calculated for each signal pair and multiplied by the calculated degree of realization of each signal pair, thereby traveling through the green signal cycle information of each signal. The travel method calculation apparatus according to claim 1, wherein a degree of realization that realizes is calculated. Computer
Road information storage means for storing road network data and signal information indicating the time of the lighting cycle of each signal on the road network;
Information acquisition means for acquiring traffic information of each link on the road network or driving state information of a vehicle on each link;
Route search means for searching for at least one route candidate from the departure point of the vehicle to the destination based on the traffic jam information or the driving state information acquired by the information acquisition unit;
Based on the signal information, for each of the route candidates searched by the route search means, a signal passing diagram candidate indicating a sequence of the cycle information of the green signal when each signal on the route candidate is passed with a green signal. Extraction means for extracting at least one;
For each of the extracted signal passing diagram candidates, a driving method according to the amount of energy consumed when driving the corresponding route candidate based on the traffic jam information or the driving state information acquired by the information acquisition means. Calculating means for calculating and calculating the amount of energy consumed by the driving method;
For each of the extracted signal passing diagram candidates, a degree of realization calculating means for calculating a degree of realization indicating a degree of running through the green signal cycle information of each signal indicated by the signal passing diagram candidate; A program for causing each of the calculated traveling methods to function as an ordering unit that performs ordering based on the amount of energy consumed by the traveling method and the degree of realization of corresponding signal passing diagram candidates.

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