JP7043273B2 - On-board unit, merging support device, and merging support system - Google Patents

Description

The present invention relates to an on-board unit, a merging support device, and a merging support system.

In a merging section on a highway or the like, a vehicle traveling in the merging lane (hereinafter referred to as a merging vehicle) needs to join the main lane while checking the position and speed of a vehicle traveling on the main lane (hereinafter referred to as a main lane vehicle).
As a system for supporting a driving operation in such a merging section, for example, Patent Document 1 predicts the time when each of the merging vehicle and the main line vehicle reaches the merging section, and the merging vehicle and the main lane vehicle collide with each other in the merging section. A system for encouraging mainline vehicles to change lanes when there is a danger is disclosed.

JP-A-2017-97457

However, in the conventional system, although the main line vehicle can be made to recognize the danger of collision, it is not possible to make the merging vehicle recognize the position where the main line vehicle is traveling.

The present invention has been made in view of such problems, and an object of the present invention is to provide an in-vehicle device, a merging support device, and a merging support system capable of supporting smooth and safe merging.

The first aspect of the present invention is an on-board unit mounted on a merging vehicle, in which the merging vehicle is set on the upstream side of the merging start point between the main lane and the merging lane in the merging lane merging with the main lane. Information on the speed and position of the main line vehicle traveling in the pre-merging section between the vehicle detection point set upstream of the merging start point on the main line and the merging start point while in the communication section. The communication means for receiving the registered tracking information, the merging determination means for determining whether or not the merging vehicle can join the main line using the tracking information, and the merging vehicle cannot join the main line. It is an on-board unit provided with a notification means for notifying the merging vehicle of guidance information for urging the merging vehicle to stop upstream from the merging start point when it is determined to be present.

According to the on-board unit having the above configuration, when the merging vehicle is in the communication section set in the merging lane, information on the speed and position of the main line vehicle traveling near the merging start point on the main lane is registered. Tracking information can be obtained. This makes it possible for the merging vehicle to recognize the position and speed of the main line vehicle traveling on the main line. Then, based on this tracking information, it is determined whether or not it is possible to join the main line, and if it is not possible to join, the merging vehicle is notified of guidance information urging the merging vehicle to stop upstream from the merging start point. Therefore, it is possible to avoid unreasonable merging and support safe and smooth merging.

In the on-board unit, the merging determination means calculates the inter-vehicle distance between a plurality of main line vehicles registered in the tracking information, and is based on the speed of the following vehicle forming the inter-vehicle distance for each inter-vehicle distance. Even if the threshold value of the inter-vehicle distance is calculated, each of the inter-vehicle distances is compared with the threshold value corresponding to the inter-vehicle distance, and if the inter-vehicle distance equal to or greater than the threshold value does not exist, it is determined that the merging is impossible. good.

According to the on-board unit having the above configuration, the threshold value of each inter-vehicle distance is calculated based on the speed of the following vehicle forming the inter-vehicle distance, and each inter-vehicle distance is compared with the threshold value corresponding to the inter-vehicle distance. , Determine if there is sufficient vehicle spacing to join. The faster the speed of the following vehicle, the more difficult it is to enter between the vehicles at the time of merging. Is possible.

In the on-board unit, the merging determination means is the main line vehicle traveling at a predetermined speed or higher determined from the legal speed of the pre-merging section in the main line vehicle registered in the tracking information. If is present, it may be determined that the merge is impossible.

For main line vehicles traveling at a speed higher than the set speed, the detection accuracy may decrease due to the relationship with sensors and the like. In this way, if accurate information on the main line vehicles cannot be obtained, it is determined that the merging is impossible, and if the merging vehicles are not urged to stop, an unreasonable merging will occur. Therefore, according to the in-vehicle device provided with the above configuration, when there is a main line vehicle traveling at a set speed or higher, it is possible to ensure safety at the time of merging by determining that the merging is impossible. ..

In the on-board unit, the merging determination means determines that merging is possible when the inter-vehicle distance equal to or greater than the threshold value exists and the main line vehicle traveling at the set speed or higher does not exist. May be.

According to the on-board unit having the above configuration, it is determined that the vehicle can be merged when the distance between vehicles exceeds the threshold value and there is no main line vehicle traveling at the set speed or higher. Can be increased.

In the on-board unit, when the merging vehicle is stopped and it is determined by the merging determination means that the merging vehicle can be merged, the notification means may notify the guidance information prompting the start of traveling.

According to the on-board unit having the above configuration, when there is a merging vehicle stopped in the merging lane and it is determined that the merging vehicle can be merged, the merging vehicle is urged to start running. Since the guidance information is notified, it is possible to realize a smooth merging with less unnecessary waiting time.

The second aspect of the present invention is a main line vehicle traveling in a pre-merging section between a merging start point where a merging lane merges with the main line and a vehicle detection point set upstream of the merging start point on the main line. A merging support device including a registration processing means for creating tracking information in which information regarding the speed and position of the lane is registered, a communication means for transmitting the tracking information, and the tracking information transmitted from the merging support device are received. It is a merging support system including any of the above-mentioned in-vehicle devices.

A third aspect of the present invention is a main line vehicle traveling in a pre-merging section between a merging start point where a merging lane merges with the main lane and a vehicle detection point set upstream of the merging start point on the main line. A registration processing means for creating tracking information in which information regarding the speed and position of the vehicle is registered, and a merging determination means for determining whether or not a merging vehicle traveling in the merging lane can join the main lane using the tracking information. , When it is determined that the merging vehicle cannot join the main lane, the merging support information for stopping the merging vehicle on the upstream side of the merging start point between the merging lane and the main lane is transmitted. It is a merging support device provided with a communication means.

According to the merging support device having the above configuration, whether or not the merging vehicle can join the main line based on the tracking information in which the information on the speed and position of the main line vehicle traveling near the merging start point on the main line is registered. If it is impossible to merge, the merge support information for stopping the merged vehicle is sent to the merged vehicle, so it is possible to avoid unreasonable merge and support safe and smooth merge. Become.

In the merging support device, the merging determination means obtains the tracking information when it is detected that the merging vehicle has entered the communication section set upstream of the merging start point in the merging lane. It may be used to determine whether or not the merging vehicle can join the main line.

According to the merging support device having the above configuration, when it is detected that the merging vehicle has entered the communication section installed on the upstream side of the merging start point in the merging lane, the merging vehicle uses the tracking information. Since it is determined whether or not it is possible to join the main line, it is possible to make a determination with sufficient margin before merging.

It is determined that the merging support device is capable of merging the merging vehicle with a plurality of guiding means installed along the merging lane on the road side of the merging lane on the upstream side of the merging start point. In this case, a merging scenario creating means for determining a merging point in the merging lane and a guiding control means for controlling the guiding means in conjunction with the movement of the merging point on the main lane may be further provided.

According to the merging support device provided with the above configuration, since the corresponding guiding means is controlled according to the movement of the merging point, it is possible to relatively notify the merging vehicle of the position of the merging point. As a result, it becomes possible to guide the merging vehicle through the guiding means, and it becomes possible to support the smooth and safe merging of the merging vehicle.

A fourth aspect of the present invention is a merging support system including any of the above merging support devices and an in-vehicle device that receives the merging support information transmitted from the merging support device.

A fifth aspect of the present invention is a main line vehicle traveling in a pre-merging section between a merging start point where a merging lane merges with the main lane and a vehicle detection point set upstream of the merging start point on the main line. In the process of determining whether or not the merging vehicle can join the main line using the tracking information in which the information regarding the speed and position of the merging vehicle is registered, and when it is determined that the merging vehicle cannot join the main line. This is a merging support method including a step of creating information for encouraging a stop on the upstream side of the merging start point in the merging lane.

A sixth aspect of the present invention is a main line vehicle traveling in a pre-merging section between a merging start point where a merging lane merges with the main lane and a vehicle detection point set upstream of the merging start point on the main line. Using the tracking information in which information on the speed and position of the merging vehicle is registered, a process of determining whether or not the merging vehicle can join the main line, and a case where it is determined that the merging vehicle cannot join the main line. This is a merging support program for causing a computer to perform a process of creating information for urging a stop upstream of the merging start point in the merging lane.

According to the present invention, there is an effect that smooth and safe merging can be supported.

It is a figure which shows the whole structure of the merging support system which concerns on 1st Embodiment of this invention. It is a figure which showed the hardware composition of the control device which concerns on 1st Embodiment of this invention. It is a block diagram which shows the functional structure of the control apparatus which concerns on 1st Embodiment of this invention. It is a figure which shows an example of the tracking list which concerns on 1st Embodiment of this invention. It is a block diagram which shows the functional structure of the vehicle-mounted device which concerns on 1st Embodiment of this invention. It is a flowchart which showed the procedure of the merging determination processing which concerns on 1st Embodiment of this invention. It is a figure for demonstrating the dense running determination process in the merge determination process which concerns on 1st Embodiment of this invention. It is a figure which showed the screen example which is displayed on the display part when it is determined that the merging is possible in the merging determination process. It is a figure which showed the screen example which is displayed on the display part when it is determined that the merging is impossible in the merging determination process. It is a figure which showed the running example of the main line vehicle and the merging vehicle when the merging vehicle could be merging smoothly without stopping in a stop section. It is a figure which showed the running example of the main line vehicle and the merging vehicle at the time of stopping a merging vehicle in a stop section, and then restarting a running by determining that merging is possible and merging at a predetermined merging point. It is a block diagram which shows the functional structure of the control apparatus which concerns on 2nd Embodiment of this invention. It is a block diagram which shows the functional structure of the vehicle-mounted device which concerns on 2nd Embodiment of this invention. It is a figure which shows the structure of the merging support device which concerns on 3rd Embodiment of this invention. It is a block diagram which shows the functional structure of the control apparatus which concerns on 3rd Embodiment of this invention.

[First Embodiment]
Hereinafter, the on-board unit, the merging support device, and the merging support system according to the first embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a diagram showing an overall configuration of a merging support system 1 according to a first embodiment of the present invention. As shown in FIG. 1, the merging support system 1 includes a merging support device 10 and an on-board unit 20 mounted on a merging vehicle J traveling in a merging lane S2 merging with a main line S1 of a road such as an expressway. There is.

The main lane S1 has a first lane S1a adjacent to the merging lane S2 and a second lane S1b located on the opposite side of the first lane S1a from the merging lane S2. The number of lanes provided in the main lane S1 is not limited to this example, and it is sufficient that the main lane S1 has one or more lanes.
In the main lane S1, a merging start point B at which the merging lane S2 starts merging and a merging end point C at which the merging lane S2 merges are virtually set. Further, in the main line S1, a vehicle detection point A for detecting the main line vehicle H is virtually set on the upstream side of a predetermined distance (for example, 200 m to 300 m) from the merging start point B. In the following description, the section from the vehicle detection point A to the merging start point B is defined as the pre-merging section X1, and the section from the merging start point B to the merging end point C is defined as the merging section.

Further, the merging lane S2 is provided with a communication section X3 for supporting merging with the merging vehicle on the upstream side of a predetermined distance from the merging start point B. In the communication section X3, the distance from the communication start point α to the communication end point β is set to about 40 m to 80 m. Further, near the communication end point β of the communication section X3, a stop section X4 is provided in which the merging vehicle J is temporarily put on standby when the merging vehicle J cannot join the main line S1. Further, in the merging lane S2, the section from the communication end point β to the merging start point B is set as a merging adjustment section X5 for adjusting the merging of the merging vehicle J with the main line S1. In this merging adjustment section X5, when the vehicle J stopped in the stop section X4 starts traveling, then travels at a predetermined speed and a predetermined acceleration and reaches the merging start point B, the main line S1 It is set at a distance that can reach a predetermined speed determined by the legal speed. The distance of the merging adjustment section X5 is set to, for example, about 60 m.

The merging support device 10 includes a control device 11, a vehicle detector 12, and roadside radios 16a and 16b as main configurations. The merging support device 10 is installed near the merging point where the merging lane S2 merges with the main line S1, and supports the merging of the merging vehicle J with the main lane S1.
The control device 11 is an arithmetic processing unit that controls the overall operation of the merging support device 10. The control device 11 creates a tracking list for the main line vehicle H traveling on the main line S1 based on various information output from the vehicle detector 12, and provides the tracking list to the merging vehicle J. The details of the control device 11 will be described later.

The vehicle detector 12 is provided, for example, on the main line S1 in the vicinity of the vehicle detection point A, and detects the main line vehicle H passing through the vehicle detection point A.
The vehicle detector 12 includes, for example, a first laser scanner 12A and a second laser scanner 12B. As shown in FIG. 1, the first laser scanner 12A and the second laser scanner 12B are installed above the road surface of the main line S1 by, for example, an L-shaped strut.
The first laser scanner 12A projects laser light from the sky above the main line S1 toward the detection start point PA, which is located upstream of the vehicle detection point A by a distance W1 (for example, 3 m to 5 m) in the lane direction. Further, the first laser scanner 12A scans the laser beam along the lane width direction by projecting the laser beam a plurality of times while changing the projection angle of the laser beam by a minute angle.
The second laser scanner 12B projects a laser beam from the sky above the main line S1 toward the vehicle detection point A. Further, the second laser scanner 12B scans the laser beam along the lane direction by the same mechanism as the first laser scanner 12A.

The first laser scanner 12A and the second laser scanner 12B detect the reflected light of the laser beam and measure the distance to the reflected position. As a result, the first laser scanner 12A and the second laser scanner 12B detect that the main line vehicle H has entered the vehicle detection point A, and at the same time, determine the traveling lane of the main line vehicle H and the vehicle specifications of the main line vehicle H. Can be identified. The vehicle specifications are information indicating the appearance and structural features of the main line vehicle H, and are, for example, information such as vehicle width, vehicle length, and vehicle height.

Further, in the vehicle detector 12, the time when the first laser scanner 12A detects the main line vehicle H, that is, the time when the head of the main line vehicle H reaches the detection start point PA, and the time when the second laser scanner 12B reaches the main line vehicle H. Is detected, that is, the time difference from the time when the head of the main line vehicle H reaches the vehicle detection point A and the distance W1 from the detection start point PA to the vehicle detection point A, the vehicle detection point A of the main line vehicle H. Calculate the speed at the time of arrival. The vehicle detector 12 includes the detection time of the main line vehicle H (time of arrival at the vehicle detection point A) acquired by the first laser scanner 12A and the second laser scanner 12B, the traveling lane of the main line vehicle H, the vehicle specifications, and the vehicle specifications. The detection information including the speed of the main line vehicle H is output to the control device 11.

In FIG. 1, the vehicle detector 12 is installed on the road side of the first lane S1a of the main lane S1, but the present invention is not limited to this mode. For example, the vehicle detector 12 may be installed on the road side of the second lane S1b of the main lane S1. Further, a plurality of vehicle detectors 12 may be installed in the section before merging. By installing a plurality of vehicle detectors 12, the speed of the main line vehicle H can be obtained in detail, and more accurate merging support can be performed.
Further, by installing the vehicle detector 12 at the merging start point B, it is possible to recognize the main line vehicle H that has passed the merging start point B. Further, the configuration of the vehicle detector 12 is not limited to the above configuration, and may have at least a function of grasping the speed of the main line vehicle H traveling on the main line S1. Further, the vehicle detector 12 may be equipped with a camera.

In the merging lane S2, a roadside radio 16a for communicating with the merging vehicle J that has reached the communication section X3 is installed near the communication start point α of the communication section X3. Further, in the vicinity of the communication end point β of the communication section X3, the roadside radio 16b for communicating with the merging vehicle J stopped in the stop section X4 and the merging vehicle J moving from the communication section X3 to the merging adjustment section X5. Is installed.
Although FIG. 1 illustrates the case where two roadside radios 16a and 16b are installed, three or more roadside radios may be installed. In this case, the roadside radios are installed at intervals in the distance direction of the communication section X3.

The merging vehicle J is equipped with an on-board unit 50. The merging vehicle J may be a manually driven vehicle in which the driver operates the steering wheel, the accelerator, and the brake to drive, or may be an automatically driven vehicle capable of automatic driving.

Next, the above-mentioned control device 11 will be described in detail.
FIG. 2 is a diagram showing a hardware configuration of the control device 11. As shown in FIG. 2, the control device 11 is a computer system, for example, a CPU (Central Processing Unit) 31, a main storage device 32 such as a RAM (Random Access Memory), and a ROM (Read Only).
It is provided with an auxiliary storage device 33 such as Memory), an interface 34 for accessing the external storage device 35, and the like. Then, as an example, a series of processes for realizing various functions described later are stored in the auxiliary storage device 33 in the form of a program, and the CPU 31 reads this program into the main storage device 32 to process the information. Various functions are realized by executing arithmetic processing. The program may be installed in the auxiliary storage device 33 in advance, provided in a state of being stored in a computer-readable storage medium, or distributed via a wired or wireless communication means. May be applied. The program may be stored in the external storage device 35 instead of the auxiliary storage device 33.
Further, the program may be for realizing a part of various functions described later. Further, the program may be a so-called difference file (difference program) that realizes various functions described later in combination with another program already stored in the auxiliary storage device. The auxiliary storage device 33 is an HDD (Hard Disk Drive), SSD (Solid State Drive), magnetic disk, magneto-optical disk, CD-ROM, DVD-ROM, semiconductor memory, or the like.

FIG. 3 is a diagram showing a functional configuration of the control device 11 according to the present embodiment. As shown in FIG. 3, the control device 11 includes a registration processing unit 21 and a communication unit 24 as a main configuration.
When the registration processing unit 21 receives the detection information including the detection time of the main line vehicle H, the traveling lane of the main line vehicle H, the vehicle specifications, and the speed of the main line vehicle H from the vehicle detector 12, the registration processing unit 21 puts these information in the tracking list. to register.

FIG. 4 shows an example of a tracking list. In the tracking list, information about the main line vehicle H that has passed the vehicle detection point A is registered for each vehicle. Specifically, the tracking list shows the "detection time", which is associated with the vehicle ID and indicates the time when the main line vehicle H reaches the vehicle detection point A, and the speed at the time when the main line vehicle H reaches the vehicle detection point A. The indicated "speed" and the "vehicle specifications (for example, vehicle length)" of the main line vehicle H are registered based on the detection information.
Further, the registration processing unit 21 calculates the "estimated arrival time to the merging start point B" and the "estimated arrival time to the merging end point C" using the above detection information, and registers the calculation result in the tracking list. .. The "estimated arrival time at the merging start point B" and the "estimated arrival time at the merging end point C" are calculated on the assumption that the main line vehicle H travels at a constant speed.

The tracking list is created, for example, for each lane of the main line S1. That is, the registration processing unit 21 according to the present embodiment obtains information related to the main lane vehicle H in the first lane S1a or the second lane based on the "position (lane) of the main lane vehicle H" detected by the vehicle detector 12. Register in the tracking list of lane S1b. It should be noted that only the tracking list of the first lane S1a adjacent to the merging lane S2 may be generated and updated.

The registration processing unit 21 registers the detection information in the tracking list each time the detection information is received from the vehicle detector 12. Further, the registration processing unit 21 deletes from the tracking list the vehicle ID whose arrival predicted time of the merging end point C has passed the current time, that is, the information regarding the main line vehicle H that has already passed the merging end point C. As a result, only the main line vehicle H traveling in the section from the vehicle detection point A to the merging end point C is listed in the tracking list, and information unnecessary for merging support of the merging vehicle J is excluded. It becomes possible.

The communication unit 24 transmits the tracking list created by the registration processing unit 21 to the merging vehicle J via the roadside radios 16a and 16b.

Next, the vehicle-mounted device 50 according to the present embodiment will be described with reference to the drawings. FIG. 5 is a block diagram showing a functional configuration of the vehicle-mounted device 50. As shown in FIG. 5, the on-board unit 50 includes a communication unit 51, a control unit 52, and a display unit 53 as main configurations.
The communication unit 51 communicates with the roadside radios 16a and 16b. For example, the communication unit 51 receives a tracking list transmitted via the roadside radios 16a and 16b.

The control unit 52 is a computer like the control device 11 described above, and is, for example, a main storage device such as a CPU (Central Processing Unit) and a RAM (Random Access Memory), and an auxiliary storage device such as a ROM (Read Only Memory). , Equipped with an interface for accessing an external storage device. Then, as an example, a series of processes for realizing various functions described later are stored in the auxiliary storage device 33 in the form of a program (merging support program), and the CPU reads this program into the main storage device. Various functions are realized by executing information processing and arithmetic processing. The program may be installed in an auxiliary storage device in advance, provided in a state of being stored in a computer-readable storage medium, or distributed via a wired or wireless communication means. May be done. The program may be stored in an external storage device instead of the auxiliary storage device. Further, the program (for example, a merging support program) may be for realizing a part of various functions described later. Further, the program may be a so-called difference file (difference program) that realizes various functions described later in combination with another program already stored in the auxiliary storage device. Examples of the auxiliary storage device include HDD (Hard Disk Drive), SSD (Solid State Drive), magnetic disk, magneto-optical disk, CD-ROM, DVD-ROM, semiconductor memory and the like.

The control unit 52 includes a merging determination unit 61, a merging scenario creating unit 62, and a guidance information creating unit 63 as main configurations.

The merging determination unit 61 determines whether or not the merging vehicle J can join the main line S1 by using the tracking list. For example, when the tracking list is received by the communication unit 51, the merging determination unit 61 executes the merging determination process.

Hereinafter, the processing procedure of the merging determination process will be described with reference to FIG. FIG. 6 is a flowchart showing the procedure of the merge determination process according to the present embodiment.
In the following processing, it is premised that the main line vehicle H travels in the pre-merging section X1 and the merging section X2 at a constant speed.

First, the merging determination unit 61 calculates the estimated position P of each main line vehicle H after T seconds using the tracking list (SA1). Here, the T second is set to, for example, the time from the communication start point α to the merging start point B when the merging vehicle J travels at a predetermined speed and a predetermined acceleration. Further, this T second is longer than the time until the merging vehicle J stopped in the stop section X4 reaches the merging start point B when the merging vehicle J starts traveling and travels at a predetermined speed and a predetermined acceleration. It is set to the time.

The estimated position P of each main line vehicle H is calculated by the following equation (1). Here, the estimated position P agrees with the mileage from the vehicle detection point A.

P = V * T + P0 (1)

In the equation (1), V is the speed of the main line vehicle H, and P0 is the estimated position of the main line vehicle H at the time t0 when the merging vehicle J reaches the communication start point α.

Next, the main line vehicle in which the calculated estimated position P exists in the pre-merging section X1 is extracted (SA2). That is, only the main line vehicle H related to the merging of the merging vehicle J is extracted from the plurality of main line vehicles registered in the tracking list.
Subsequently, it is determined whether or not there is an overspeed vehicle among the extracted main line vehicles H (SA3). Specifically, the merging determination unit 61 determines whether or not there is a main line vehicle H traveling at a set speed or higher among the main line vehicles H extracted in step SA2. Here, the set speed is determined from the legal speed of the pre-merging section X1, and is set to, for example, a value in which the legal speed has a predetermined speed margin. For example, when the legal speed of the pre-merging section X1 is 60 km / h, the set speed is set to 80 km / h with a margin of 20 km / h added.
As a result, in the case of an affirmative determination (step SA3: YES), it is determined that the merge is impossible (SA9), the fact that the merge is impossible is output (SA10), and the process returns to step SA1.

On the other hand, in step SA3, when there is no main line vehicle traveling at a set speed or higher (SA3: NO), a dense traveling determination process is subsequently performed (SA4 to SA6). In the dense traveling determination process, first, the inter-vehicle distance of the main line vehicle H extracted in step SA2 is calculated (SA4). This can be calculated by calculating the difference between the estimated positions P of the main line vehicle H. Further, when calculating the inter-vehicle distance, the inter-vehicle distance is calculated on the assumption that the main line vehicle H exists at the merging start point B. That is, the distance between the main line vehicle H traveling at the head of the section before merging and the merging start point B is also regarded as the inter-vehicle distance, and this inter-vehicle distance is also calculated.

Subsequently, the threshold value is calculated for each inter-vehicle distance (SA5). For example, the threshold is calculated based on the speed of the following vehicle forming the inter-vehicle distance. For example, the threshold value is calculated by multiplying the speed of the following vehicle by a predetermined number of seconds (for example, 2 seconds). Then, the inter-vehicle distance is compared with the threshold value corresponding to the inter-vehicle distance, and it is determined whether or not there is an inter-vehicle distance equal to or greater than the threshold value (SA6). As a result, if there is no inter-vehicle distance equal to or greater than the threshold value, it is determined that the vehicle is densely driven (SA6: NO). In this case, it is determined in step SA9 that merging is impossible (SA9), an output indicating that merging is not possible (SA10) is output, and the process returns to step SA1.
On the other hand, in step SA6, when the inter-vehicle distance equal to or larger than the threshold value exists (SA6: YES), it is determined that the vehicle is not densely driven and it is determined that the vehicle can merge (SA7). Then, it outputs that it is possible to merge (SA8), and ends the process.

As described above, in the merging determination process, it is determined that the merging is impossible and the above-mentioned determination process is repeated until it is determined that there is no vehicle on the main line that exceeds the speed and that the vehicle is not in a dense running.

The merging scenario creation unit 62 creates a merging scenario for the merging vehicle J when it is determined by the merging determination unit 61 that the merging is possible. That is, various information calculated by the merging determination unit 61 is used to determine the timing at which the merging vehicle J joins from the traveling position of the main line vehicle H.
For example, in step SA6 of FIG. 4, among the inter-vehicle distances determined to be equal to or greater than the threshold value, the inter-vehicle distance closest to the merging start point B is specified, and the center of the inter-vehicle distance is determined as the merging point of the merging vehicle J. , The merging point and the merging timing are output to the guidance information creating unit 63. Further, the merging scenario creating unit 62 may calculate the speed of the merging vehicle J so that it can merge at the determined merging point according to a predetermined rule, and output the speed information to the guidance information creating unit 63 as well.

For example, when the above-mentioned merging determination unit 61 determines that the merging is impossible, the guidance information creating unit 63 stops the merging vehicle J in the stop section X4 until the merging is impossible and the merging becomes possible. Guidance information for this is created and displayed on the display unit 53. As a result, the driver of the merging vehicle J who has confirmed the display unit 53 can recognize that the merging is impossible at the present time, temporarily stops the merging vehicle J in the stop section X4, and waits for the merging timing. be able to.
On the other hand, when it is determined by the above-mentioned merging determination unit 61 that merging is possible, the guidance information creating unit 63 merges based on the fact that merging is possible and the information of the merging point determined by the merging scenario creating unit 62. Guidance information for providing support is created and displayed on the display unit 53. In the present embodiment, the merging support is performed by displaying the guidance information on the display unit 53, but in addition to or instead of this, for example, the guidance information is notified by voice from the speaker. May be good.

The display unit 53 is, for example, a liquid crystal display, an organic EL display, or the like, and by displaying the guidance information created by the guidance information creation unit 63 on the display screen, information on the merging support is notified, and the main line S1 by the driver. Support the merger with. For example, when it is determined by the merging determination unit 61 that the merging is impossible, the display unit 53 is on the upstream side of the merging start point B with respect to the merging vehicle (J), in the stop section X4 in the present embodiment. Notify the guidance information urging you to stop.

Next, the operation of the merging support system 1 having the above configuration will be described.
First, when a vehicle on the main lane is detected by the vehicle detector 12 provided in the first lane S1a of the main lane S1, the detection information about the vehicle is transmitted from the vehicle detector 12 to the control device 11. As a result, the registration processing unit 21 of the control device 11 updates the tracking list based on the information received from the vehicle detector 12. As a result, information (detection time, speed, vehicle length, etc.) of the main line vehicle traveling on the pre-merging section X1 and the merging section X2 set in the main line S1 is registered in the tracking list.

The communication unit 24 of the control device 11 transmits the latest tracking list to the roadside radios 16a and 16b at predetermined time intervals. As a result, the tracking list is transmitted to the merging vehicle J existing in the communication section via the roadside radios 16a and 16b.

When the merging vehicle J reaches the communication start point α in the merging lane S2, the communication unit 51 of the vehicle-mounted device 50 of the merging vehicle J receives the tracking list transmitted from the roadside radio 16a. The received tracking list is output to the control unit 52. The merging determination unit 61 of the control unit 52 executes the merging determination process shown in FIG. 6 using the tracking list.
Specifically, the merging determination unit 61 first calculates the estimated position P of each main line vehicle H after T seconds using the tracking list (SA1).

Next, the main line vehicle whose estimated estimated position exists in the pre-merging section X1 is extracted (SA2). As a result, for example, as shown in FIG. 7, assuming that all the estimated positions of the main line vehicles H1 to H3 exist in the pre-merging section X1, the main line vehicles H1 to H3 are extracted.

Next, it is determined whether or not there is a main line vehicle whose speed exceeds the set speed among the extracted main line vehicles H1 to H3 (SA3). As a result, assuming that the speeds of the main line vehicles H1 to H3 are all equal to or lower than the set speed, a negative determination is made and the process proceeds to step SA4.
In step SA4, the inter-vehicle distance of the specified main line vehicle is calculated. For example, as shown in FIG. 7, when the three main line vehicles H1 to H3 are extracted in step SA2, the inter-vehicle distance is calculated. As a result, for example, the inter-vehicle distance between the merging start point B and the main line vehicle H1 is calculated as L1, the inter-vehicle distance between the main line vehicle H1 and the main line vehicle H2 is L2, and the inter-vehicle distance between the main line vehicle H2 and the main line vehicle H3 is calculated as L3. To.

Subsequently, in step SA5, the threshold value is calculated for each inter-vehicle distance. Specifically, the threshold value is calculated based on the speed of the following vehicle forming the inter-vehicle distance. As a result, the threshold value L1th is set based on the speed V1 of the main line vehicle H1 for the inter-vehicle distance L1, the threshold value L2th is set based on the speed V2 of the main line vehicle H2 for the inter-vehicle distance L2, and the speed V3 of the main line vehicle H3 is set for the inter-vehicle distance L3. The threshold value L3th is calculated based on. For example, the threshold is calculated by multiplying the speed of the structural vehicle by a predetermined time (eg, 2 seconds).

In the following step SA6, the inter-vehicle distances L1, L2, and 3L are compared with the thresholds L1th, L2th, and L3th of the inter-vehicle distances, and it is determined whether or not there is an inter-vehicle distance equal to or greater than the threshold. As a result, when L1 <L1th, L2> L2th, L3 <L3th, the inter-vehicle distance L2 is equal to or greater than the threshold value, so it is determined that there is no dense driving (SA6: YES), and it is determined that merging is possible in step SA7. ..
Then, the fact that the merge is possible is output to the merge scenario creation unit 62.

When the information indicating that the merging is possible is input from the merging determination unit 61, the merging scenario creation unit 62 identifies the inter-vehicle distance L2 determined to be the inter-vehicle distance equal to or greater than the threshold value, and sets the center of the inter-vehicle distance L2. It is determined as the merging point of the merging vehicle J, and the merging timing for merging at the merging point is output to the guidance information creating unit 63.
When the merging scenario creation unit 62 inputs the fact that the merging is possible and the merging scenario is input, the guidance information creating unit 63 merges between the main line vehicles H1 and H2 based on the merging scenario from the merging scenario creating unit 62. The speed information for the purpose and the guidance information indicating the merging timing are created and displayed on the display unit 53. As a result, as shown in FIG. 8, for example, as shown in FIG. 8, the estimated positions of the vehicles H1 to H3 traveling on the main lane S1 and the merging vehicle J join the screen showing the merging lane S2 and the main lane S1. A screen showing the merging point GP to be merged is displayed, and a message indicating that the merging is possible and the target speed for merging at the merging point GP is displayed as a message. The driver of the merging vehicle J operates the accelerator or the like while checking the display on the display unit 53 to drive the merging vehicle J so as to merge between the main line vehicles H1 and H2.

In the above-mentioned merging determination process, when any of the main line vehicles H1 to H3 is traveling at a speed exceeding the set speed (SA3: YES), or when the inter-vehicle distances L1 to L3 are all less than the threshold value. In this case (SA6: NO), it is determined by the merging determination unit 61 that merging is impossible. In this case, the guidance information creation unit 63 creates guidance information to the effect that it temporarily waits in the stop section because it is impossible to join at the present time, and displays it on the display unit 53.

As a result, for example, on the display screen of the display unit 53, as shown in FIG. 9, the estimated position of the vehicle H traveling on the main lane S1 and the merging vehicle J are displayed on the screen showing the merging lane S2 and the main lane S1. A screen showing the stop section X4 to be stopped and a message to wait until the merging becomes possible are displayed.

During the period when the merging vehicle J is stopped in the stop section X4, the communication unit 51 of the vehicle-mounted device 50 receives the latest tracking list transmitted from the roadside radio 16b at predetermined time intervals at any time. The merging determination unit 61 repeats the merging determination process using the latest tracking list. Then, when it is determined that the merging is possible, that fact is output to the merging scenario creation unit 62. As a result, as described above, the driver is notified of the information regarding the merging timing through the display unit 53.

FIG. 10 is a diagram showing a running example of a main line vehicle and a merging vehicle when the merging vehicle J can be smoothly merged without stopping at the stop section X4, and FIG. 11 is a diagram showing a traveling example of the merging vehicle J in a stop section. It is a figure which showed the running example of the main line vehicle and the merging vehicle at the time of stopping at X4, and then restarting running by determining that merging is possible and merging at a predetermined merging point.
In FIGS. 10 and 11, the horizontal axis indicates time, the vertical axis indicates position, in other words, the mileage from the vehicle detection point A. Further, in FIGS. 10 and 11, each locus is shown with a width because the vehicle length is taken into consideration. Further, in FIGS. 10 and 11, X3 indicates a communication section X3, and X2 indicates a merging section X2.

As described above, according to the merging support system 1 according to the present embodiment, a tracking list in which information on the main line vehicle H traveling in the pre-merging section X1 is registered from the merging support device 10 is set at a predetermined time interval. By analyzing this tracking list, the merging vehicle J can recognize the position and speed of the main line vehicle H. Then, by using the information in the tracking list, it becomes possible to determine whether or not the own vehicle can join. If it is determined that merging is not possible, the vehicle is temporarily stopped in the stop section X4 provided on the upstream side of the merging start point B by a predetermined distance, so that unreasonable merging is avoided and it is safe and smooth. It will be possible to support the merger.

Further, according to the merging support system 1, the threshold value of each inter-vehicle distance is calculated based on the speed of the following vehicle forming the inter-vehicle distance, and each inter-vehicle distance is compared with the threshold value corresponding to the inter-vehicle distance. , Judge whether a sufficient inter-vehicle distance is secured for merging. The faster the speed of the following vehicle, the greater the risk at the time of merging. Therefore, by using the threshold value according to the speed of the following vehicle, it is possible to determine the inter-vehicle distance standing on the safe side and improve the safety at the time of merging. Is possible.

Further, according to the merging support system 1, when the main line vehicle traveling at the set speed or higher is registered in the tracking information, it is determined that the merging is impossible. For a vehicle traveling at a high speed equal to or higher than a set speed, the vehicle detection accuracy (for example, the detection accuracy of speed and vehicle length) by the vehicle detector 12 may decrease. In this way, if the merging is permitted when accurate information on the main line vehicles cannot be obtained, there is a risk of collision or the like. Therefore, if there is a main line vehicle traveling at a speed higher than the set speed, it is possible to ensure safety at the time of merging by determining that the main line vehicle cannot merge until it passes the merging start point B. Become.

Further, according to the merging support system 1, it is determined that merging is possible when there is an inter-vehicle distance equal to or greater than the threshold value and there is no main line vehicle traveling at a set speed or higher. Can be increased.

Further, according to the merging support system 1, when there is a vehicle stopped in the stopped section and it is determined that the merging of the vehicles is possible, the guidance information for starting the traveling of the vehicle is notified. Therefore, it is possible to realize a smooth merging with less wasted time.

[Second Embodiment]
Next, the vehicle-mounted device, the merging support device, and the merging support system according to the second embodiment of the present invention will be described with reference to the drawings.
In the first embodiment described above, it is determined whether or not the vehicle-mounted device 50 can be merged, but in the present embodiment, it is determined whether or not the control device 11 can merge instead of the vehicle-mounted device 50. 1 Different from the embodiment. Hereinafter, the same configurations as those of the first embodiment are designated by the same reference numerals, the description thereof will be omitted, and different configurations will be mainly described.

FIG. 12 is a diagram showing the functional configuration of the control device 11 ′ according to the present embodiment, and FIG. 13 is a diagram showing the functional configuration of the vehicle-mounted device 50 ′ according to the present embodiment. As shown in FIG. 12, the control device 11'includes a merging determination unit 22 and a merging scenario creating unit 23. The merging determination unit 22 and the merging scenario creating unit 23 are basically the same as the functions of the merging determination unit 61 and the merging scenario creating unit 62 provided in the vehicle-mounted device 50 in the first embodiment.
Further, as shown in FIG. 13, in the on-board unit 50', the merging determination unit 61 and the merging scenario creating unit 62 are omitted, and the control unit 52'has only the function of the guidance information creating unit 63.

In the merging support system having such a configuration, the merging determination unit 22 of the control device 11'determines whether or not the merging vehicle J can be merged. Here, the merging determination unit 22 performs the merging determination process when it is detected that the merging vehicle J has reached the communication start point α. Whether or not the merging vehicle J has reached the communication start point α is determined, for example, when the communication between the roadside radio 16a and the on-board unit 50'is established, it is determined that the merging vehicle J has reached the communication start point α. Then, the information to that effect may be transmitted from the roadside radio 16a to the control device 11'. Further, the present invention is not limited to the above example, and for example, by mounting a laser scanner or the like on the roadside radio 16a like the vehicle detector 12, it is possible to detect the arrival of the merging vehicle J at the communication start point α. good.

When the merging determination unit 22 determines that merging is possible in the merging determination process, the merging determination unit 22 outputs information to that effect to the merging scenario creation unit 23. If it is determined that merging is not possible, information to that effect is output to the communication unit 24, and the merging determination process is continuously repeated until it is determined that merging is possible.

Similar to the above-mentioned merging scenario creating unit 62, the merging scenario creating unit 23 determines the merging point, speed, and the like of the merging vehicle J, and outputs the information to the communication unit 24.
When the merging determination unit 22 determines that the merging is possible, the communication unit 24 includes information indicating that the merging is possible, and the merging scenario determined by the merging scenario creation unit 23, for example, the merging point and the merging timing. Is transmitted to the merging vehicle J. Further, when the merging determination unit 22 determines that the merging is impossible, the communication unit 24 transmits the merging support information for temporarily stopping the merging vehicle J in the stop section X4 to the merging vehicle J.

The merging support information output from the communication unit 24 is transmitted to the merging vehicle J via the roadside radios 16a and 16b.
When the communication unit 51 of the on-board unit 50'of the merging vehicle J receives the merging support information, it outputs the received merging support information to the control unit 52'. When the guidance information creating unit 63 of the control unit 52'receives the merging support information indicating that merging is possible, the merging point GP, speed, etc. are indicated based on the merging scenario included in the merging support information. Guidance information is created and displayed on the display unit 53. As a result, the display unit 53 displays, for example, a display screen as shown in FIG. On the other hand, when the guidance information creation unit 63 receives the merging support information indicating that merging is impossible, the guidance information creating unit 63 creates guidance information indicating that it temporarily waits in the stop section because merging is not possible at the present time. Then, it is displayed on the display unit 53. As a result, the display screen as shown in FIG. 9 is displayed.

As described above, according to the merging support system according to the present embodiment, the control device 11'determines whether or not the merging vehicle J can merge, and the merging support information according to the result is transmitted to the on-board unit 50'. Will be done. In this way, even when the control device 11'determines whether or not the merging is possible, it is possible to support the smooth and safe merging of the merging vehicle J as in the first embodiment described above.

In the present embodiment, the merging determination unit 22 of the control device 11'executes the merging determination process when the merging vehicle J reaches the communication start point α, but the present invention is not limited to this example, and for example, The merging determination unit 22 may continuously and repeatedly execute the merging determination process at predetermined time intervals (for example, 100 ms) regardless of the presence of the merging vehicle J. By repeatedly executing the processing at predetermined time intervals in this way, it is possible to smoothly provide the merging support information without delay when the merging vehicle J appears.

[Third Embodiment]
Next, the merging support system according to the third embodiment of the present invention will be described with reference to the drawings. In the second embodiment described above, the communication unit 24 transmits the merging support information to the vehicle-mounted device 50'mounted on the merging vehicle J, and the vehicle-mounted device 50'notifies the guidance information. The second embodiment is different from the second embodiment in that the merging support is performed by a light guide lamp (guidance means) instead of the on-board unit 50'. Hereinafter, the same configurations as those of the second embodiment are designated by the same reference numerals, the description thereof will be omitted, and different configurations will be mainly described.

FIG. 14 is a diagram showing an installation example of a light guide lamp (notification means) 70 according to the present embodiment. As shown in FIG. 14, on the road side of the merging lane S2 on the upstream side of the merging start point B, a plurality of light guide lights 70 are installed at intervals along the merging lane S2. Each light guide 70 is composed of, for example, a plurality of LEDs. The lighting and extinguishing of the light guide lamp 70 is controlled by, for example, the control device 11a (see FIG. 15). The light guide lamp 70 may be continuously installed, or may be configured such that the lighting position moves.

For example, as shown in FIG. 15, the control device 11a includes a light guide lamp control unit 25 that controls lighting of the light guide lamp 70 based on the merge scenario created by the merge scenario creation unit 23. Specifically, the light guide light control unit 25 of the control device 11a calculates the distance L5 between the merging point GP and the merging start point B determined by the merging scenario creation unit 23, and is separated from the merging start point B by the distance L5. The light guide light 70 closest to the above position is specified, and the specified light guide light 70 is turned on. By repeating the above process, as the merging point GP approaches the merging start point B, the light guide lamp 70 that lights up also approaches the merging start point B.

According to the merging support system according to the present embodiment, the light guide lamp 70 installed at substantially the same distance from the merging start point B is turned on according to the movement of the merging point GP, so that the merging vehicle J merges. It is possible to relatively notify the position of the point GP. As a result, it becomes possible to guide the merging vehicle J through the lighting of the light guide lamp 70, and it is possible to support the smooth and safe merging of the merging vehicle J.
Further, according to the merging support system according to the present embodiment, the merging support of the merging vehicle J is mainly performed by the light guide light. Therefore, for example, the merging support is performed even for the merging vehicle not equipped with the on-board unit 50'. Is possible.

In the present embodiment, a display device 80 (see FIG. 14) such as a road information board is installed on the road side or above the merging lane S2, and the display device 80 displays information for supporting the merging of the merging vehicle J. May be. For example, when it is determined by the merging determination unit 22 of the control device 11a that merging is impossible, the display device 80 may display information prompting the merging vehicle J to stop or information on the stop position. Further, when the vehicle J stopped in the merging lane S2 is present and the merging determination unit 22 of the control device 11a determines that the merging is possible, information prompting the start of traveling is displayed. May be good. Further, for example, the display device 80 may receive the merging support information transmitted by the communication unit 24 of the control device 11'in the second embodiment and display the received merging support information. Further, the display device may display the target speed or the like of the merging vehicle J.

Further, in the present embodiment, the control device 11a is provided with the light guide light control unit 25 for controlling the light guide light 70, but instead of this, a dedicated light guide light for controlling the light guide light 70 is provided. A control device (not shown) may be provided, and the light guide light control device may be provided with the function of the light guide light control unit 25 described above. In this case, the control device transmits information such as the merging point GP determined by the merging scenario creation unit 23 to the light guide light control device, and the light guide light control device guides based on the received information such as the merging point GP. The light lamp 70 is controlled.

Further, in the present embodiment, instead of displaying the guidance information on the on-board unit 50', the merging vehicle J is guided by the light guide lamp 70. For example, the second embodiment and the third embodiment may be used. In combination, the guidance information may be displayed on the on-board unit 50', and the merging vehicle J may be guided by the light guide lamp 70.

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. Various changes or improvements can be made to the above embodiments without departing from the gist of the invention, and the modified or improved embodiments are also included in the technical scope of the present invention.
Further, the flow of the merging determination process described in the above embodiment is also an example, and unnecessary steps are deleted, new steps are added, or the processing order is changed within a range not deviating from the gist of the present invention. You may.

For example, in each of the above-described embodiments, the stop section X4 is provided in the communication section, but the installation position of the stop section X4 is not limited to this example, and may be provided outside the communication section X3. good.

1 Confluence support system 10 Confluence support device 11, 11'Control device 12 Vehicle detector 16a, 16b Roadside radio 21 Registration processing unit 22, 61 Confluence determination unit 23, 62 Confluence scenario creation unit 24 Communication unit 50 On-board unit 51 Communication unit 52 Control unit 53 Display unit 63 Guidance information creation unit A Vehicle detection point B Confluence start point C Confluence end point H Main line vehicle J Confluence vehicle S1 Main line S1a First lane S1b Second lane S2 Confluence lane X1 Confluence section X2 Confluence section X3 Communication section X4 Stop section X5 Confluence adjustment section α Communication start point β Communication end point

Claims (11)

It is an on-board unit mounted on a merging vehicle.
In the merging lane that merges with the main line, when the merging vehicle is within the communication section set upstream of the merging start point of the main lane and the merging lane, the upstream side of the merging start point on the main line. A communication means for receiving tracking information in which information on the speed and position of the main line vehicle traveling in the pre-merging section between the vehicle detection point set in is and the merging start point is registered.
Using the tracking information, a merging determination means for determining whether or not the merging vehicle can join the main line, and
It is provided with a notification means for notifying the merging vehicle of guidance information urging the merging vehicle to stop upstream from the merging start point when it is determined that the merging vehicle cannot join the main line. ,
The merging determination means is
Calculate the inter-vehicle distance between multiple main line vehicles registered in the tracking information,
For each of the inter-vehicle distances, the threshold value of the inter-vehicle distance is calculated based on the speed of the following vehicle forming the inter-vehicle distance.
Each said inter-vehicle distance is compared with the said threshold value corresponding to the inter-vehicle distance,
An on-board unit that determines that merging is impossible when the inter-vehicle distance equal to or greater than the threshold value does not exist. The merging determination means is when the main line vehicle traveling at a predetermined speed or higher determined from the legal speed of the pre-merging section is present in the main line vehicle registered in the tracking information. The vehicle-mounted device according to claim 1, wherein it is determined that the merging is impossible. The second aspect of claim 2, wherein the merging determination means determines that the merging is possible when the inter-vehicle distance equal to or greater than the threshold value exists and the main line vehicle traveling at the set speed or higher does not exist. In-vehicle device. The vehicle-mounted device according to claim 3, wherein the notification means notifies guidance information prompting the start of traveling when it is determined by the merging determination means that the merging vehicle can be merged when the merging vehicle is stopped. Information on the speed and position of the main line vehicle traveling in the pre-merging section between the merging start point where the merging lane merges with the main line and the vehicle detection point set upstream of the merging start point on the main line is registered. A registration process that creates tracked information and
A merging support device including a communication means for transmitting the tracking information, and
The merging support system comprising the vehicle-mounted device according to any one of claims 1 to 4, which receives the tracking information transmitted from the merging support device. Information on the speed and position of the main line vehicle traveling in the pre-merging section between the merging start point where the merging lane merges with the main line and the vehicle detection point set upstream of the merging start point on the main line is registered. A registration process that creates tracked information and
Using the tracking information, a merging determination means for determining whether or not a merging vehicle traveling in the merging lane can join the main lane,
Communication for transmitting merging support information for stopping the merging vehicle on the upstream side of the merging start point between the merging lane and the main line when it is determined that the merging vehicle cannot join the main lane. Equipped with means,
The merging determination means is
Calculate the inter-vehicle distance between multiple main line vehicles registered in the tracking information,
For each of the inter-vehicle distances, the threshold value of the inter-vehicle distance is calculated based on the speed of the following vehicle forming the inter-vehicle distance.
Each said inter-vehicle distance is compared with the said threshold value corresponding to the inter-vehicle distance,
A merging support device that determines that merging is impossible when the inter-vehicle distance equal to or greater than the threshold value does not exist. When it is detected that the merging vehicle has entered the communication section set upstream of the merging start point in the merging lane, the merging determination means uses the tracking information to use the merging vehicle. The merging support device according to claim 6, wherein it is determined whether or not the merging is possible with the main line. A plurality of guiding means installed along the merging lane on the road side of the merging lane on the upstream side of the merging start point.
When it is determined that the merging vehicle can join the main lane, a merging scenario creating means for determining a merging point in the merging lane, and
The merging support device according to claim 6 or 7, further comprising a guiding control means for controlling the guiding means in conjunction with the movement of the merging point on the main line. With the merging support device according to claim 6 or 7.
A merging support system including an in-vehicle device that receives the merging support information transmitted from the merging support device. The computer
Information on the speed and position of the main line vehicle traveling in the pre-merging section between the merging start point where the merging lane merges with the main line and the vehicle detection point set upstream of the merging start point on the main line is registered. A merge determination process that determines whether or not a merged vehicle can join the main line using the tracked information.
When it is determined that the merging vehicle cannot join the main lane, a step of creating information for urging the merging lane to stop upstream from the merging start point is executed .
The merging determination step is
The process of calculating the inter-vehicle distance between a plurality of main line vehicles registered in the tracking information, and
A step of calculating the threshold value of the inter-vehicle distance based on the speed of the following vehicle forming the inter-vehicle distance for each inter-vehicle distance.
A step of comparing each inter-vehicle distance with the threshold value corresponding to the inter-vehicle distance,
A merging support method including a step of determining that merging is impossible when the inter-vehicle distance equal to or greater than the threshold value does not exist. On the computer
Information on the speed and position of the main line vehicle traveling in the pre-merging section between the merging start point where the merging lane merges with the main line and the vehicle detection point set upstream of the merging start point on the main line is registered. Using the tracked information, the merging judgment process to determine whether or not the merging vehicle can join the main line,
In order to execute a process of creating information for urging the merging vehicle to stop upstream from the merging start point in the merging lane when it is determined that the merging vehicle cannot join the main lane. It is a merger support program of
The merge determination process is
The process of calculating the inter-vehicle distance between a plurality of main line vehicles registered in the tracking information, and
For each of the inter-vehicle distances, a process of calculating the threshold value of the inter-vehicle distance based on the speed of the following vehicle forming the inter-vehicle distance, and
A process of comparing each inter-vehicle distance with the threshold value corresponding to the inter-vehicle distance,
A merging support program including a process of determining that merging is impossible when the inter-vehicle distance equal to or greater than the threshold value does not exist.

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