JP7345580B2 - servers and vehicles - Google Patents

Description

The present invention relates to a server and a vehicle.

At the merging point between the main lane and the merging lane that connects to the main lane, various technologies are being developed to avoid collisions between a preceding vehicle traveling on the main lane and a merging vehicle traveling on the merging lane. Previously proposed. For example, in Patent Document 1, from the situation of the merging vehicle and the main line vehicle when the merging vehicle passes a point before the merging steering starting point where the merging steering to the main track starts, the merging vehicle reaches the merging steering starting point. Automatic merging of automatically-driving vehicles, comprising: an estimation means for estimating the running position of the main-line vehicle at the time of merging; and a main-line vehicle control means for controlling the running of the main-line vehicle for merging according to the estimated running position. The system is described.

Japanese Patent Application Publication No. 11-039599

Conventional collision avoidance technology instructs main line vehicles traveling on main lanes to accelerate or decelerate. This makes it possible to avoid the first collision between the main line vehicle and the merging vehicle. However, even if the first collision can be avoided, the acceleration/deceleration may cause a second collision between the main line vehicle and a preceding vehicle running in front of the main line vehicle or a following vehicle running behind the main line vehicle. There is a possibility that this will occur. Furthermore, having the main line vehicle perform the first and second collision avoidance processes at the same time places an excessive load on the main line vehicle.

In order to solve the above problems, a server according to one aspect of the present invention includes a preceding vehicle traveling on a main lane, a preceding vehicle traveling on the main lane behind the preceding vehicle in the same direction as the preceding vehicle. A communication unit that communicates with a following vehicle and a merging vehicle traveling on a merging lane connected to the main lane, and receives the position and speed of each vehicle from the preceding vehicle, the following vehicle, and the merging vehicle. a reception control unit that controls the communication unit, and a first time after the preceding vehicle reaches a merging point between the main lane and the merging lane, based on the received position and speed of the preceding vehicle; a second calculation unit that calculates a second time before the following vehicle reaches the merging point based on the received position and speed of the following vehicle; a third calculation unit that calculates a target speed necessary for the merging vehicle to reach the merging point in the time from the first time to the second time based on the position and speed; and the calculated target speed. and a transmission control unit that controls the communication unit to transmit the information to the merging vehicle before the merging vehicle reaches the merging point.

In order to solve the above problems, a vehicle according to another aspect of the present invention includes a position sensor that detects its own position, a speed sensor that detects its own speed, and a vehicle based on the received position and speed of the target vehicle. a communication unit that communicates with a server that transmits the target speed of the target vehicle, a transmission control unit that controls the communication unit to transmit the detected position and speed of the target vehicle to the server, and a transmission control unit that connects the target vehicle to the main lane. a reception control unit that controls the communication unit to receive the target speed from the server when the vehicle is a merging vehicle traveling in a merging lane; and a travel control unit that controls its own speed in accordance with the received target speed. , is provided.

1 is a schematic diagram showing one situation in which a merging control system configured by a server and a vehicle according to an embodiment of the present invention is used. FIG. 1 is a block diagram showing a schematic configuration of a merging control system according to the same embodiment. FIG. 2 is a block diagram showing the functional configuration of a server according to the embodiment. It is a figure which shows the processing content in one situation of the server based on the same embodiment. FIG. 7 is a schematic diagram showing another situation in which the merging control system according to the embodiment is used, and a diagram showing processing contents of the server in another situation according to the embodiment. FIG. 2 is a block diagram showing the functional configuration of the vehicle according to the embodiment. FIG. 7 is a schematic diagram showing another situation in which the merging control system according to the embodiment is used. 7 is a flowchart showing a part of the flow of a merging control method 1 according to another aspect of the present invention. 7 is a flowchart showing a part of the flow of a merging control method 2 according to another aspect of the present invention.

<Merge control system>
First, an embodiment of one aspect of the present invention (merging control system 100) will be described. FIG. 1 is a schematic diagram showing one situation in which the merging control system 100 is used. FIG. 2 is a block diagram showing a schematic configuration of the merging control system 100.

The merging control system 100 is configured to prevent vehicles from colliding with each other at a merging point P between a main lane _L1 and a merging lane _L2 connected to the main lane _L1 , as shown in FIG. 1, for example. belongs to. The merging control system 100 includes a server 101 and a plurality of vehicles 102, as shown in FIG. These are connected to each other via a communication network N.

As shown in FIG. 1, each vehicle 102 may travel on the main lane _L1 , or on the merging lane _L2 connected to the main lane _L1 . Furthermore, a plurality of vehicles 102 may travel on the same lane in the same direction. Hereinafter, the vehicle 102 traveling on the merging lane _L2 connected to the main lane _L1 will be referred to as a merging vehicle 102a. Also, a vehicle 102 traveling on the main lane _L1 that is likely to collide with the merging vehicle 102a if the merging vehicle 102a reaches the merging point P without changing its speed. 102 is referred to as a preceding vehicle 102b. Further, the vehicle 102 that is on the main lane _L1 and travels behind the preceding vehicle 102b in the same direction as the preceding vehicle 102b is referred to as a following vehicle 102c. Further, the vehicle 102 that runs behind the following vehicle 102c in the same direction as the following vehicle 102c is referred to as a second following vehicle 102d.

[server]
Next, details of the server 101 constituting the merging control system 100 will be explained. FIG. 3 is a block diagram showing the functional configuration of the server 101. FIG. 4 is a diagram showing the processing contents of the server 101 in one situation.

The server 101 transmits instructions to the vehicle 102 (target speed V _target of the vehicle 102, etc.) based on the received position and speed of the vehicle 102. As shown in FIG. 3, the server 101 includes a server-side communication section 1 and a server-side control section 2. Note that the server 101 may include an operation unit (keyboard, mouse, touch panel, etc.) that can be operated by the user.

[Server side communication department]
The server-side communication unit 1 communicates with the preceding vehicle 102b, the following vehicle 102c, and the merging vehicle 102a. When the second following vehicle 102d exists after the following vehicle 102c, the server-side communication unit 1 according to the present embodiment further communicates with the second following vehicle 102d. The server-side communication unit 1 according to this embodiment is composed of a wireless communication module. That is, the server-side communication unit 1 communicates with each vehicle 102 wirelessly. Note that the server-side communication unit 1 may be configured to communicate directly with each vehicle 102, or may be configured to communicate with each vehicle 102 via a base station (not shown).

[Server side control unit]
The server-side control section 2 includes a server-side reception control section 21, a setting section 22, a first judgment section 23, a second judgment section 24, a first calculation section 25, a second calculation section 26, and a third calculation section 25. It includes a determination section 27, a third calculation section 28, and a server-side transmission control section 29.

(Server side reception control unit)
The server-side reception control unit 21 controls the server-side communication unit 1 to receive the position and speed of each vehicle 102 from the preceding vehicle 102b, the following vehicle 102c, and the merging vehicle 102a. When the second following vehicle 102d exists after the following vehicle 102c (see FIG. 1), the server-side reception control unit 21 according to the present embodiment performs server-side communication to further receive the position and speed of the second following vehicle 102d. Control section 1. Further, the server-side reception control unit 21 according to the present embodiment controls the server-side communication unit 1 to further receive setting information from another device (not shown). The setting information includes at least one of structural information, statistical information, and weather information. The structure information is information indicating the structure of the roadway including the main lane _L1 . The statistical information is information about a plurality of vehicles 102 traveling on the main lane _L1 . The weather information is information indicating the weather at the confluence point P.

(setting section)
The setting unit 22 sets a coefficient m for defining the inter-vehicle distance. The coefficient m is a numerical value greater than 0 and less than 1. The setting unit 22 according to the present embodiment sets the coefficient m based on the setting information received by the server side communication unit 1. Specifically, the setting unit 22 sets the coefficient m as follows.

For example, if the obtained setting information is structural information and indicates that the roadway consists of one lane, the setting unit 22 sets m to a small value (for example, less than 0.5). This is because if there are fewer lanes, there is a high possibility of causing traffic congestion, and from the viewpoint of alleviating traffic congestion, it is preferable to reduce the distance between the vehicle and the preceding vehicle 102b.

Further, if the obtained setting information is statistical information and indicates that the average vehicle speed of the vehicle 102 traveling on the main lane _L1 is high, the setting unit 22 sets m to a small value (for example, to less than 0.5). ) Set. This is because there is a high possibility that the preceding vehicle 102b will accelerate, and it is preferable to reduce the distance between the preceding vehicle 102b and the preceding vehicle 102b in order to prevent congestion.
Furthermore, when the statistical information indicates that the main lane _L1 near the confluence point P is congested, the setting unit 22 sets m to a small value (for example, to less than 0.5). This is because it is preferable to reduce the distance between the vehicle and the preceding vehicle 102b from the viewpoint of not worsening traffic congestion.

Further, when the obtained setting information is weather information and indicates rain, the setting unit 22 sets m to a large value (for example, to more than 0.5). This is because on rainy days, the road surface is wet and it is difficult to decelerate, and from the viewpoint of accident prevention, it is preferable to maintain a wide distance between the vehicle and the preceding vehicle 102b.

In addition, the content of the obtained setting information did not require special consideration for accident prevention or traffic congestion mitigation (for example, it was structural information indicating that there were two or more lanes, it was clear that the weather was clear, etc.). (e.g., the weather information indicates a weather event), the setting unit 22 sets m to 0.5. In addition, the content of the settings information obtained required consideration of both accident prevention and traffic congestion mitigation (for example, the settings information included statistical information indicating congestion and rain If there are two pieces of weather information indicating that there is a certain event), the setting unit 22 prioritizes accident prevention over traffic congestion mitigation and sets m to a large value.

By adjusting the magnitude of m as explained above, the inter-vehicle distance before and after the merging vehicle 102a can be adjusted according to the situation. Note that when the server 101 includes an operation section, the setting section 22 may be configured to set the coefficient m to an arbitrary value according to an operation performed by the user using the operation section.

(First Judgment Department)
The first determination unit 23 determines that if the merging vehicle 102a reaches the merging point P without changing its speed when a predetermined condition is satisfied, there is a preceding vehicle 102b that will collide at the merging point P. Determine whether or not. The predetermined conditions include, for example, that the merging vehicle 102a has reached a predetermined location on the merging lane _L2 , that the vehicle 102 on the main lane _L1 has been detected, and so on. Various conventionally known techniques can be used to determine whether the preceding vehicle 102b is present.

(Second Judgment Department)
When the first determining unit 23 determines that there is a preceding vehicle 102b that will collide, the second determining unit 24 determines whether the following vehicle 102c exists within a predetermined range. For example, the predetermined range is such that the merging vehicle 102a reaches the merging point P when the time required for the merging vehicle 102a to reach the merging point P while decelerating based on an instruction to decelerate (described in detail later) has elapsed. This is the range in which the following vehicle 102c can exist.

The second determination unit 24 according to the present embodiment determines whether the vehicle 102 moving forward or backward on the main lane _L1 (between the preceding vehicle 102b and the following vehicle 102c, between the following vehicle 102c and the second following vehicle 102d, or between the second following vehicle It is determined whether there is enough space for merging between the vehicle 102d and the third following vehicle. The second determination unit 24 according to this embodiment first determines whether there is enough space between the preceding vehicle 102b and the following vehicle 102c to merge. Specifically, the earliest possible arrival time Tmax for the vehicle 102 traveling behind to reach a certain point on the main lane _L1 , and the earliest possible arrival time _Tmax for the vehicle 102 traveling in front to reach the same point. It is determined whether the difference from the latest possible time T _min is less than a predetermined time (for example, 5 seconds). If it is determined that the difference is less than the predetermined time, the second determination unit 24 determines whether there is enough space between the following vehicle 102c and the second following vehicle 102d to merge between the preceding vehicle 102b and the following vehicle. The determination is made in the same way as when determining the space between 102c and 102c. The second determination unit 24 then determines the existence of a space for all vehicles 102 existing on the main lane _L1 from the merging point to a point a predetermined distance (for example, 500 m) back. Note that the second determination unit 24 may be configured to determine the existence of a space for the vehicle 102, which can be determined within a range from the start of the first process until a predetermined period of time (for example, 500 ms) has elapsed.

(First calculation department)
The first calculation unit 25 calculates the first time T _{1_min} based on the received position and speed of the preceding vehicle 102b. The first time T _{1_min} is the time after the preceding vehicle 102b reaches the merging point P between the main lane L ₁ and the merging lane L ₂ . More specifically _, as shown in _FIG . This is the time obtained by adding the delay in arrival caused by the vehicle, the length of the preceding vehicle 102b, etc. (for example, 10 seconds maximum). That is, the first time T _{1_min} is the latest possible arrival time at which the rear end of the preceding vehicle 102b reaches the merging point P.

The first calculation unit 25 according to the present embodiment further calculates the third time T _{2_min} based on the received position and speed of the following vehicle 102c when the second following vehicle 102d exists after the following vehicle 102c. The third time T _{2_min} is the time after the following vehicle 102c reaches the merging point P. More specifically, the third time T _{2_min} is the predicted arrival time T ₂ at which the following vehicle 102c is predicted to arrive at the merging point P. This is the time obtained by adding the length of , for example, up to 10 seconds). That is, the third time T _{2_min} is the latest time when the rear end of the following vehicle 102c reaches the confluence point P.

Note that when the second following vehicle 102d exists after the following vehicle 102c, and when at least one third following vehicle 102e exists behind the second following vehicle 102d, the first calculation unit according to the present embodiment 25 calculates the latest possible arrival time at which the rear end of the second following vehicle 102d reaches the confluence point P in the same way as the first and third times T _{1_min} and T _{2_min} . If there are a plurality of third following vehicles 102e, the first calculation unit 25 also calculates the latest possible time at which the rear end of each of the third following vehicles 102e reaches the confluence point P.

(Second calculation section)
The second calculation unit 26 calculates a second time T _{2_max} based on the received position and speed of the following vehicle 102c. The second time T _{2_max} is a time before the following vehicle 102c reaches the merging point P. More specifically, the second time T _{2_max} is calculated from the predicted arrival time T ₂ at which the following vehicle 102c is predicted to arrive at the merging point P. This is the time obtained by subtracting the length of (for example, 10 seconds maximum). That is, the second time T _{2_max} is the earliest possible time when the front end of the following vehicle 102c reaches the merging point P.

When the second following vehicle 102d exists after the following vehicle 102c, the second calculation unit 26 according to the present embodiment calculates the fourth time T _{3_max} based on the received position and speed of the second following vehicle 102d. . The fourth time T _{3_max} is a time before the second following vehicle 102d reaches the merging point P between the main lane L ₁ and the merging lane L ₂ . More specifically, the fourth time _{T3_max} is determined by an error (advancement of arrival due to sudden acceleration of the second following vehicle 102d) from the predicted arrival time _T3 at which the second following vehicle 102d is predicted to arrive at the merging point P. , the length of the second following vehicle 102d, etc. (for example, 10 seconds maximum) is subtracted. That is, the fourth time T _{3_max} is the earliest possible time when the front end of the second following vehicle 102d reaches the merging point P.

When at least one third following vehicle 102e exists after the second following vehicle 102d, the second calculation unit 26 according to the present embodiment calculates the arrival time of the front end of the third following vehicle 102e to the merging point P. The earliest possible time is calculated in the same way as the second and fourth times T _{2_max} and T _{3_max} . If there are a plurality of third following vehicles 102e, the second calculation unit 26 also calculates the earliest possible time when the front end of each of the third following vehicles 102e reaches the confluence point P.

In the case where there are multiple spaces in which they can merge, as shown in FIG. It is determined which vehicle to merge between candidate A) and between the following vehicle 102c and the second following vehicle 102d (candidate B). The third determination unit 27 according to the present embodiment subtracts the second time T _{2_max} calculated by the second calculation unit 26 from the first time T _{1_min} calculated by the first calculation unit 25, and the first candidate is the difference. Determine whether time is positive or negative. Then, when it is determined that the first candidate time is positive (there is a sufficient distance between the preceding vehicle 102b and the following vehicle 102c), the third determination unit 27 according to the present embodiment determines whether the preceding vehicle 102b and the following vehicle It is determined that the vehicle should merge between the vehicle 102c and the vehicle 102c (candidate A). On the other hand, if it is determined that the first candidate time is negative (there is not enough distance between the preceding vehicle 102b and the following vehicle 102c), the second calculation is performed from the third time T _{2_min} calculated by the first calculation unit 25. The fourth time T _{3_max} calculated by the unit 26 is subtracted, and the sign of the second candidate time, which is the difference between them, is determined. Then, when it is determined that the second candidate time is positive (there is a sufficient distance between the following vehicle 102c and the second following vehicle 102d), the third determination unit 27 according to the present embodiment determines that the following vehicle 102c It is determined that the vehicle should merge between the vehicle and the second following vehicle 102d (candidate B).

When the second following vehicle 102d exists behind the following vehicle 102c, the third determining unit 27 according to the present embodiment determines whether the second following vehicle 102d exists between the preceding vehicle 102b and the following vehicle 102c (candidate A), The same method as above is used to determine which vehicle should merge between the vehicle 102c and the second following vehicle 102d (candidate B) or between the second following vehicle 102d and the third following vehicle 102e (candidate C). to decide. When a plurality of third following vehicles 102e exist, the third determining unit 27 determines which of the above-mentioned vehicle distances (candidates A to C) and between the third following vehicle 102e and the third following vehicle 102e (candidates D...) judge whether or not to merge between vehicles. Note that the third determination unit 27 may be configured to simultaneously calculate the first, second, . . . , nth candidate times in parallel, instead of calculating the first candidate times in order.

(Third calculation department)
The third calculation unit 28 calculates the target speed V _target based on the received position and speed of the merging vehicle 102a. The target speed V _target is the speed required for the merging vehicle 102a to reach the merging point P during the time from the first time T _{1_min} to the second time T _{2_max} . The third calculation unit 28 according to the present embodiment first calculates the target arrival time T _target . Specifically, the third calculation unit 28 adds the coefficient m set by the setting unit 22, the first time T _{1_min} calculated by the first calculation unit 25, and the second time T 1_min calculated by the second calculation unit 26 to the following equation 1. By substituting the second time T _{2_max} , the target arrival time T _target is obtained. As shown in Equation 1 below, the third calculation unit 28 according to the present embodiment calculates the time from the first time T _{1_min} to the merging time when the merging vehicle 102a reaches the merging point P, and the time from the merging time to the merging time. A target speed V _target is calculated such that the ratio of the time between two times T _{2_max} and the time T 2_max is m:1−m.

(Number 1)
T _target = mT _{1_min} + (1 - m) T _{2_max} (0<m<1)

The first time T _{1_min} is a time that does not become any later after taking into account an error, and the second time T _{2_max} is an arrival time that does not become any earlier, taking into account an error. Therefore, the target arrival time T _target calculated by the third calculation unit 28 using the above equation 1 is always after the preceding vehicle 102b has passed the merging point P and the following vehicle 102c has reached the merging point P. It will be the time before the arrival.

In parallel with or before or after calculating the target arrival time T _target , the third calculation unit 28 according to the present embodiment calculates the distance L to the confluence point P. The third calculation unit 28 according to the present embodiment calculates the distance L based on the received position and speed of the merging vehicle 102a and map information. The map information may be acquired from another device or may be stored in the server 101. After calculating the distance L and target arrival time T _target , the third calculation unit 28 according to the present embodiment obtains the target speed V _target by substituting the calculated distance L and target arrival time T _target into Equation 2 below. .

(Number 2)
V _target =L/T _target

Further, the third calculation unit 28 according to the present embodiment calculates whether the merging vehicle 102a calculates the time from the first time T _{1_min} to the second time T _{2_max} and the time from the third time T _{2_min} to the fourth time T _{3_max} . The target speed V _target required to reach the junction P at the time corresponding to the judgment of the third judgment unit 27 is calculated. By doing so, even if three or more vehicles 102 are traveling in the main lane _L1 , the merging vehicle 102a can be allowed to merge while avoiding a rear-end collision.

Further, the third calculation unit 28 according to the present embodiment does not calculate the target speed V _target when the first determination unit 23 determines that there is no preceding vehicle 102b that will collide. By doing so, the target speed V _target is not needlessly calculated when there is no preceding vehicle 102b that will get in the way when merging, so the processing load can be reduced. Furthermore, the third calculation unit 28 according to the present embodiment does not calculate the target speed V _target even when the second determination unit 24 determines that the following vehicle 102c does not exist within the predetermined range. By doing so, the target speed V _target is not needlessly calculated when there is no following vehicle 102c that will get in the way when merging, so the processing load can be reduced.

(Transmission control section)
When the third calculation unit 28 calculates the target speed V _target , the server side transmission control unit 29 transmits the calculated target speed V _target to the merging vehicle 102a before the merging vehicle 102a reaches the merging point P. The server-side communication unit 1 is controlled so as to perform the following operations. Further, when the second determination unit 24 determines that the following vehicle 102c does not exist within a predetermined range, the server-side transmission control unit 29 according to the present embodiment causes the server to transmit an instruction to decelerate to the merging vehicle 102a. Controls the side communication unit 1. By doing so, when there is no following vehicle 102c, simply issuing a deceleration instruction eliminates the needless calculation of the target speed V _target , so that the processing load can be reduced. In addition, when the third judgment unit 27 determines that there is no space for merging between the preceding and following vehicles 102 on the main lane _L1 , the server-side transmission control unit 29 sends a notification that there is no merging space. The server-side communication unit 1 is controlled to transmit to the vehicle 102a.

[Server and others]
Note that at least one of the first calculation unit 25 and the second calculation unit 26 may be configured to calculate (estimate) the arrival time using a learned model.
Further, at least one of the first calculation unit 25 and the second calculation unit 26 may be configured to estimate the arrival time using Path Planning. In this way, the error in the arrival time can be reduced, and a more accurate target speed V _target can be calculated.

Further, the server-side reception control unit 21 may receive from the vehicle 102 a notification that the driver has blinked the turn signal. In that case, the server-side control unit 2 may refer to the map and determine whether the flashing of the turn signal is for making a right or left turn or for changing lanes. Further, in that case, the server-side control unit 2 may determine the lane change point when determining that the flashing of the turn signal is for changing lanes. Specifically, as shown in FIG. 6, the predicted position of the vehicle 102 after a predetermined period of time (for example, 10 seconds) has elapsed from the position of the vehicle 102 at the time when the notification that the turn signal has been blinked is received is determined as the lane change point. do. In that case, the server-side control unit 2 may calculate the target speed V _target by regarding the vehicle 102 that has sent the blinking blinker as the merging vehicle 102a and the lane change point as the merging point P. . In this way, as shown in FIG. 6, the above-mentioned merging control can also be applied to lane changes.

[Server effects]
The server 101 configured as described above does not transmit an instruction to the preceding vehicle 102b (following vehicle 102c) traveling on the main lane _L1 . Therefore, it is possible to avoid a collision between the preceding vehicle 102b (following vehicle 102c) and another vehicle 102 caused by the preceding vehicle 102b (following vehicle 102c) accelerating (decelerating) to maintain a distance between the merging vehicle 102a and the following vehicle 102c. can. The server 101 also communicates with each vehicle 102 . Therefore, there is no need for vehicle-to-vehicle communication between the preceding vehicle 102b (following vehicle 102c) and the merging vehicle 102a. As a result, the processing load on each vehicle 102 can be reduced. Therefore, according to the server 101, the preceding vehicle 102b running in front of the merging vehicle 102a or the following vehicle 102c running behind the merging vehicle 102a can be processed without imposing an excessive processing load on the main line vehicles (leading vehicle 102b, following vehicle 102c). , it is possible to avoid collisions with other vehicles. Moreover, according to the server 101, there is no need to place an excessive processing load on the merging vehicle.

[vehicle]
Next, details of the vehicle 102 will be explained. FIG. 7 is a block diagram showing the functional configuration of vehicle 102.

Vehicle 102 has an automatic driving function. As shown in FIG. 7, the vehicle 102 includes a position sensor 3, a speed sensor 4, a storage section 5, a vehicle-side communication section 6, and a vehicle-side control section 7.

[Position sensor]
The position sensor 3 detects the position of itself (vehicle 102). The position sensor 3 according to this embodiment is composed of a GPS (Global Positioning System) receiver. Further, the position sensor 3 according to the present embodiment detects the current position every time a predetermined time elapses.

[Speed sensor]
Speed sensor 4 detects its own speed. The speed sensor 4 according to this embodiment detects the speed each time a predetermined time elapses.

[Storage section]
The storage unit 5 stores information necessary for automatic driving. Specifically, the storage unit 5 stores a map and a driving route.

[Vehicle side communication department]
The vehicle-side communication unit 6 communicates with the server 101 described above. The vehicle-side communication unit 6 according to this embodiment is composed of a communication module. The vehicle-side communication unit 6 according to this embodiment is composed of a wireless communication module. That is, the vehicle-side communication unit 6 communicates with the server 101 wirelessly. Note that the vehicle-side communication unit 6 may be configured to communicate directly with the server 101, or may be configured to communicate via a base station (not shown).

[Vehicle side control section]
The vehicle-side control section 7 includes an acquisition section 71 , a vehicle-side transmission control section 72 , a vehicle-side reception control section 73 , and a travel control section 74 .

(Acquisition Department)
The acquisition unit 71 acquires its own position detected by the position sensor 3 and its own speed detected by the speed sensor 4.

(Vehicle side transmission control section)
The vehicle-side transmission control unit 72 controls the vehicle-side communication unit 6 to transmit its own position and speed acquired by the acquisition unit 71 to the server 101.

(Vehicle side reception control section)
The vehicle-side reception control section 73 controls the vehicle-side communication section 6 to receive instructions from the server 101 when the vehicle-side reception control section 73 is the merging vehicle 102a. The instruction is the target speed V _target or an instruction to decelerate. Further, the vehicle-side reception control unit 73 controls the vehicle-side communication unit 6 to receive a notification from the server 101 when the vehicle is the merging vehicle 102a. The notification is, for example, a notification that there is not enough space for merging between the vehicles 102 in front and behind on the main lane _L1 .

The vehicle-side reception control unit 73 according to the present embodiment controls the vehicle-side communication unit 6 so that the instruction is received only once until the vehicle reaches the junction P. Note that the vehicle-side reception control unit 73 may be configured to determine whether or not the instruction has been successfully received. In that case, the vehicle-side reception control section 73 may be configured to control the vehicle-side communication section 6 to receive the instruction again when it is determined that the instruction reception has failed.

(travel control section)
The travel control section 74 controls its own speed. The travel control unit 74 according to the present embodiment includes a fifth determination unit 741, a notification control unit 742, a sixth determination unit 743, an acceleration/deceleration control unit 744, a seventh determination unit 745, and a deceleration control unit 746. , is provided.

-Fifth Determination Unit The fifth determination unit 741 determines whether or not a notification indicating that there is no space for merging is received.

- Notification Control Unit When the fifth determination unit 741 determines that it has received a notification that there is no space available for merging, the notification control unit 742 notifies the crew member of the received notification. The notification may be displayed on the display unit or may be read aloud. In addition, when the fifth determination unit 741 determines that it has received a notification that there is no space for merging, the notification control unit 742 stops automatic driving instead of/in parallel with the notification to the occupants. It may be configured to do so.

- Sixth judgment unit The sixth judgment unit 743 judges whether or not the target speed V _target has been received.

- Acceleration/Deceleration Control Unit The acceleration/deceleration control unit 744 controls its own speed according to the target speed V _target received from the server 101 when the sixth determination unit 743 determines that the target speed V _target has been received. Specifically, it compares its current speed and target speed V _target . If the current speed is lower than the target speed V _target , the acceleration/deceleration control section 744 controls the power (engine or motor) to accelerate up to the target speed V _target . On the other hand, if the current speed is faster than the target speed V _target , the acceleration/deceleration control unit 744 controls the power or brake to decelerate to the target speed V _target .

-Seventh Determination Unit If the sixth determination unit 743 determines that the target speed V _target has not been received, the seventh determination unit 745 determines whether or not an instruction to decelerate has been received.

-Deceleration Control Unit The deceleration control unit 746 controls the power or brake to decelerate when the seventh determination unit 745 determines that an instruction to decelerate has been received.

As described above, the vehicle-side reception control unit 73 according to the present embodiment controls the vehicle-side communication unit 6 to receive the target speed V _target only once until the vehicle reaches the merging point P. For this reason, the traveling control unit 74 according to the present embodiment maintains the received target speed V _target from the time when the vehicle-side communication unit 6 receives the target speed V _target until the travel control unit 74 reaches the merging point P. It repeatedly controls its own speed based on For example, if the vehicle is configured to repeatedly receive the target speed V _target and control the speed each time, when a communication delay occurs due to fluctuations in the processing cycle or processing load, the merging vehicle 102a The start or end timing of acceleration/deceleration may be delayed. As a result, for example, a case can be assumed in which, even though the following vehicle 102c is approaching relatively close, the timing of the deceleration instruction is delayed, and the merging vehicle 102a decelerates further, making it impossible to merge smoothly. However, since the vehicle 102 according to the present embodiment is configured as described above, it is possible to avoid a collision with the preceding vehicle 102b or the following vehicle 102c due to communication delay.

[Vehicles and others]
Note that the vehicle 102 does not need to include the speed sensor 4. Alternatively, the vehicle-side control unit 7 may calculate its own speed based on its own position detected by the position sensor 3 at multiple times.
Further, the traveling control section 74 may be configured independently from the vehicle-side control section 7.
Further, the vehicle 102 may be configured to transmit a notification to the server 101 when the driver blinks the turn signal.

[Function and effect of vehicle]
The vehicle 102 does not receive instructions such as the target speed V _target when the vehicle 102 is the preceding vehicle 102b (following vehicle 102c) traveling on the main lane _L1 . Therefore, it is possible to avoid a collision with another vehicle 102 due to acceleration (deceleration) of the vehicle itself on the main lane _L1 in order to maintain a distance between itself and the merging vehicle 102a. Vehicle 102 also communicates with server 101 . Therefore, the vehicle 102 does not need to perform vehicle-to-vehicle communication with other vehicles 102. As a result, it is possible to reduce its own processing load.

[Example of implementation using software]
The functions of the server 101 and the vehicle 102 (hereinafter referred to as "devices, etc.") are programs for making a computer function as the devices, and each control block of the device (particularly the server-side control unit 2, the vehicle Each unit included in the side control unit 7) can be realized by a program for causing a computer to function. In this case, the device includes a computer having at least one control device (for example, a processor) and at least one storage device (for example, a memory) as hardware for executing the program. By executing the above programs using this control device and storage device, each function described in each of the above embodiments is realized. The above program may be recorded on one or more computer-readable recording media instead of being temporary. This recording medium may or may not be included in the above device. In the latter case, the program may be supplied to the device via any transmission medium, wired or wireless.
Further, part or all of the functions of each of the control blocks described above can also be realized by a logic circuit. For example, an integrated circuit in which a logic circuit functioning as each of the control blocks described above is formed is also included in the scope of the present invention. In addition to this, it is also possible to realize the functions of each of the control blocks described above using, for example, a quantum computer.

<Merge control method 1>
Next, an embodiment of another aspect (merging control method 1) of the present invention will be described. FIG. 8 is a flowchart showing part of the flow of the merging control method 1.

As shown in FIG. 8, the merging control method 1 includes a first reception step A1, a setting step A2, a first judgment step A3, a second judgment step A4, a third judgment step A5, and a first calculation. It has a step A6, a second calculation step A7, a third calculation step A8, and a first transmission step A9.

(first reception step)
In the first receiving step A1, the position and speed of each vehicle 102 are received from the preceding vehicle 102b, the following vehicle 102c, and the merging vehicle 102a. In the first receiving step A1 according to the present embodiment, the server-side communication unit 1 of the server 101 receives. When the second following vehicle 102d and the third following vehicle 102e exist after the following vehicle 102c, in the first receiving step A1 according to the present embodiment, the positions and speeds of the second following vehicle 102d and the third following vehicle 102e are further determined. Receive.

(setting step)
After receiving the position and speed of the vehicle 102, the process moves to setting step A2. In setting step A2, a coefficient m (0<m<1) is set. In setting step A2 according to this embodiment, the setting unit 22 of the server 101 sets the coefficient m.

(First judgment step)
After receiving the position and speed of each vehicle 102 (in parallel with or before or after the setting step A2), the process moves to a first determination step A3. In the first judgment step A3, it is determined whether there is a preceding vehicle 102b that will collide at the merging point P when the merging vehicle 102a reaches the merging point P without changing its speed. In the first judgment step A3 according to this embodiment, the first judgment unit 23 of the server 101 makes a judgment. If it is determined in this first determination step A3 that there is no preceding vehicle 102b that will collide (step A3: No), the operation of the server 101 is terminated (in a third calculation step A8 to be described later, the target speed V _target is not calculated).

(Second judgment step)
If it is determined in the first judgment step A3 that there is a preceding vehicle 102b that will collide, the process moves to a second judgment step A4. In the second determination step A4, it is determined whether the following vehicle 102c exists within a predetermined range. In the second judgment step A4 according to this embodiment, the second judgment unit 24 of the server 101 makes a judgment. If it is determined in the second determination step A4 that the following vehicle 102c does not exist within the predetermined range (step A4: No), the process moves to the first transmission step A9 described later (in the third calculation step A8 described later, the target speed V (does not calculate _target ).

(Third judgment step)
If it is determined in the second judgment step A4 that the following vehicle 102c exists within the predetermined range, the process moves to a third judgment step A5. In the third judgment step A5, the vehicles 102 moving forward and backward on the main lane _L1 (between the preceding vehicle 102b and the following vehicle 102c, between the following vehicle 102c and the second following vehicle 102d, between the second following vehicle 102d and the third following vehicle) It is determined whether there is enough space between the vehicle and the vehicle to merge. In the third judgment step A5 according to the present embodiment, the second judgment unit 24 of the server 101 makes a judgment.

(First calculation step)
If it is determined in the third judgment step A5 that there is enough space for merging (step A5: Yes), the process moves to the first calculation step A6. In the first calculation step A6, a first time T _{1_min} is calculated based on the received position and speed of the preceding vehicle 102b. In the first calculation step A6 according to the present embodiment, the first calculation unit 25 of the server 101 calculates. In addition, when the second following vehicle 102d and the third following vehicle 102e exist after the following vehicle 102c, in the first calculation step A6, at the third time T _{2_min} or at the merging point P at the rear end of the third following vehicle 102e. Calculate the latest possible arrival time of .

(Second calculation step)
A second calculation step A7 is performed in parallel with or before or after the calculation of the first time _{T1_min} . In the second calculation step A7, a second time T _{2_max} is calculated based on the received position and speed of the following vehicle 102c. In the second calculation step A7 according to the present embodiment, the second calculation unit 26 of the server 101 calculates. In addition, when the second following vehicle 102d and the third following vehicle 102e exist after the following vehicle 102c, in the second calculation step A7, the fourth time T _{2_max} or the merging point P at the rear end of the third following vehicle 102e is determined. Calculate the latest possible arrival time of .

Note that when the third time T _{2_min} and the fourth time T _{3_max} are calculated, the fourth determination step may be performed. In the fourth determination step, it is determined whether the vehicle should merge between the preceding vehicle 102b and the following vehicle 102c, or between the following vehicle 102c and the second following vehicle 102d. The fourth determination step can be performed using the third determination unit 27 of the server 101.

(Third calculation step)
After calculating the first time T _{1_min} and the second time T _{2_max} , the process moves to third calculation step A8. The third calculation step A8 calculates the target speed V _target based on the received position and speed of the merging vehicle 102a. In the third calculation step A8 according to the present embodiment, the third calculation unit 28 of the server 101 calculates. Note that when performing the third judgment step, in the third calculation step A8, the merging vehicle 102a calculates the time from the first time T _{1_min} to the second time T _{2_max} , and from the third time T _{2_min} to the fourth time T _{3_max} . The target speed V _target required to reach the junction P at the time corresponding to the determination in the third determination step is calculated.

(first transmission step)
After calculating the target speed V _target , in the second judgment step A4, it is determined that the following vehicle 102c does not exist within the predetermined range (step A4: No), or in the third judgment step A5, a space for merging is determined. After determining that it does not exist (step A5: No), the process moves to first transmission step A9. In the first transmission step A9, an instruction (calculated target speed V _target or instruction to decelerate) is transmitted to the merging vehicle 102a before the merging vehicle 102a reaches the merging point P. In the first sending step A9 according to the present embodiment, the server-side communication unit 1 of the server 101 sends an instruction. If this is performed after calculating the target speed V _target , the target speed V _target is transmitted (step A91). On the other hand, when performing this after determining in the second determination step A4 that the following vehicle 102c does not exist within the predetermined range (step A4: No), an instruction to decelerate is transmitted (step A92). Further, if this is performed after determining in the third judgment step A5 that there is no space where a merging can occur (step A5: No), a notification to the effect that there is no space where a merging is possible is transmitted (step A93).

<Merge control method 2>
Next, an embodiment of another aspect (merging control method 2) of the present invention will be described. FIG. 9 is a flowchart showing part of the flow of the merging control method 2.

As shown in FIG. 9, the merging control method 2 includes a fifth judgment step B1, a notification step B2, a sixth judgment step B3, an acceleration/deceleration control step B4, a seventh judgment step B5, and a deceleration control step. B6. Furthermore, in the merging control method 2, steps B1, B3 to B6 are repeatedly performed until the vehicle 102 reaches the merging point P.

-Fifth Judgment Step In the first fifth judgment step B1, it is judged whether or not a notification indicating that there is no merging space has been received. In the fifth judgment step B1 according to the present embodiment, the fifth judgment unit 741 of the vehicle 102 makes a judgment.

- Notification step If it is determined in the fifth judgment step B1 that a notification indicating that there is no space for merging has been received, the process moves to notification step B2. In the notification step B2, the received notification is notified to the occupant. The notification may be displayed on the display unit or may be read aloud. Note that in the notification step B2, automatic driving may be stopped instead of/in parallel with the notification to the occupant.

- Sixth Judgment Step If it is judged in the fifth judgment step B1 that the notification indicating that there is no space for merging has been received, the process moves to the sixth judgment step B3. In the sixth judgment step B3, it is judged whether the target speed V _target has been received. In the sixth judgment step B3 according to the present embodiment, the sixth judgment unit 743 of the vehicle 102 makes a judgment.

- Acceleration/deceleration control step If it is determined in the sixth judgment step B3 that the target speed V _target has been received, the process moves to acceleration/deceleration control step B4. In acceleration/deceleration control step B4, the speed of the vehicle 102 is controlled according to the received target speed V _target . Acceleration/deceleration control step B4 according to the present embodiment is controlled by the acceleration/deceleration control section 744 of the vehicle 102.

- Seventh judgment step If it is judged in the sixth judgment step B3 that the target speed V _target has not been received, the process moves to the seventh judgment step B5. In the seventh judgment step B5, it is judged whether an instruction to decelerate has been received. In the seventh judgment step B5 according to the present embodiment, the seventh judgment unit 745 of the vehicle 102 makes a judgment.

-Deceleration control step If it is determined in the seventh judgment step B5 that an instruction to decelerate has been received, the process moves to deceleration control step B6. In deceleration control step B6, power or brakes are controlled to decelerate. In the deceleration control step B6 according to the present embodiment, the deceleration control section 746 of the vehicle 102 controls. Incidentally, in the seventh judgment step B5, if it is judged that the instruction to decelerate has not been received, the normal driving control that has been performed up to that point is continued (step B7).

The present invention is not limited to the embodiments described above, and various modifications can be made within the scope of the claims, and embodiments obtained by appropriately combining technical means disclosed in different embodiments. are also included within the technical scope of the present invention.

100 Merging control system 101 Server 1 Server side communication department (communication department)
2 Server-side control unit 21 Server-side reception control unit (reception control unit)
22 Setting section 23 First judgment section 24 Second judgment section 25 First calculation section 26 Second calculation section 27 Third judgment section 28 Third calculation section 29 Server side transmission control section (transmission control section)
102 Vehicle 102a Merging vehicle 102b Leading vehicle 102c Following vehicle 102d Second following vehicle 102e Third following vehicle 3 Position sensor 4 Speed sensor 5 Storage section 6 Vehicle-side communication section 7 Vehicle-side control section 71 Acquisition section 72 Vehicle-side transmission control section 73 Vehicle-side reception control section 74 Travel control section 743 Sixth judgment section 744 Acceleration/deceleration control section 745 Seventh judgment section 744 Deceleration control section L ₁ lane L ₂ merging lanes

Claims (11)

A preceding vehicle traveling on the main lane, a following vehicle running behind the preceding vehicle in the same direction as the preceding vehicle on the main lane, and a merging vehicle running on a merging lane connected to the main lane. A communication department that communicates with each other,
a reception control unit that controls the communication unit to receive the position and speed of each vehicle from the preceding vehicle, the following vehicle, and the merging vehicle;
a first calculation unit that calculates a first time at which the preceding vehicle arrives at a merging point between the main lane and the merging lane, based on the received position and speed of the preceding vehicle;
a second calculation unit that calculates a second time at which the following vehicle will arrive at the merging point, based on the received position and speed of the following vehicle;
At least one of structure information indicating the structure of the roadway including the main lane, statistical information of a plurality of vehicles traveling on the main lane, weather information indicating the weather at the confluence point, and information set by the user. a setting unit that sets a coefficient m for specifying the inter-vehicle distance based on the vehicle information;
Based on the received position and speed of the merging vehicle, the time from the first time to the merging time when the merging vehicle reaches the merging point, and the time from the merging time to the second time. a third calculation unit that calculates a target speed such that the ratio of and is m:1−m ;
a transmission control unit that controls the communication unit to transmit the calculated target speed to the merging vehicle before the merging vehicle reaches the merging point;
A server equipped with A preceding vehicle traveling on the main lane, a following vehicle running behind the preceding vehicle in the same direction as the preceding vehicle on the main lane, and a merging vehicle running on a merging lane connected to the main lane. A communication department that communicates with each other,
a reception control unit that controls the communication unit to receive the position and speed of each vehicle from the preceding vehicle, the following vehicle, and the merging vehicle;
a first calculation unit that calculates a first time, which is a time when the preceding vehicle arrives at a merging point between the main lane and the merging lane, based on the received position and speed of the preceding vehicle;
a second calculation unit that calculates a second time at which the following vehicle will arrive at the merging point, based on the received position and speed of the following vehicle;
a first determination unit that determines whether or not there is a preceding vehicle that will collide at the merging point when the merging vehicle reaches the merging point without changing its speed;
a second determination unit that determines whether or not the following vehicle exists within a predetermined range when the first determination unit determines that the preceding vehicle that will collide exists;
a third calculation unit that calculates a target speed necessary for the merging vehicle to reach the merging point in the time from the first time to the second time, based on the received position and speed of the merging vehicle; and,
a transmission control unit that controls the communication unit to transmit the calculated target speed to the merging vehicle before the merging vehicle reaches the merging point;
Equipped with
When the second determination unit determines that the following vehicle does not exist within a predetermined range,
The third calculation unit does not calculate the target speed,
The transmission control unit controls the communication unit to transmit an instruction to decelerate to the merging vehicle.
server. At least one of structure information indicating the structure of the roadway including the main lane, statistical information of a plurality of vehicles traveling on the main lane, weather information indicating the weather at the confluence point, and information set by the user. further comprising a setting section for setting a coefficient m for defining the inter-vehicle distance based on the information on the vehicle ;
The third calculation unit is configured to calculate a ratio of m between the time from the first time to the merging time when the merging vehicle arrives at the merging point and the time from the merging time to the second time. : Calculate the target speed such that 1-m.
The server according to claim 2. The setting unit sets the coefficient m to an arbitrary value of 0<m<1.
The server according to claim 1 or 3. The predetermined range is such that the following vehicle reaches the merging point when the time required for the merging vehicle to reach the merging point while decelerating based on an instruction to decelerate has elapsed. The possible existence range of the following vehicle is such that
The server according to claim 2. The first time is a time obtained by adding a first error to the predicted arrival time when the rear end of the preceding vehicle is predicted to arrive at the merging point,
The second time is a time obtained by subtracting a second error from the predicted arrival time when the front end of the following vehicle is predicted to reach the merging point.
The server according to claim 1. The first error is a delay in arrival due to sudden deceleration of the preceding vehicle,
The second error is an earlier arrival due to sudden acceleration of the following vehicle,
The server according to claim 6. The communication unit further communicates with a second following vehicle traveling behind the following vehicle in the same direction as the following vehicle,
The reception control unit controls the communication unit to further receive the position and speed of the second following vehicle,
The first calculation unit further calculates a third time at which the following vehicle reaches the merging point,
The second calculation unit further calculates a fourth time at which the second following vehicle arrives at a merging point between the main lane and the merging lane, based on the received position and speed of the second following vehicle,
a third determination unit that determines which vehicle to merge between the preceding vehicle and the following vehicle and between the following vehicle and the second following vehicle;
further comprising;
The third calculation unit is configured to determine whether or not the merging vehicle has a time from the first time to the second time and a time from the third time to the fourth time, which corresponds to the determination by the third determination unit. calculating the target speed necessary to reach the confluence point at the time;
The server according to claim 6 or 7 . The third time is a time obtained by adding a third error to the predicted arrival time at which the rear end of the following vehicle is predicted to arrive at the merging point,
The fourth time is a time obtained by subtracting a fourth error from the predicted arrival time when the front end of the second following vehicle is predicted to reach the merging point.
The server according to claim 8. The third error is a delay in arrival due to sudden deceleration of the following vehicle,
The fourth error is an earlier arrival due to sudden acceleration of the second following vehicle,
The server according to claim 9. A position sensor that detects your own position,
A speed sensor that detects your own speed,
a communication unit that communicates with the server according to claim 1 or 2 ;
a transmission control unit that controls the communication unit to transmit its detected position and speed to the server;
a reception control unit that controls the communication unit to receive the target speed from the server when the vehicle is a merging vehicle traveling in a merging lane connected to the main lane;
a travel control unit that controls its own speed according to the received target speed;
A vehicle equipped with

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