JPWO2016117311A1 - Roadside device, server device, in-vehicle device, platooning determination method, and traffic information prediction system - Google Patents

Abstract

Provided are a roadside device, a server device, an in-vehicle device, a platooning determination method, and a traffic information prediction system that accurately determine whether platooning is being performed. The roadside device includes a vehicle-side communication unit that receives a travel history including position information, speed information, and time information periodically acquired in a vehicle, and a plurality of vehicles that form a vehicle group that passes an arbitrary point within a predetermined time. And determining whether or not a subsequent vehicle other than the leading vehicle traveling at the head of the vehicle group is traveling in a row based on a storage unit that stores the traveling history of the vehicle and the traveling history of a plurality of stored vehicles. A convoy travel determination unit.

Description

  The present invention relates to a roadside device, a server device, an in-vehicle device, a platooning determination method, and a traffic information prediction system.

  In recent years, there is a growing need for accurately predicting traffic jams before the occurrence of traffic jams on highways and motorway roads. If the occurrence of traffic jam can be predicted in advance, the traffic jam can be alleviated by detouring the vehicle to another route. As such a traffic jam prediction technique, techniques disclosed in, for example, Patent Document 1 and Patent Document 2 are known.

  In Patent Literature 1, the average traffic volume and average speed of each lane in a predetermined section on the road are measured, and traffic congestion mitigation information is created based on the measured average traffic volume and average speed and their correlation distribution. It is disclosed.

  Further, Patent Document 2 discloses that a speed reduction amount is obtained from a vehicle speed of each vehicle, and occurrence of a traffic jam is predicted based on a ratio of the speed reduction amounts of each vehicle, that is, a deceleration propagation ratio.

  On the other hand, technology for performing platooning by automatic driving has been studied due to improvements in vehicle-to-vehicle communication technology and sensor technology in recent years (see, for example, Patent Document 3). Convoy travel means that a plurality of vehicles travel in a convoy at substantially the same speed while maintaining an inter-vehicle distance within a predetermined range, and is generally performed by automatic driving of the vehicles. A plurality of vehicles that maintain a distance between vehicles within a predetermined range (for example, 100 m), or a plurality of vehicles that pass an arbitrary point within a predetermined time are referred to as a vehicle group.

JP 2006-309735 A JP 2011-145929 A Japanese Patent Laid-Open No. 9-81899

  A roadside device according to one aspect of the present invention passes a vehicle-side communication unit that receives a travel history including position information, speed information, and time information periodically acquired in a vehicle, and an arbitrary point within a certain time. Based on the storage history of the plurality of vehicles forming the vehicle group and the stored history of the plurality of vehicles, the following vehicles other than the leading vehicle traveling in the head of the vehicle group perform the platooning. A platoon running determination unit for determining whether or not there is.

  The server device according to one aspect of the present invention includes a travel history of a plurality of vehicles that form a vehicle group that passes an arbitrary point within a predetermined time, and a subsequent vehicle other than the top vehicle that travels at the head of the vehicle group. A communication unit that receives a determination result as to whether or not the vehicle is traveling, and a traffic information prediction unit that predicts traffic information based on the travel histories and determination results of a plurality of vehicles.

  An in-vehicle device according to an aspect of the present invention measures a current position, acquires a position information acquisition unit that acquires position information indicating the measured current position, measures a vehicle speed, and acquires speed information indicating the measured speed A speed information acquisition unit, a time information generation unit that generates time information indicating the time when the position information and speed information were acquired, and a travel history storage that accumulates the position information, speed information, and time information and stores them as a travel history And a transmission unit that transmits the travel history to the roadside device.

  The row running determination method according to one aspect of the present invention includes a vehicle-side communication process for receiving a running history including position information, speed information, and time information periodically acquired in a vehicle, and an arbitrary point within a predetermined time. Based on the storage process of storing the traveling histories of the plurality of vehicles forming the passing vehicle group, and the following vehicles other than the leading vehicle traveling at the head of the vehicle group perform the platooning based on the stored traveling histories of the plurality of vehicles. A row running determination step for determining whether or not it is performed.

  A traffic information prediction system according to an aspect of the present invention includes a vehicle-mounted device that accumulates position information that indicates a current position of a vehicle, vehicle speed information, and time information that are periodically acquired and transmits the information as a travel history to a roadside device. Based on the travel histories of a plurality of vehicles that form a vehicle group that passes an arbitrary point within a certain period of time, it is determined whether or not a succeeding vehicle other than the first vehicle traveling at the head of the vehicle group is traveling in a row And a server device that predicts traffic information based on the travel histories and determination results of a plurality of vehicles.

  According to the present invention, it is possible to accurately determine whether or not platooning is being performed.

Conceptual diagram of a traffic jam prediction system according to Embodiment 1 of the present invention The block diagram which shows the internal structure of the vehicle-mounted apparatus shown in FIG. The block diagram which shows the internal structure of the roadside apparatus shown in FIG. The figure which shows an example of the transmission format transmitted to a server apparatus from a roadside apparatus The block diagram which shows the internal structure of the server apparatus shown in FIG. Flow chart showing the procedure for procession determination in the roadside device The figure which shows an example which compresses the transmission format transmitted to a server apparatus from a roadside apparatus

  Prior to the description of the embodiments of the present invention, problems in the conventional apparatus will be briefly described. In the traffic jam prediction technology disclosed in Patent Literature 1 and Patent Literature 2 and the like described above, when the distance between vehicles is short and the speed reduction occurs in the row running disclosed in Patent Literature 3 and the like, There is a problem that cannot be distinguished. In this case, a convoy travel that is not a traffic jam is detected as a traffic jam, and there is a possibility that the traffic jam cannot be accurately predicted.

  An object of the present invention is to provide a roadside device, a server device, an in-vehicle device, a platooning determination method, and a traffic information prediction system that accurately determine whether platooning is being performed.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

(Embodiment 1)
FIG. 1 shows a conceptual diagram of a traffic jam prediction system 1 according to Embodiment 1 of the present invention. The traffic jam prediction system 1 includes an in-vehicle device 10, a roadside device 20, and a server device 30.

  The in-vehicle device 10 is mounted on a vehicle and communicates by wireless connection with the roadside device 20.

  The roadside apparatus 20 is installed over many districts in the vicinity of a location where vehicles pass, such as the roadside. The roadside device 20 communicates by wireless connection with the in-vehicle device 10 mounted on the vehicle. The roadside device 20 communicates by connecting to the server device 30 wirelessly or by wire.

  The server device 30 is connected to the roadside device 20 by wireless or wired communication. Based on the information transmitted from the roadside device 20, the server device 30 predicts various traffic information such as traffic jam prediction, CO2 emission estimation, and travel time estimation.

  FIG. 2 is a block diagram showing an internal configuration of the in-vehicle device 10 shown in FIG. The in-vehicle device 10 includes a time information generation unit 11, a position information acquisition unit 12, a speed information acquisition unit 13, a travel history storage unit 14, and a transmission unit 15.

  The time information generation unit 11 generates time information indicating the current time, and outputs the generated time information to the position information acquisition unit 12 and the speed information acquisition unit 13. Note that the time information generation unit 11 does not necessarily generate time information, and may acquire time information generated by an external device.

  The position information acquisition unit 12 measures the current position using a sensor for measuring the current position. The timing of measuring the current position is measured every time a set time such as every 5 seconds or every 10 seconds elapses, or measured every time an arbitrary distance such as 50 m or 100 m is traveled. It is possible to measure. Alternatively, the measurement may be performed at a timing when a predetermined point such as a toll booth or a service area passes, a timing instructed by a user, or the like. Based on the time information output from the time information generation unit 11, the position information acquisition unit 12 outputs time information obtained by measuring the current position and current position information to the travel history storage unit 14. Further, the position information acquisition unit 12 outputs time information at which the current position is measured to the speed information acquisition unit 13. The sensor for measuring the current position may include a GPS (Global Positioning System) receiver, a direction sensor, an acceleration sensor, a vehicle speed sensor, and the like.

  The speed information acquisition unit 13 measures the vehicle speed using a vehicle speed sensor provided in the vehicle. The speed information acquisition unit 13 outputs the vehicle speed information at the time indicated by the time information output from the position information acquisition unit 12 and the time information to the travel history storage unit 14.

  The travel history storage unit 14 accumulates the current position information output from the position information acquisition unit 12, the time information at which this information is acquired, and the vehicle speed information output from the speed information acquisition unit 13 and stores it as a travel history. Then, the stored traveling history is output to the transmission unit 15.

  The transmission unit 15 transmits the current position information, speed information, and time information output from the travel history storage unit 14 to the roadside device 20 together with the ID (identification code) of the in-vehicle device 10. The transmission unit 15 may transmit information indicating whether or not the vehicle on which the in-vehicle device 10 is mounted is traveling in a row to the roadside device 20.

  FIG. 3 is a block diagram showing an internal configuration of the roadside apparatus 20 shown in FIG. The roadside device 20 includes a vehicle side communication unit 21, a storage unit 22, a leading vehicle acceleration calculation unit 23, a subsequent vehicle acceleration calculation unit 24, a platoon traveling determination unit 25, and a server side communication unit 26.

  The vehicle-side communication unit 21 receives the travel history transmitted from the transmission unit 15 of the in-vehicle device 10 and outputs the received travel history to the storage unit 22.

  The storage unit 22 stores the travel history output from the vehicle-side communication unit 21 and outputs the stored travel history to the server-side communication unit 26. In addition, the storage unit 22 outputs the traveling history of the leading vehicle to the leading vehicle acceleration calculating unit 23, and outputs the traveling history of each subsequent vehicle to the following vehicle acceleration calculating unit 24. The leading vehicle is a vehicle that travels at the head of a vehicle group that passes an arbitrary point within a certain time, or an arbitrary vehicle that is determined at a predetermined timing. Further, the following vehicle is a vehicle other than the head vehicle in the vehicle group, and is a vehicle that travels behind the front vehicle within a predetermined inter-vehicle distance. It is assumed that the storage unit 22 can determine the traveling history of the leading vehicle and the traveling history of the following vehicle from the stored traveling history.

  The leading vehicle acceleration calculation unit 23 calculates the maximum acceleration (including negative acceleration during deceleration) of the leading vehicle based on the traveling history of the leading vehicle output from the storage unit 22, and the time when the maximum acceleration is obtained Extract information. For example, when the vehicle moves from position A to position B and there is a travel history at these positions, the leading vehicle acceleration calculation unit 23 calculates ((speed at position B) − (speed at position A)) / ((position The average acceleration at position B is calculated from position A by (time at B) − (time at position A)), and the time at which the average acceleration is obtained is defined as the time at position B. The leading vehicle acceleration calculation unit 23 calculates the average acceleration as described above for all positions in the travel history, and sets the maximum average acceleration as the maximum acceleration. The maximum acceleration obtained in this way and the time information at that time are output to the platoon traveling determination unit 25, and the time information when the maximum acceleration is obtained is also output to the subsequent vehicle acceleration calculation unit 24.

  The subsequent vehicle acceleration calculation unit 24 calculates the acceleration of each subsequent vehicle in the time information closest to the time information output from the leading vehicle acceleration calculation unit 23 based on the travel history of each subsequent vehicle output from the storage unit 22. To calculate. The method for calculating the acceleration of the following vehicle is, for example, when the vehicle moves from position C to position D in the time information closest to the time information output from the leading vehicle acceleration calculation unit 23 and there is a travel history at these positions. The subsequent vehicle acceleration calculation unit 24 calculates the average acceleration from the position C to the position D by ((speed at the position D) − (speed at the position C)) / ((time at the position D) − (time at the position C)). calculate. The calculated acceleration of each subsequent vehicle is output to the convoy travel determination unit 25. The subsequent vehicle acceleration calculation unit 24 may calculate the acceleration of each subsequent vehicle at the time closest to the time when the maximum acceleration of the leading vehicle is obtained. Compared with the case of calculating the maximum acceleration of the following vehicle, the calculation amount can be greatly reduced.

  The convoy travel determination unit 25 determines that each of the following vehicles is based on the maximum acceleration of the leading vehicle output from the leading vehicle acceleration calculation unit 23 and each acceleration of the following vehicle output from the subsequent vehicle acceleration calculation unit 24. It is determined whether or not platooning is being performed, and the determination result is output to the server side communication unit 26. Specifically, the platoon traveling determination unit 25 obtains a difference between the maximum acceleration of the leading vehicle and each of the subsequent vehicles, and determines whether each obtained difference is equal to or less than a predetermined threshold. If the difference is less than or equal to the threshold value, it is determined that the subsequent vehicle having the difference equal to or less than the threshold value is running in the formation, and if the difference exceeds the threshold value, the subsequent vehicle having the difference exceeding the threshold value is determined not to be in the formation drive. To do. As described above, the reason for determining the platooning based on the difference between the maximum acceleration of the leading vehicle and the acceleration of the following vehicle is that when the platooning is being performed, the following vehicle has almost the same maximum acceleration almost simultaneously with the leading vehicle. It is because it is obtained.

  The server-side communication unit 26 transmits the travel history output from the storage unit 22 and the convoy determination result of each subsequent vehicle output from the convoy travel determination unit 25 to the server device 30.

  An example of a transmission format transmitted from the roadside device 20 to the server device 30 is shown in FIG. The transmission format includes vehicle-mounted device ID, platoon travel determination information, time information 1, position information 1, speed information 1, time information 2, position information 2, speed information 2,. Here, in the case of the leading vehicle, the in-vehicle device ID of the leading vehicle is stored in the row running determination information area. In the case of a following vehicle that is running in a row, the in-vehicle device ID of the leading vehicle is stored, and in the case of a subsequent vehicle that is not running in a row, a numerical value for identifying it is stored.

  FIG. 5 is a block diagram showing an internal configuration of the server device 30 shown in FIG. The server device 30 includes a communication unit 31 and a traffic information prediction unit 32.

  The communication unit 31 receives the travel history and the row determination result transmitted from the roadside device 20, and outputs the received travel history and the row determination result to the traffic information prediction unit 32.

  The traffic information prediction unit 32 predicts various traffic information such as traffic jam prediction, CO2 emission estimation, travel time estimation, and the like based on the travel history and the row determination result output from the communication unit 31.

  Next, the procedure of the row determination process in the roadside apparatus 20 described above will be described with reference to FIG. FIG. 6 is a flowchart showing a procedure of a row determination process in the roadside device 20.

  The vehicle-side communication unit 21 receives a travel history including vehicle position information, speed information, and time information when these pieces of information are acquired from the in-vehicle device 10, and the storage unit 22 stores them (step ST01).

  The storage unit 22 determines whether or not a traveling history for a certain period of time has been accumulated (step ST02). If it is determined that it has been accumulated (step ST02: YES), the storage unit 22 proceeds to step ST03 and determines that it has not accumulated (step ST02). Step ST02: NO), it returns to step ST01.

  When the travel history for a certain time is accumulated in step ST02 (step ST02: YES), the storage unit 22 determines whether or not the accumulated travel history for the certain time is equal to or more than two vehicles (step ST03). ) If it is determined that the number is equal to or greater than two (step ST03: YES), the flow proceeds to step ST04. If it is determined that the number is less than two (step ST03: NO), the flow returns to step ST01.

  The leading vehicle acceleration calculation unit 23 calculates the maximum acceleration of the leading vehicle based on the traveling history of the leading vehicle, and extracts time information at which the maximum acceleration was obtained (step ST04).

  The subsequent vehicle acceleration calculation unit 24 calculates the acceleration of the subsequent vehicle at a time closest to the time when the maximum acceleration of the leading vehicle is obtained (step ST05).

  The convoy travel determination unit 25 calculates the difference between the maximum acceleration of the leading vehicle obtained in step ST04 and the acceleration of the subsequent vehicle obtained in step ST05 (step ST06), and the calculated difference is a predetermined threshold value. It is determined whether or not the following is true (step ST07).

  When it is determined in step ST07 that the difference is equal to or smaller than the predetermined threshold value (step ST07: YES), the convoy travel determination unit 25 determines that the following vehicle is performing convoy travel (step ST08).

  The server-side communication unit 26 transmits the travel history and the determination result indicating that the following vehicle is traveling in a row to the server device 30 (step ST09).

  On the other hand, when it is determined in step ST07 that the difference exceeds the predetermined threshold (step ST07: NO), the convoy travel determination unit 25 determines that the following vehicle is not convoy traveling (step ST10).

  The server-side communication unit 26 transmits a travel history and a determination result indicating that the following vehicle is not performing a convoy travel to the server device (step ST11).

  As described above, in the traffic jam prediction system 1 according to the first embodiment, the maximum acceleration of the leading vehicle is calculated based on the travel history including vehicle position information, speed information, and time information, and the time when the maximum acceleration is obtained. The acceleration of the subsequent vehicle at the nearest time is calculated, and it is determined whether the subsequent vehicle is traveling in a row based on the difference between the maximum acceleration of the leading vehicle and the acceleration of the subsequent vehicle. As a result, it can be determined whether the vehicle group traveling on the road is causing a traffic jam or running in a platoon, and the traffic jam can be accurately predicted.

(Embodiment 2)
The configurations of the in-vehicle device, the roadside device, and the server device according to the second embodiment of the present invention are the same as the configurations of FIG. 2, FIG. 3, and FIG. 5 shown in the first embodiment. This will be described with reference to the drawings.

  Referring to FIG. 3, the server-side communication unit 26 of the roadside device 20 travels output from the storage unit 22 when the convoy determination result output from the convoy travel determination unit 25 indicates that convoy travel is being performed. In the history, time information, position information, and speed information are replaced with distance information from the head vehicle. The server side communication unit 26 transmits the replaced travel history to the server device 30. Note that when the platoon determination result indicates that the platooning is not performed, the server-side communication unit 26 transmits the unreplaced traveling history and the platoon determination result to the server device 30 as in the first embodiment.

  An example of compressing the transmission format transmitted from the roadside apparatus 20 to the server apparatus 30 is shown in FIG. FIG. 7A shows the same transmission format as in FIG. 4 for comparison. FIG. 7B shows a transmission format obtained by compressing the transmission format of FIG. The compressed transmission format includes in-vehicle device ID, platooning determination information, and distance information from the leading vehicle, and does not include time information, position information, and speed information.

  The server device 30 can easily calculate the travel history of the following vehicle if there is a travel history of the leading vehicle and distance information from the leading vehicle.

  Thus, in the traffic jam prediction system 1 of the second embodiment, by replacing the time information, the position information, and the speed information with the distance information from the leading vehicle in the traveling history of the following vehicle that is performing the platooning, The amount of data transmitted from the roadside device 20 to the server device 30 can be reduced.

  The roadside device, server device, in-vehicle device, platooning determination method and traffic information prediction system according to the present invention are useful for accurately determining whether platooning is being performed.

DESCRIPTION OF SYMBOLS 1 Traffic jam prediction system 10 In-vehicle apparatus 20 Roadside apparatus 30 Server apparatus 11 Time information generation part 12 Position information acquisition part 13 Speed information acquisition part 14 Travel history storage part 15 Transmission part 21 Vehicle side communication part 22 Storage part 23 Leading vehicle acceleration calculation part 24 Subsequent vehicle acceleration calculation unit 25 Convoy travel determination unit 26 Server side communication unit 31 Communication unit 32 Traffic information prediction unit

Claims (9)

A vehicle-side communication unit that receives a travel history including position information, speed information, and time information periodically acquired in the vehicle;
A storage unit that stores the travel histories of a plurality of vehicles that form a vehicle group that passes an arbitrary point within a predetermined time;
A convoy travel determination unit that determines whether each of the following vehicles other than the leading vehicle traveling in the head of the vehicle group is performing convoy travel based on the travel history of each of the plurality of vehicles stored; ,
A roadside device comprising: Using the travel history of the leading vehicle, a leading vehicle acceleration calculating unit that calculates the maximum acceleration of the leading vehicle;
A subsequent vehicle acceleration calculating unit that calculates the acceleration of each of the subsequent vehicles using the travel history of each of the subsequent vehicles at a time closest to the time at which the maximum acceleration of the leading vehicle was obtained;
Further comprising
The row running determination unit determines whether each of the subsequent vehicles is running in a row based on the difference between the maximum acceleration of the leading vehicle and the acceleration of each of the subsequent vehicles.
The roadside device according to claim 1. A server-side communication unit that transmits a determination result as to whether or not each of the traveling histories of the plurality of vehicles and the following vehicle is running in a row, to a server device;
The roadside device according to claim 1 or 2. The server-side communication unit includes position information, speed information, and time information of distance information from the head vehicle among the traveling histories of the subsequent vehicles that are determined to be running in a row among the respective subsequent vehicles. Replace with
The roadside device according to claim 3. The traveling history of a plurality of vehicles that form a vehicle group that passes an arbitrary point within a certain time, and whether each of the following vehicles other than the leading vehicle that travels at the head of the vehicle group is running in a row A communication unit that receives the determination result;
A traffic information prediction unit that predicts traffic information based on the travel history of each of the plurality of vehicles and the determination result;
A server device comprising: A position information acquisition unit that measures the current position of the vehicle and acquires position information indicating the measured current position;
A speed information acquisition unit that measures the speed of the vehicle and acquires speed information indicating the measured speed;
A time information generating unit that generates time information indicating the time at which the position information and the speed information are acquired;
A travel history storage unit that accumulates the position information, the speed information, and the time information and stores them as a travel history;
A transmission unit for transmitting the travel history to the roadside device;
A vehicle-mounted device comprising: The transmission unit transmits information indicating whether or not the vehicle is running in a row to the roadside device,
The in-vehicle device according to claim 6. A vehicle side communication step of receiving a travel history including position information, speed information and time information periodically acquired in the vehicle;
A storage step of storing each of the traveling histories of a plurality of vehicles forming a vehicle group passing through an arbitrary point within a predetermined time;
A row running determination step for determining whether or not each of the following vehicles other than the head vehicle running at the head of the vehicle group is running in a row based on the travel history of each of the plurality of vehicles stored; ,
A method for determining running in a row. A vehicle-mounted device that periodically acquires position information indicating the current position of the vehicle, speed information and time information of the vehicle, and transmits the information as a travel history to the roadside device;
Based on the travel histories of a plurality of vehicles that form a vehicle group that passes an arbitrary point within a certain time, each of the following vehicles other than the top vehicle that travels at the head of the vehicle group performs a platooning. A roadside device that determines whether or not
A server device that predicts traffic information based on the travel history of each of the plurality of vehicles and the determination result;
A traffic information prediction system comprising:

Images