JPWO2018163407A1 - INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD, AND INFORMATION PROCESSING PROGRAM - Google Patents

Abstract

The third communication unit (263) is a main line vehicle transmitted from each on-vehicle device of one or more main line vehicles traveling on the main line toward a junction where the main line of the plurality of lanes and the junction line merge And receives main line vehicle information indicating a planned travel route of the vehicle. The collation unit (253) specifies the current position of each main line vehicle. In addition, the matching unit (253) is a main line vehicle that changes lanes from a lane other than the merging lane where the merging lines merge among the plurality of main lanes to a merging lane within a predetermined section after passing the merging point It is determined based on the planned travel route of each main line vehicle and the current position of each main line vehicle whether there is a lane change main line vehicle. The information generation unit (252) generates notification information notifying that the lane change main line vehicle is present when it is determined that the lane change main line vehicle is present. The third communication unit (263) transmits the notification information to the on-vehicle device of the junction vehicle traveling on the junction.

Description

  The present invention relates to a technology for providing information to a traveling vehicle.

  In order to ensure safe and smooth merging or branching, a vehicle traveling on a road having a junction or branch point such as a freeway is studied and experimented with a system that provides information of other vehicles to the vehicle. It is done. Such a system includes a roadside vehicle-to-vehicle wireless device on the roadside that provides information to a vehicle, a server device that performs information collection, information processing, and information distribution.

  As a conventional driving support information provision technique, there is a technique disclosed in Patent Document 1, for example. In the technology of Patent Document 1, for example, a sensor device set on a roadside such as a camera detects a position, a speed, an inter-vehicle distance and the like of a vehicle traveling on a main line. Then, in the technology of Patent Document 1, the roadside processing device distributes information such as the position, speed, and inter-vehicle distance of the vehicle traveling on the main line to the vehicle traveling on the merging line. By doing this, the vehicle traveling on the merging line predicts the position and speed of the vehicle traveling on the main line when reaching the merging point before reaching the merging point where the main line and the merging line merge. be able to. Then, when the vehicle traveling in the merging lane reaches the merging point, it is possible to perform smooth acceleration and deceleration while safely securing the distance to other vehicles, and to perform safe merging. Road-to-vehicle wireless communication can be realized by techniques such as ARIB STD-T 75, ARIB STD-T 109, and IEEE 801.11 p.

  Moreover, in patent document 2, the technique which transmits the picked-up image obtained by the roadside processing apparatus to the vehicle in driving | running | working using wireless communication is disclosed. Moreover, in patent document 2, the technique which transmits the audio | voice information which conveys approach of a vehicle to the vehicle in driving | running | working is disclosed.

  Further, Patent Document 3 discloses a vehicle capable of autonomous driving. More specifically, Patent Document 3 detects the situation around the vehicle with a sensor such as a camera mounted on the vehicle, and uses GPS (Global Positioning System) signals, navigation map data, etc. There is disclosed a technique for accurately grasping the position and performing automatic driving.

Patent 2969175 JP 2003-91793 A International Publication WO2016-068273

In the technique of Patent Document 1, as described above, the vehicle running on the merging lane can safely join the main lane by providing the vehicle running on the merging route with information such as the position and speed of the vehicle running on the main lane. Let's do it.
However, on a road where there is further diversion after merging, a lane change for diversion occurs. For this reason, the situation which can not be solved only with the technique of patent documents 1-3 occurs.
FIG. 29 shows the traveling condition of the road and the vehicle on which the diversion occurs after the merging.

In FIG. 29, a main line 100 is a two-lane road having a lane 111 and a lane 112. A merging line 300 joins the main line 100. A point at which the main line 100 and the merging line 300 merge is referred to as a merging point 350. Furthermore, after the merging line 300 merges with the main line 100, the diverting line 400 branches from the main line 100. A point where the main line 100 branches to the branch line 400 is referred to as a branch point 450.
Vehicles 140 to 149 are vehicles that travel along the main line 100, the merging line 300, and the dividing line 400 from the left to the right in FIG.
The sensor device 212 detects the position and speed of a vehicle traveling in the range of reference numeral 121 before the junction 350 on the main line 100. The sensor device 212 is a camera or the like. The position detected by the sensor device 212 is a value of longitude and latitude where the vehicle exists.
The wireless communication device 222 distributes the information on the position and speed of the vehicle traveling on the main line 100 detected by the sensor device 212 to the vehicle traveling on the merging line 300.
By thus installing various devices on the road side of the road, it is possible to transmit the information on the position and speed of the vehicle traveling on the main line 100 to the vehicle traveling on the merging line 300 as described above. It is possible.
When the vehicle 144, the vehicle 145, and the vehicle 149 are in the positional relationship shown in FIG. 29, there is no vehicle running ahead of the vehicle 149 and the vehicle 144. Since the vehicle 149 travels ahead of the vehicle 144, the vehicle 149 can complete the merging with the main line 100 safely and smoothly.

In order to enter the dividing line 400, the vehicle 145 needs to change lanes to the lane 111 in which the vehicle 144 is traveling. However, immediately after the merging, since the vehicle 149 and the vehicle 145 are in parallel, the vehicle 145 can not change lanes quickly. In particular, when the distance between the vehicle 149 and the vehicle 144 is short, it is difficult for the vehicle 145 to decelerate to change lanes. Therefore, the vehicle 145 accelerates to overtake the vehicle 149 and then changes lanes to the lane 111. After the lane change to the lane 111 is completed, since the diversion point 450 is close, the vehicle 145 needs to perform a rapid deceleration. Furthermore, the vehicle 149 that is to travel behind the vehicle 145 in the lane 111 needs a rapid deceleration as the vehicle 145 rapidly decelerates. Furthermore, the vehicle 144 traveling behind the vehicle 149 also needs a rapid deceleration.
Thus, the following situation occurs on the road shown in FIG.
(1) When a vehicle traveling on the main lane 112 (in FIG. 29, the vehicle 145) attempts to change lanes to the lane 111 in order to enter the dividing line 400, the main line 100 through the merging line 300 If the vehicle joined in (the vehicle 149 in FIG. 29) is running in parallel, it is necessary to change lanes to the lane 111 accompanied by acceleration, and further to require rapid deceleration to enter the dividing line 400 become.
(2) The vehicle (vehicle 149 in FIG. 29) joining the main line 100 from the merging line 300 is a lane 111 for the vehicle (vehicle 145 in FIG. 29) of the adjacent lane 112 after the main line joining to enter the dividing line 400. When it is decided to travel to the rear of the vehicle (the vehicle 145 in FIG. 29) after the lane change, the vehicle suddenly travels along with the rapid deceleration of the vehicle traveling in the forward direction (the vehicle 145 in FIG. 29). Slow down is required.
(3) If the rapid decelerations of (1) and (2) occur frequently, congestion and congestion will occur.
(4) A sudden acceleration, a rapid deceleration and a sudden lane change increase the risk of an accident and adversely affect the mental condition of the vehicle occupant.
In the patent documents 1-3, on the road where a diversion occurs immediately after merging, there is a problem that the situation shown in the above (1) to (4) can not be prevented.

  The main object of the present invention is to solve such problems. Specifically, the main object of the present invention is to obtain a configuration that realizes safe and smooth traveling of a section from a junction point to a branch point.

An information processing apparatus according to the present invention is
A main line vehicle indicating a planned travel route of each main line vehicle transmitted from each on-vehicle device of one or more main line vehicles traveling on the main line toward a junction where the main line of a plurality of lanes and the junction line merges A receiver for receiving information;
A position specifying unit for specifying the current position of each main line vehicle;
Lane change which is a main line vehicle which performs lane change from the lane other than the merging lane where the merging line merges to the merging lane among the plurality of lanes of the main line within the predetermined section after passing the merging point A vehicle determination unit that determines whether there is a main line vehicle based on the planned travel route of each main line vehicle and the current position of each main line vehicle;
An information generation unit that generates notification information notifying that the lane change main vehicle is present when the vehicle determination unit determines that the lane change main vehicle is present;
And a transmitter configured to transmit the notification information to an on-vehicle device of the junction vehicle traveling on the junction.

  In the present invention, the junction vehicle is notified that the lane change main vehicle is present. Therefore, the driver of the junction vehicle or the automatic driving function of the junction vehicle can know in advance the existence of the lane change vehicle, and can perform the driving assuming the lane change of the lane change vehicle near the junction. . For this reason, according to the present invention, safe and smooth traveling of the section from the junction point to the branch point can be realized.

BRIEF DESCRIPTION OF THE DRAWINGS The figure which shows the structural example of the driving assistance information provision system which concerns on Embodiment 1, a vehicle, a main line, and a confluence line. FIG. 2 is a diagram showing an operation outline of a driving support information provision system according to a first embodiment. FIG. 2 is a diagram showing an operation outline of a driving support information provision system according to a first embodiment. FIG. 2 is a diagram showing an operation outline of a driving support information provision system according to a first embodiment. FIG. 2 is a diagram showing an operation outline of a driving support information provision system according to a first embodiment. FIG. 2 is a diagram showing an operation outline of a driving support information provision system according to a first embodiment. FIG. 2 is a diagram showing an operation outline of a driving support information provision system according to a first embodiment. FIG. 2 is a diagram showing an example of a hardware configuration of a roadside processing apparatus according to the first embodiment. FIG. 2 is a diagram showing an example of a functional configuration of a roadside processing apparatus according to the first embodiment. FIG. 2 is a diagram showing the correspondence between the hardware configuration and the functional configuration of the roadside processing apparatus according to the first embodiment. FIG. 2 is a diagram showing an example of a functional configuration of a sensor device according to Embodiment 1. FIG. 2 is a diagram showing an example of a functional configuration of the wireless communication apparatus according to the first embodiment. FIG. 2 is a view showing an arrangement example of a sensor device and a wireless communication device at a tollgate according to the first embodiment. 6 is a flowchart showing an operation example of the roadside processing device arranged at a place before the junction according to the first embodiment. FIG. 7 is a diagram showing a communication sequence between a roadside processing apparatus disposed at a location before the junction according to Embodiment 1 and a roadside processing apparatus disposed at a location near the junction. FIG. 7 is a diagram showing a communication sequence between a roadside processing device, a sensor device, and a wireless communication device which are disposed in a place near a junction according to the first embodiment. 6 is a flowchart showing an operation example of the roadside processing device arranged at a place near the junction according to the first embodiment. FIG. 5 shows an example of first pattern information according to the first embodiment. The figure which shows the example of the area of the main line which concerns on Embodiment 1, and the position of a vehicle. FIG. 6 is a diagram showing an example of the position of the vehicle when there is no notification of the adjusted traveling speed according to the first embodiment. FIG. 6 is a diagram showing an example of the position of the vehicle when there is a notification of the adjusted traveling speed according to the first embodiment. FIG. 6 shows an example of second pattern information according to the first embodiment. FIG. 7 is a diagram showing an example of the position of a vehicle for which transmission of a lane change instruction according to the first embodiment is effective. FIG. 7 is a diagram showing an example of the position of the vehicle after transmission of a lane change instruction according to the first embodiment. FIG. 7 is a diagram showing an example of the position of the vehicle when the lane change instruction according to the first embodiment is not transmitted. 6 is a flowchart showing an operation example of the roadside processing device arranged at a place near the junction according to the first embodiment. 6 is a flowchart showing an operation example of the roadside processing device arranged at a place near the junction according to the first embodiment. FIG. 6 is a view showing an example of a monitoring section of the sensor device disposed at a position near the diversion point according to the first embodiment. The figure which shows the example of the road where a diversion arises immediately after confluence.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description of the embodiments and drawings, the same reference numerals denote the same or corresponding parts.

Embodiment 1
*** Overview of driving support information provision system ***
FIG. 1 shows a configuration example of a driving support information providing system according to the present embodiment, a vehicle 150, a vehicle 160, a vehicle 170, a main line 100, and a merging line 300.
The driving support information providing system according to the present embodiment provides information to a vehicle traveling on a road such as an expressway.

The driving support information providing system according to the present embodiment includes a roadside processing device 201, a sensor device 211, a wireless communication device 221, a central processing unit 231, a roadside processing device 202, a sensor device 212, and a wireless communication device 222.
The roadside processing device 201, the sensor device 211, and the wireless communication device 221 are disposed in front of a merging point 350 where the main line 100 and the merging line 300 merge. That is, the roadside processing device 201, the sensor device 211, and the wireless communication device 221 are installed at any point in the opposite direction of the traveling direction from the junction point 350 in the traveling direction of the vehicle 150 and the vehicle 160. For example, the roadside processor 201, the sensor device 211, and the wireless communication device 221 are disposed at a toll booth. The roadside processing device 201 is connected to the sensor device 211 and the wireless communication device 221. Although the roadside processing device 201 is assumed to be disposed on the roadside in the present embodiment, the roadside processing device 201 is disposed on the roadside if it can communicate with the sensor device 211 and the wireless communication device 221. It does not have to be.
The roadside processor 202, the sensor device 212, and the wireless communication device 222 are disposed in the vicinity of the junction 350. The roadside processing device 202 is connected to the sensor device 212 and the wireless communication device 222. The sensor device 212 and the wireless communication device 222 are arranged, for example, in the position shown in FIG. Although the roadside processing device 202 is assumed to be disposed on the roadside in the present embodiment, the roadside processing device 202 is disposed on the roadside if it can communicate with the sensor device 212 and the wireless communication device 222. It does not have to be.
The roadside processor 201 and the roadside processor 202 are connected via a communication network.
The central processing unit 231 is connected to roadside processors at a plurality of points via a communication network. The central processing unit 231 transmits, for example, traffic information to the roadside processing unit 201 and the roadside processing unit 202. Further, the central processing unit 231 receives information such as the position and speed of the vehicle detected by the sensor device 211 and the sensor device 212 from the roadside processing device 201 and the roadside processing device 202, and grasps information on the entire expressway. be able to. There is no limitation on the location of the central processing unit 231. Also, the central processing unit 231 may not exist.
The roadside processing device 202 corresponds to an information processing device. Moreover, the process performed by the roadside processor 202 corresponds to an information processing method and an information processing program.

The main line 100 is the main line 100 shown in FIG.
The merging line 300 is the merging line 300 shown in FIG.
The main line 100 and the merging line 300 merge at a merging point 350.
Although illustration is abbreviate | omitted in FIG. 1, as shown in FIG. 29, suppose that the diversion point 450 branched to the diverting line 400 exists in the main line 100 ahead of the confluence point 350. As shown in FIG.

The vehicle 150 and the vehicle 160 travel on the main line 100 toward the junction 350. Vehicles 150 and 160 are also referred to as main line vehicles.
The vehicle 150 is a vehicle capable of traveling automatically. The vehicle 160 is a vehicle that can not travel automatically.
The vehicle 150 is mounted with an in-vehicle device 151. The in-vehicle device 151 holds a vehicle identifier and a planned travel route. The vehicle identifier may be any data as long as it can identify the vehicle 150. The vehicle identifier is, for example, an identification number of an ETC (Electronic Toll Collection) system. The planned travel route is a route on which the vehicle 150 is to travel.
The vehicle 160 is mounted with an on-vehicle device 161. The in-vehicle device 161 also holds a vehicle identifier and a planned travel route.

The vehicle 170 travels on the merging line 300 toward the merging point 350. The vehicle 170 is also referred to as a junction vehicle.
The vehicle 170 is mounted with an on-vehicle device 171. The in-vehicle device 171 also holds a vehicle identifier and a planned travel route.
The vehicle 170 may be either a vehicle that can travel automatically or a vehicle that can not travel automatically.

  Strictly speaking, in the vehicle 150, the in-vehicle device 151 wirelessly transmits the vehicle identifier and the planned travel route, but hereinafter, the vehicle 150 also transmits the vehicle identifier and the planned travel route for convenience. In the vehicle 160, the in-vehicle device 161 wirelessly transmits the vehicle identifier and the planned travel route, but hereinafter, the vehicle 160 transmits the vehicle identifier and the planned travel route for convenience. In the vehicle 170, strictly speaking, the in-vehicle device 171 wirelessly transmits the vehicle identifier and the planned travel route, but hereinafter, the vehicle 170 transmits the vehicle identifier and the planned travel route for convenience. Similarly, strictly speaking, the in-vehicle device 151 of the vehicle 150 receives the information, but hereinafter, for convenience, the vehicle 150 also receives the information. The same applies to the vehicle 150 and the vehicle 160.

  Next, with reference to FIGS. 2 to 7, an outline of operation of the driving support information providing system according to the present embodiment will be described.

In FIG. 2, the wireless communication device 221 receives the vehicle identifier transmitted from the on-vehicle device 151 of the vehicle 150 when the vehicle 150 passes through a toll gate or the like before the junction. Then, the wireless communication device 221 transmits the information indicating the received vehicle identifier to the roadside processing device 201. At the same time, the sensor device 211 captures the vehicle number of the vehicle 150. The sensor device 211 performs character recognition processing on the captured image of the vehicle number of the vehicle 150, and reads the vehicle number of the vehicle 150. Then, the sensor device 211 transmits information indicating the read vehicle number to the roadside processing device 201.
Similarly, when the vehicle 160 passes a toll station or the like before the junction, the wireless communication device 221 receives the vehicle identifier transmitted from the on-vehicle device 161 of the vehicle 160. Then, the wireless communication device 221 transmits the information indicating the received vehicle identifier to the roadside processing device 201. In parallel, the sensor device 211 captures the vehicle number of the vehicle 160. The sensor device 211 performs character recognition processing on the captured image of the vehicle number of the vehicle 160, and reads the vehicle number of the vehicle 160. Then, the sensor device 211 transmits information indicating the read vehicle number to the roadside processing device 201.
The roadside processor 201 transmits the identifier number information of the vehicle 150 to the roadside processor 202. In the identifier number information of the vehicle 150, the vehicle identifier of the vehicle 150 and the vehicle number are shown in association with each other. Furthermore, the roadside processing device 201 transmits the identifier number information of the vehicle 160 to the roadside processing device 202. In the identifier number information of the vehicle 160, the vehicle identifier of the vehicle 160 and the vehicle number are shown in association with each other. The roadside processing device 202 receives the identifier number information of the vehicle 150, stores the vehicle identifier of the vehicle 150 and the vehicle number in association with each other. Further, the roadside processing device 202 receives the identifier number information of the vehicle 160, stores the vehicle identifier of the vehicle 160 and the vehicle number in association with each other.

Next, as shown in FIG. 3, when the vehicle 150 and the vehicle 160 reach near the junction, the wireless communication device 222 transmits information from the on-vehicle device 151 of the vehicle 150 indicating the vehicle identifier and the planned travel route ( Hereinafter, the main line vehicle information is received. Then, the wireless communication device 222 transmits the received main line vehicle information to the roadside processing device 202. In parallel, the sensor device 212 detects the position and speed of the vehicle 150. The sensor device 212 also captures the vehicle number of the vehicle 150. The sensor device 212 performs character recognition processing on the captured image of the vehicle number of the vehicle 150, and reads the vehicle number of the vehicle 150. Then, the sensor device 212 transmits information (hereinafter, referred to as current condition information) indicating the position, speed, and vehicle number of the vehicle 150 to the roadside processing device 202.
Similarly, the wireless communication device 222 receives the vehicle identifier transmitted from the on-vehicle device 161 of the vehicle 160 and main line vehicle information indicating a planned travel route. Then, the wireless communication device 222 transmits the main line vehicle information of the vehicle 160 to the roadside processing device 202. In parallel, the sensor device 212 detects the position and speed of the vehicle 160. The sensor device 212 also captures the vehicle number of the vehicle 160. The sensor device 212 performs character recognition processing on the captured image of the vehicle number of the vehicle 160, and reads the vehicle number of the vehicle 160. Then, the sensor device 212 transmits, to the roadside processing device 202, current state information indicating the position, speed, and vehicle number of the vehicle 160.
The roadside processing device 202 mutually associates and stores the vehicle identifier and the planned traveling route shown in the main vehicle information of the vehicle 150 transmitted from the wireless communication device 222. Further, the position, the speed, and the vehicle number of the vehicle 150 included in the current state information transmitted from the sensor device 212 are associated with each other and stored. However, at this point in time, the vehicle identifier of the vehicle 150 and the planned travel route are not associated with the position, speed, and vehicle number of the vehicle 150. In addition, the roadside processing device 202 mutually associates and stores the vehicle identifier and the planned travel route shown in the main vehicle information of the vehicle 160 transmitted from the wireless communication device 222. Further, the position, the speed, and the vehicle number of the vehicle 160 included in the current state information transmitted from the sensor device 212 are associated with each other and stored. However, at this point in time, the vehicle identifier of the vehicle 160 and the planned travel route are not associated with the position, speed, and vehicle number of the vehicle 160.
Although the illustration of the vehicle 170 is simplified in FIG. 3 for the reason of drawing, the vehicle 170 in FIG. 3 is the same as the vehicle 170 in FIG. The illustration of the vehicle 170 is simplified also in FIG. 4 and thereafter.

Next, as shown in FIG. 4, the roadside processor 202 associates the position, speed, and planned traveling route of the main road traveling vehicle from the correspondence between the vehicle identifier and the vehicle number in the identifier number information.
More specifically, the roadside processing device 202 is based on the correspondence between the vehicle identifier of the vehicle 150 and the vehicle number in the identifier number information of the vehicle 150 received from the roadside processing device 201. The vehicle identifier is associated with the vehicle number of the vehicle 150 received from the sensor device 212. As a result, the roadside processing device 202 calculates the planned traveling route associated with the vehicle identifier of the vehicle 150 received from the wireless communication device 222, and the position and speed associated with the vehicle number received from the sensor device 212. Can be associated. That is, the roadside processing device 202 can associate the position, the speed, and the planned traveling route of the vehicle 150.
In addition, the roadside processing device 202 is a vehicle of the vehicle 160 received from the wireless communication device 222 based on the correspondence between the vehicle identifier of the vehicle 160 and the vehicle number in the identifier number information of the vehicle 160 received from the roadside processing device 201 The identifier is associated with the vehicle number of the vehicle 160 received from the sensor device 212. As a result, the roadside processor 202 determines the planned traveling route associated with the vehicle identifier of the vehicle 160 received from the wireless communication device 222, the position and the velocity associated with the vehicle number received from the sensor device 212, Can be associated. That is, the roadside processor 202 can associate the position, the speed, and the planned traveling route of the vehicle 160.
Then, based on the position of the vehicle 150, the roadside processing device 202 determines whether the vehicle 150 is traveling on a merging lane, which is a lane that merges with the merging line 300 on the main line 100, or traveling on a lane other than the merging lane. Do. The merging lane is the lane 111 of FIG. Further, the lanes other than the confluence lane are the lanes 112 in FIG. Further, the roadside processing device 202 determines whether the vehicle 150 enters the dividing line 400 from the planned traveling route of the vehicle 150. That is, it is analyzed whether or not the route ahead of the dividing line 400 is included in the planned traveling route of the vehicle 150, and it is determined whether the vehicle 150 enters the dividing line 400. If it is determined that the vehicle 150 is traveling in a lane other than the merging lane, and it is determined that the vehicle 150 enters the dividing line 400, the roadside processing device 202 determines that the dividing point 450 has passed after the vehicle 150 passes the merging point 350. It is determined that the lane change to the confluence lane is to be performed in the section until reaching.
The roadside processing device 202 similarly determines whether the vehicle 160 is traveling in the merging lane or traveling in a lane other than the merging lane based on the position of the vehicle 160. Further, the roadside processing device 202 determines whether the vehicle 160 enters the dividing line 400 from the planned traveling route of the vehicle 160. If it is determined that the vehicle 160 is traveling in a lane other than the merging lane, and it is determined that the vehicle 160 enters the dividing line 400, the roadside processing device 202 determines that the dividing point 450 has passed after the vehicle 160 passes the merging point 350. It is determined that the lane change to the confluence lane is to be performed in the section until reaching.

Next, as shown in FIG. 5, the roadside processor 202 transmits notification information for notifying the position and speed of the main road traveling vehicle to the on-vehicle device 171 of the vehicle 170 via the wireless communication device 222. Further, the roadside processing device 202 transmits notification information for notifying the planned travel route of the main road traveling vehicle and the lane change presence / absence to the in-vehicle device 171 of the vehicle 170 via the wireless communication device 222. That is, the roadside processing device 202 sends notification information for notifying the position and speed of the vehicle 150, the planned travel route and the lane change presence and absence, the position and speed of the vehicle 160, the planned travel route and the lane presence and absence change to the wireless communication device 222. It transmits to the on-vehicle device 171 of the vehicle 170 via
In addition, the roadside processing device 202 may include, in the notification information, a notification that there is a possibility that the main road traveling vehicle performing the lane change to the merging lane may decelerate after passing through the merging point 350. In addition, below, the main line vehicle which performs the lane change to a merging lane after passing the junction 350 is also called a lane change main line vehicle.
As a result, the driver of the vehicle 170 or the automatic driving function of the vehicle 170 changes the lane change main lane to the merging lane after the vehicle 170 moves to the merging lane, and further, the lane changing main lane vehicle 400 Know in advance that there is a possibility to slow down to get into. For this reason, the driver of the vehicle 170 or the automatic driving function of the vehicle 170 can perform driving assuming lane change to the confluence lane of the lane change main lane and deceleration.

Further, in addition to the transmission of the notification information shown in FIG. 5, the roadside processing device 202 sends the notification information for notifying the adjusted traveling speed to the on-vehicle device 171 of the vehicle 170 via the wireless communication device 222 as shown in FIG. It may be sent. The adjusted traveling speed is a traveling speed of the vehicle 170 such that the position of the main lane-changed vehicle when the vehicle 170 reaches the junction 350 is separated from the junction 350 by a predetermined distance or more. The roadside processor 202 identifies the adjusted traveling speed, and generates notification information for notifying the identified adjusted traveling speed. Then, the roadside processing device 202 transmits the notification information to the on-vehicle device 171 of the vehicle 170 via the wireless communication device 222. The roadside processing device 202 specifies, for example, a traveling speed at which the vehicle 170 can reach the junction 350 earlier than the lane-changing main vehicle by taking a sufficient distance between the lane-changing main vehicle and the lane-changing main vehicle. In addition, the roadside processing device 202 specifies, for example, a traveling speed at which the vehicle 170 can reach the junction 350 after the lane change main vehicle by setting a sufficient distance between the lane change main vehicle and the lane change main vehicle.
By doing so, even if the main lane-changed vehicle decelerates for entry to the dividing line 400, the vehicle 170 after joining the main line 100 does not need to rapidly decelerate.

In addition, as shown in FIG. 7, the roadside processing device 202 may transmit instruction information for instructing a main lane vehicle to change lanes via the wireless communication device 222.
For example, assume that vehicle 150 is vehicle 145 of FIG. 29 and vehicle 160 is vehicle 144 of FIG. Further, it is assumed that the vehicle 150 changes lanes to the lane 111 after passing the junction 350 in order to enter the dividing line 400. In such a case, the roadside processing device 202 instructs the vehicle 160 (vehicle 144) to change lanes to the lane 112. When the vehicle 160 (vehicle 144) changes lanes to the lane 112, the vehicle 150 (vehicle 145) smoothly moves to the lane 111 because there is no vehicle traveling at a position that prevents the lane change of the vehicle 150 (vehicle 145). You can change lanes. Also, the roadside processing device 202 may instruct the vehicle 160 (vehicle 144) to decelerate. When the vehicle 160 (vehicle 144) decelerates, a sufficient distance can be provided between the vehicle 150 and the vehicle 160, so the vehicle 150 can smoothly change lanes to the lane 111.

*** Description of the configuration ***
Next, configurations of the roadside processing device 201, the sensor device 211, the wireless communication device 221, the central processing unit 231, the roadside processing device 202, the sensor device 212, and the wireless communication device 222 included in the driving support information providing system will be described.

FIG. 8 shows an example of a hardware configuration of the roadside processor 201 and the roadside processor 202.
The roadside processor 201 and the roadside processor 202 are computers.
The roadside processor 201 and the roadside processor 202 respectively include a processor 801, a memory 802, a storage device 803, a first communication interface 804, a second communication interface 805, and a third communication interface 806.
The processor 801, the memory 802, the storage device 803, the first communication interface 804, the second communication interface 805, and the third communication interface 806 are connected to a bus.
The processor 801 is, for example, a CPU (Central Processing Unit) that executes a program.
The memory 802 is, for example, a random access memory (RAM). The memory 802 is loaded with a program to be executed by the processor 801. The memory 802 also stores information for the program to refer to and information output from the program.
The storage device 803 is, for example, a ROM (Read Only Memory), a flash memory, or a hard disk. The storage device 803 stores a program executed by the processor 801. In addition, the storage device 803 stores map information before being developed in the memory 802. The storage unit 803 stores a large amount of information in addition to the map information.
Each of the first communication interface 804, the second communication interface 805, and the third communication interface 806 is, for example, a NIC (Network Interface Card). The first communication interface 804 is used to communicate with other roadside processors. The second communication interface 805 is also used to communicate with the sensor device. The third communication interface 806 is used to communicate with the wireless communication device.
The programs stored in the storage unit 803 and executed by the processor 801 are the map information management unit 251, the information generation unit 252, the collation unit 253, the correspondence management unit 254, the sensor information management unit 255, and the wireless communication shown in FIG. It is a program for realizing the information management unit 256, the first communication unit 261, the second communication unit 262, and the third communication unit 263.

  Next, functional configurations of the roadside processing device 201 and the roadside processing device 202 will be described with reference to FIG.

  The map information management unit 251 manages map information. For example, the map information management unit 251 reads map information from the storage device 803. Further, the map information management unit 251, for example, updates the map information.

The information generation unit 252 generates information to be distributed to the vehicle.
The information generation unit 252 included in the roadside processing device 201 generates identifier number information shown in FIG. 2 by associating the vehicle identifier of the same vehicle with the vehicle number.
Further, the information generation unit 252 included in the roadside processing device 202 generates the notification information shown in FIG. 5, the notification information shown in FIG. 6, and the instruction information shown in FIG.
The information generation unit 252 included in the roadside processing device 202 generates the notification information of FIG. 5 notifying that the lane change main vehicle is present when it is determined by the collation unit 253 that the lane change main vehicle is present. In addition, as described above, the information generation unit 252 included in the roadside processing device 202 may decelerate the main lane change vehicle in the section between the junction 350 and the diversion point 450 in FIG. You may notify by notification information.
Further, the information generation unit 252 included in the roadside processing device 202 specifies the adjusted traveling speed of the vehicle 170, and generates notification information of FIG. 6 for notifying the adjusted traveling speed.
Further, the information generation unit 252 included in the roadside processing device 202 changes lanes or changes the traveling speed before reaching the rear main line vehicle when the rear main line vehicle is determined to be present by the collation unit 253. To generate instruction information of FIG. The rear main line vehicle is a vehicle traveling on the merging lane on the diagonally rear side of the vehicle 145 which is going to change lanes to the merging lane (lane 111), as the vehicle 144 in FIG.

The collation unit 253 collates the vehicle number and the vehicle identifier.
The collation unit 253 included in the roadside processing device 201 associates the vehicle number transmitted from the sensor device 211 with the vehicle identifier transmitted from the wireless communication device 221, and transfers it to the correspondence management unit 254 as identifier number information.
The collation unit 253 included in the roadside processing device 202 associates the vehicle identifier of the same main line vehicle with the vehicle number from the correspondence between the vehicle identifier and the vehicle number in the identifier number information transmitted from the roadside processing device 201. Thereby, the collation unit 253 associates the planned traveling route associated with the vehicle identifier received from the wireless communication device 222 with the position and speed associated with the vehicle number received from the sensor device 212. That is, the collation unit 253 associates the current position, the traveling speed, and the planned traveling route of the same main line vehicle. And the collation part 253 contained in the roadside processing apparatus 202 shows whether each lane change main line vehicle which arrives at the confluence point 350 at the same time as arrival of the vehicle 170 which is a confluence vehicle to the confluence point 350 exists. The determination is made based on the planned travel route of the main line vehicle and the current position of each main line vehicle. In addition, the collation unit 253 included in the roadside processing device 202 determines whether or not there is a rear main line vehicle traveling diagonally behind the main lane change vehicle in the merging lane based on the current position of each main line vehicle. .
The collation unit 253 included in the roadside processing device 202 corresponds to a position specifying unit and a vehicle determination unit. Moreover, the operation | movement which the collation part 253 contained in the roadside processing apparatus 202 performs respond | corresponds to a position identification process and a vehicle determination process.

  The correspondence management unit 254 manages the processing result of the collation unit 253. That is, information indicating the processing result of the collation unit 253 is transferred to the information generation unit 252. Further, information indicating the processing result of the collation unit 253 is erased from the memory 802.

The sensor information management unit 255 manages the received information from the sensor device.
The sensor information management unit 255 included in the roadside processing device 201 outputs the information of the vehicle number of the main line vehicle received by the second communication unit 262 from the sensor device 211 to the verification unit 253.
Further, the sensor information management unit 255 included in the roadside processing device 202 outputs the information on the vehicle number of the main line vehicle, the current position, and the traveling speed received by the second communication unit 262 from the sensor device 212 to the verification unit 253.

The wireless communication information management unit 256 manages the received information from the wireless communication device.
The wireless communication information management unit 256 included in the roadside processing device 201 outputs the information of the vehicle identifier of the main line vehicle received by the third communication unit 263 from the wireless communication device 221 to the verification unit 253.
In addition, the wireless communication information management unit 256 included in the roadside processing device 202 outputs the main line vehicle information received by the third communication unit 263 from the wireless communication device 222 to the comparison unit 253.

The first communication unit 261 communicates with another roadside processor via the first communication interface 804.
The first communication unit 261 included in the roadside processor 201 transmits identifier number information to the roadside processor 202.
Further, the first communication unit 261 included in the roadside processing device 202 receives the identifier number information from the roadside processing device 201. The first communication unit 261 included in the roadside processing device 202 corresponds to a reception unit.

The second communication unit 262 communicates with the sensor device via the second communication interface 805.
The second communication unit 262 included in the roadside processing device 201 receives the information of the vehicle number of the main line vehicle from the sensor device 211.
The second communication unit 262 included in the roadside processing device 202 receives, from the sensor device 212, current state information (the position, speed, and vehicle number of the main line vehicle). The second communication unit 262 included in the roadside processing device 202 corresponds to a reception unit.

The third communication unit 263 communicates with the wireless communication device via the third communication interface 806.
The third communication unit 263 included in the roadside processing device 201 receives the information of the vehicle identifier of the main line vehicle from the wireless communication device 221.
The third communication unit 263 included in the roadside processing device 202 receives main line vehicle information (vehicle identifier and planned travel route) from the wireless communication device 222. In addition, the third communication unit 263 included in the roadside processing device 202 transmits the notification information shown in FIG. 5 and the notification information shown in FIG. 6 to the on-vehicle device of the junction vehicle to the main vehicle (rear main vehicle). The instruction information shown in FIG. 7 is transmitted. The third communication unit 263 included in the roadside processor 202 corresponds to a receiver and a transmitter.

FIG. 10 shows the correspondence between the hardware configuration shown in FIG. 8 and the functional configuration shown in FIG.
As described above, the map information management unit 251, the information generation unit 252, the collation unit 253, the correspondence management unit 254, the sensor information management unit 255, the wireless communication information management unit 256, the first communication unit 261, The second communication unit 262 and the third communication unit 263 are realized by the processor 801 executing a program. Also, the first communication unit 261 communicates with other roadside processing apparatuses via the first communication interface 804. Further, the second communication unit 262 communicates with the sensor device via the second communication interface 805. In addition, the third communication unit 263 communicates with the wireless communication device via the third communication interface 806.

  FIG. 11 illustrates an exemplary functional configuration of the sensor device 211 and the sensor device 212.

  The imaging unit 501 captures a main line vehicle and a background around the main line vehicle.

  The number reading unit 502 extracts the image of the license plate of the main line vehicle from the photographed image obtained by the photographing unit 501. Then, the number reading unit 502 performs character recognition processing on the extracted image of the number plate, extracts characters from the image of the number plate, and reads the vehicle number.

  The measurement unit 503 analyzes the background image around the main line vehicle in the captured image obtained by the imaging unit 501, and specifies the position of the main line vehicle. In addition, the measurement unit 503 identifies the speed of the main line vehicle by comparing the plurality of positions of the main line vehicle obtained from the photographed images of the plurality of times. The measuring unit 503 may identify the position and speed of the main line vehicle in any manner.

  The communication unit 504 transmits the information of the vehicle number obtained by the measurement unit 503 and the information of the position and speed of the main line vehicle obtained by the communication unit 504 to the roadside processing device 201 or the roadside processing device 202.

  FIG. 12 shows an example of functional configurations of the wireless communication device 221 and the wireless communication device 222.

  The transmission data storage unit 601 stores the information received by the first communication unit 603. Then, when the transmission timing of the stored information arrives, the transmission data storage unit 601 outputs the stored information to the second communication unit 604.

  The received data storage unit 602 stores the information received by the second communication unit 604. Then, when the transmission timing of the stored information arrives, the received data storage unit 602 outputs the stored information to the first communication unit 603.

The first communication unit 603 communicates with the roadside processor 201 or the roadside processor 202. The first communication unit 603 acquires information to be transmitted to the roadside processor 201 or the roadside processor 202 from the received data storage unit 602, and transmits the acquired information to the roadside processor 201 or the roadside processor 202. The first communication unit 603 also outputs the information received from the roadside processor 201 or the roadside processor 202 to the transmission data storage unit 601.
For example, the first communication unit 603 of the wireless communication device 221 acquires information indicating a vehicle identifier from the reception data storage unit 602, and transmits information indicating the acquired vehicle identifier to the roadside processing device 201. The first communication unit 603 of the wireless communication device 222 acquires main line vehicle information (vehicle identifier and planned travel route) from the reception data storage unit 602, and transmits the acquired main line vehicle information to the roadside processing device 202. In addition, the first communication unit 603 of the wireless communication device 222 receives, from the roadside processing device 202, at least one of the notification information of FIG. 5, the notification information of FIG. 6, and the instruction information of FIG. Then, the first communication unit 603 of the wireless communication apparatus 222 outputs, to the transmission data storage unit 601, at least one of the received notification information of FIG. 5, the notification information of FIG.

The second communication unit 604 wirelessly communicates with the on-vehicle apparatus of the vehicle using a wireless antenna. The second communication unit 604 acquires information to be transmitted from the transmission data storage unit 601 to the in-vehicle apparatus, and transmits the acquired information to the in-vehicle apparatus. The first communication unit 603 also outputs the information received from the in-vehicle apparatus to the received data storage unit 602.
For example, the second communication unit 604 of the wireless communication device 221 receives information indicating the vehicle identifier from the in-vehicle device, and outputs the received information indicating the vehicle identifier to the reception data storage unit 602. The second communication unit 604 of the wireless communication device 222 receives main line vehicle information (vehicle identifier and planned travel route) from the in-vehicle device, and outputs the received main line vehicle information to the reception data storage unit 602. Further, the second communication unit 604 of the wireless communication apparatus 222 acquires, from the transmission data storage unit 601, at least one of the notification information of FIG. 5, the notification information of FIG. 6, and the instruction information of FIG. Then, the second communication unit 604 of the wireless communication device 222 transmits at least one of the acquired notification information of FIG. 5, the notification information of FIG. 6, and the instruction information of FIG. 7 to the in-vehicle device.

*** Description of operation ***
Next, an operation example of the roadside processing device 201, the sensor device 211, and the wireless communication device 221 in the place before the junction 350 described with reference to FIG. 2 will be described. Below, the example by which the roadside processing apparatus 201, the sensor apparatus 211, and the wireless communication apparatus 221 are installed in the tollgate is demonstrated.

FIG. 13 shows an arrangement example of the sensor device 211 and the wireless communication device 221 at the toll booth. FIG. 13 shows an arrangement example of the sensor device 211 and the wireless communication device 221 when looking down from the upper side of the road surface.
When passing through the toll booth, the vehicle travels from left to right in FIG. In this embodiment, as shown by two broken lines extending from the sensor device 211, the imaging range of the sensor device 211 is limited to the periphery of the open / close gate 703. Further, the communication range of the wireless communication device 221 is also limited to the periphery of the open / close gate 703 as indicated by two broken lines extending from the wireless communication device 221. The sensor device 211 can image the vehicle 712 but can not image the vehicles 711 and 713. The wireless communication device 221 can wirelessly communicate with the on-vehicle device of the vehicle 712, but can not communicate wirelessly with the on-vehicle device of the vehicle 711 and the on-vehicle device of the vehicle 713.
In addition, even if the sensor device 211 can capture a vehicle other than the vehicle 712, the vehicle 712 and another vehicle can be distinguished by the size of the vehicle 712 in the captured image. Similarly, even if the wireless communication device 221 can wirelessly communicate with an on-vehicle device of a vehicle other than the vehicle 712, the vehicle 712 and another vehicle can be distinguished by the intensity of the received radio wave in the wireless communication.

Next, an operation example of the roadside processor 201 will be described with reference to FIGS. 14 and 15.
FIG. 14 shows an operation flow of the roadside processor 201.
FIG. 15 shows a communication sequence between the sensor device 211 and the wireless communication device 221 and the roadside processor 201 and a communication sequence between the roadside processor 201 and the roadside processor 202.

  In the roadside processing device 201, the second communication unit 262 receives, from the sensor device 211, vehicle number information D801 indicating the vehicle number of the vehicle that is about to pass through the opening / closing gate 703 (step S8010, step F902). Then, the sensor information management unit 255 stores the vehicle number information D801 in the memory 802 (step S8020). Vehicle number information D801 is also described as vehicle number D801.

Next, collation unit 253 determines whether or not vehicle identifier information D 802 already stored in memory 802 is present (step S8030). Vehicle identifier information D802 is information in which a vehicle identifier is shown. The vehicle identifier information D802 is also referred to as a vehicle identifier D802.
When vehicle identifier information D802 is not stored in memory 802 (NO in step S8030), collation unit 253 waits for the time until the vehicle passes through opening / closing gate 703, for example, 1 second, and from wireless communication device 221 It waits for reception of the vehicle identifier information D802 (step S8040).
When the third communication unit 263 receives the vehicle identifier information D802 from the wireless communication device 221 (step S8050, step F901), the wireless communication information management unit 256 stores the vehicle identifier information D802 in the memory 802 (step S8060).
If vehicle identifier information D802 is stored in memory 802 (YES in step S8030) or if vehicle identifier information D802 is stored in memory 802 in step S8060, collation unit 253 transmits vehicle number information D801 and a vehicle from memory 802. The identifier information D802 is read. Then, the collation unit 253 outputs the read vehicle number information D801 and the vehicle identifier information D802 to the information generation unit 252 via the correspondence management unit 254.

The information generation unit 252 generates identifier number information D803 from the vehicle number information D801 and the vehicle identifier information D802. The identifier number information D803 includes vehicle number information D801 and vehicle identifier information D802. The first communication unit 261 transmits the identifier number information D803 to the roadside processor 202 (step S8070, step F911).
Thereafter, the correspondence management unit 254 deletes the vehicle number information D801 and the vehicle identifier information D802 from the memory 802 (step S8080).

  In the roadside processor 202, the first communication unit 261 receives the identifier number information D803 from the roadside processor 202, and the correspondence management unit 254 stores the identifier number information D803 in the memory 802 (step S951).

Next, an operation example of the roadside processor 202 will be described with reference to FIGS. 16 and 17.
FIG. 16 shows a communication sequence between the roadside processing device 202 and the sensor device 212 and the wireless communication device 222 after storing the identifier number information D 803 in the memory 802.
FIG. 17 shows an operation flow of the roadside processor 202 after storing the identifier number information D 803 in the memory 802.
Below, the procedure for producing | generating the notification information shown in FIG. 5 is demonstrated.

In the roadside processing device 202, the second communication unit 262 receives the information on the position, speed and vehicle number of the main line vehicle from the sensor device 212 as current state information F921, and the sensor information management unit 255 stores the main line vehicle information F922 in memory. It stores in 802 (step S952).
The third communication unit 263 receives the vehicle identifier of the main vehicle and information on the planned travel route from the wireless communication device 222 as main vehicle information F922, and the wireless communication information management unit 256 stores the main vehicle information F922 in the memory 802. (Step S953).

  In the roadside processor 202, the collation unit 253 starts a cycle timer for generating notification information, and waits for the cycle timer to expire. The periodic timer is, for example, a timer that measures time such as 100 milliseconds and one second. The time (cycle) measured by the cycle timer is longer than the time until the processes of the collation unit 253, the correspondence management unit 254, the information generation unit 252, and the third communication unit 263 described below are completed, and the sensor in step S952 This time is sufficiently shorter than the time required for the main vehicle to pass the junction 350 after the device 212 receives the current state information F 921.

When the cycle timer expires (step S10010), the collation unit 253 acquires the information of the vehicle number included in the current state information F921 stored in the memory 802 as vehicle number information D1001 (also referred to as vehicle number D1001) (step S1001) S10020).
Next, the collation unit 253 searches the memory 802 for identifier number information D803 that includes vehicle number information D801 that matches the vehicle number information D1001 (step S10030).
When collating unit 253 acquires identifier number information D803 including vehicle number information D801 matching vehicle number D1001 (YES in step S10030), vehicle identifier information D802 included in acquired identifier number information D803 in memory 802 Main-line vehicle information F 922 including information of a matching vehicle identifier (hereinafter referred to as vehicle identifier information D 1002 or vehicle identifier D 1002) is searched (step S 10040).
When the corresponding main vehicle information F922 is acquired (YES in step S10040), the collation unit 253 associates the current state information F921 for which the vehicle number information D1001 is acquired in step S10020 with the main vehicle information F922 (step S10050). That is, the collation unit 253 associates the vehicle identifier and the vehicle number of the same main line vehicle, and associates the planned travel route of the same main line vehicle, the current position, and the current traveling speed.

  Next, collation unit 253 acquires information on a planned travel route (hereinafter referred to as planned travel route information D1003 or planned travel route D1003) from main line vehicle information F922 associated with current state information F921 in step S10050 (step S10060). ).

Then, the collation unit 253 determines whether or not the main line vehicle enters the dividing line 400 from the planned travel route information D1003 (step S10070).
The determination in step S10070 is implemented by, for example, the following.
The planned travel route information D1003 includes, for example, the values of the latitude and the longitude of a point through which the vehicle passes as an identifier of the road on which the vehicle is scheduled to travel. Alternatively, the planned travel route information D1003 includes, as an identifier of the road on which the vehicle is scheduled to travel, a unique section ID (Identifier) for each of the sections of the plurality of sections of the road.
The collation unit 253 acquires map information from the map information management unit 251. The map information acquired from the map information management unit 251 includes values of latitude and longitude for each point. In addition, the section ID may be included in the map information acquired from the map information management unit 251.
The collation unit 253 compares the value (or section ID) of the latitude and longitude included in the planned travel route information D1003 with the value (or section ID) of the latitude and longitude included in the map information. Then, when the value (or section ID) of the latitude and longitude of the route ahead of the dividing line 400 is included in the planned traveling route information D1003, the comparing unit 253 determines that the main line vehicle enters the dividing line 400.

When it is determined that the main line vehicle enters the dividing line 400 (YES in step S10070), the collation unit 253 specifies the traveling lane (hereinafter referred to as traveling lane D1021) in which the main lane is currently traveling (step S10080). .
That is, the collation unit 253 compares the information on the position of the main line vehicle included in the current state information F921 with the map information acquired from the map information management unit 251, and specifies the travel lane D1021 of the main line vehicle. The information on the position of the main line vehicle included in the current state information F921 includes values of latitude and longitude. Further, the map information includes latitude and longitude values for each lane of the main line and a unique lane ID for each lane. The collation unit 253 specifies the traveling lane D1021 by comparing the values of the latitude and longitude included in the information of the position of the main line vehicle with the values of the latitude and longitude of the lane included in the map information.

Next, the collation unit 253 determines whether the traveling lane D1021 identified in step S10080 is a diversion lane (step S10090).
The branch lane is a lane on the main line 100 that branches to the branch line 400. In the example of FIG. 29, the lane 111 is a branch lane.
The collation unit 253 determines whether the travel lane D1021 is a branch lane by comparing the lane ID of the travel lane D1021 and the lane ID of the branch lane.

  If travel lane D1021 is a diverting lane (YES in step S10090), collation unit 253 determines that the main line vehicle is not to change lanes. In this case, the collation unit 253 sets the lane change presence / absence D1031 to “absent” (lane change presence / absence D1031 = absent). Thereafter, the processing proceeds to step S10110.

  On the other hand, if the traveling lane D1021 is not a diverting lane (NO in step S10090), the collation unit 253 determines that the main line vehicle changes lanes (step S10100). And collation part 253 sets lane change existence D1031 to "presence" (lane change existence D1031 = existence). That is, in step S10100, collation unit 253 extracts the main lane change vehicle.

The collation unit 253 determines whether or not the process of steps S10020 to S10090 (or S10100) has been performed for all current state information F921 (step S10110).
If there is unprocessed current state information F 921 (NO in step S 10110), the collation unit 253 performs the process from S 10020 on the unprocessed current state information F 921.

When the process of steps S10020 to S10090 (or S10100) is performed on all current state information F921 (YES in step S10110), the information generation unit 252 generates notification information F923, and the third communication unit 263 is performed. Transmits the notification information F 923 to the on-vehicle apparatus of the junction vehicle (step S 10120).
The collation unit 253 is, for each main line vehicle, vehicle identifier information D1002 (= D802) of the main line vehicle, information of the position and speed of the main line vehicle (information included in the current state information F921), planned traveling route information D1003, lane The change presence or absence D 1031 is associated and stored in the memory 802.
Then, the information generation unit 252 generates notification information F 923 using these pieces of information. For this reason, the notification information F 923 includes the following.
・ Vehicle identifier information D1002 of the main line vehicle (= D802)
・ Information on the position and speed of the main line vehicle (information contained in the current status information F921)
· Scheduled travel route information D1003
· Lane change presence or absence D1031

  After the notification information F 923 is transmitted in step S10120, the correspondence management unit 254 stores the vehicle identifier information D1002 of the main line vehicle, the information of the position and speed of the main line vehicle, and the planned travel route information D1003 stored in the memory 802. The lane change presence or absence D1031 is deleted. By doing this, it is possible to prevent the information generation unit 252 from generating the same notification information F 923.

As described above, the roadside processor 202 notifies the junction vehicle that the main lane change vehicle is present. Therefore, the driver or the automatic driving function of the junction vehicle can know in advance the existence of the lane change vehicle, and can perform the operation assuming that the lane change vehicle performs deceleration for entering the dividing line 400. it can. Therefore, it is possible to prevent a rapid deceleration near the junction.
In addition, the roadside processing device 202 is the position, speed, and vehicle of the main line vehicle acquired at a location near the merging point 350 based on the correspondence between the vehicle identifier and the vehicle number acquired at a location before the merging point 350. Associate the number, vehicle identifier and planned travel route. For this reason, even when a vehicle that can not perform highly accurate position measurement travels on the main line, the roadside processing device 202 can accurately determine the presence or absence of a lane change of the vehicle.

  Next, the procedure by which the roadside processor 202 generates the notification information shown in FIG. 6 will be described.

The roadside processing apparatus 202 can acquire the vehicle identifier information D1002 of the main line vehicle, the information of the position and speed of the main line vehicle, the planned travel route information D1003, and the lane change presence / absence D1031 according to the flow shown in FIG.
The sensor device 212 can also acquire the position and speed of the vehicle 170 traveling on the merging line 300.
The information generation unit 252 of the roadside processing device 202 uses the above information of the main line vehicle obtained by the flow of FIG. 17 and the position and speed of the vehicle 170 obtained by the sensor device 212 to adjust the traveling speed of the vehicle 170. Derive
The information generator 252 of the roadside processor 202 derives the adjusted traveling speed, for example, according to the flow shown in FIG. Hereinafter, with reference to FIG. 26, an operation example of the information generation unit 252 of the roadside processor 202 will be described.

The information generating unit 252 of the roadside processing device 202 calculates the time until the vehicle 170 reaches the junction 350 based on the current position and the current speed of the vehicle 170 acquired by the sensor device 212 (step S261). . Hereinafter, the time until the vehicle 170 reaches the junction 350 is referred to as t time.
Below, the calculation method of t time is demonstrated.

The information generator 252 calculates, for example, the acceleration a of the vehicle 170 from the speeds v1 and v2 of the vehicle 170 measured by the sensor device 212 at at least two different times (T1 and T2). The calculation formula of the acceleration a is a = (v2-v1) / (T2-T1).
If the speed of the vehicle 170 at the present time is v2, the change in the position of the vehicle 170 after the elapse of time t is (v2 × t) + (1/2) * a × t × t. The information generation unit 252 can obtain the t time by performing calculation using this equation and the distance between the current position of the vehicle 170 and the junction 350.

Next, the information generation unit 252 calculates the position of each main line vehicle after the elapse of t time (step S262).
Specifically, assuming that there is no change in the traveling speed of the main line vehicle, the information generation unit 252 multiplies the current speed by t time to calculate the position of each main line vehicle after the elapse of t time. The position of each main line vehicle after t time is the position of each main line vehicle when the vehicle 170 reaches the junction 350.

In the roadside processor 202, it is assumed that the first pattern information shown in FIG. 18 is stored in the memory 802 or the storage device 803.
In the first pattern information shown in FIG. 18, a plurality of patterns of combinations of the position and speed of the main line vehicle and the lane change presence / absence are described. Further, in the first pattern information shown in FIG. 18, the adjustment traveling speed and the arrival time difference to the junction 350 are described for each pattern. The adjusted traveling speed is a traveling speed of the vehicle 170 such that the position of the main line vehicle when the vehicle 170 reaches the junction 350 is separated from the junction 350 by a predetermined distance or more. Further, the arrival time difference to the junction 350 is the difference between the time when the vehicle 170 reaches the junction 350 and the time when the main vehicle reaches the junction 350 when the vehicle 170 travels at the adjusted traveling speed.

FIG. 19 shows an example of lanes and sections described in the first pattern information of FIG.
In the example of FIG. 18 and FIG. 19, there are a lane A and a lane B in the main line 100. Further, the main line 100 is divided into a plurality of sections. In the example of FIG. 18 and FIG. 19, the section # 1, the section # 2, and the section # 3 exist.
The first pattern information in FIG. 18 describes a pattern that covers all combinations of the presence / absence of a vehicle, the speed of a vehicle present in a segment, and the presence / absence of a lane change of a vehicle present in a segment in each section.

The information generation unit 252 selects, from the first pattern information, a pattern corresponding to the position and speed of the main line vehicle obtained from the sensor device 212 and the presence or absence of the lane change of the main line vehicle obtained in step S10100 of FIG. Step S263).
Next, the information generating unit 252 generates notification information for notifying the adjusted traveling speed described in the selected pattern (step S264).
Finally, the third communication unit 263 transmits the notification information generated by the information generation unit 252 to the on-vehicle device of the vehicle 170 via the wireless communication device 222 (step S265).

In the example of FIG. 19, a vehicle is present in section # 1 of lane A, a vehicle is present in section # 3 of lane A, and a vehicle is present in section # 3 of lane B. In addition, vehicles existing in section # 3 of lane B are scheduled to change lanes. When the vehicle is traveling on the main line 100 as in the example of FIG. 19, the information generation unit 252 selects, for example, the pattern # 1 of FIG. Then, the information generation unit 252 generates notification information for notifying 80 km / h which is the adjusted traveling speed of the selected pattern # 1.
When the vehicle 170 travels the merging line 300 at 80 km / h which is the adjusted traveling speed, the vehicle 170 reaches the merging point 350 1.1 seconds before the main line vehicle reaches the merging point 350.

When the adjustment traveling speed is not notified from the roadside processing device 202 to the vehicle 170, the positional relationship between the vehicle 170, the vehicle 180, and the vehicle 190 after t seconds is as shown in FIG. That is, when the adjusted traveling speed is not notified to the vehicle 170, the vehicle 170 and the vehicle 180 reach the junction 350 almost simultaneously, so the vehicle 170 needs to be decelerated or accelerated. Further, in the main line 100, the vehicle 180 and the vehicle 190 almost parallel run at the junction 350. In such a case, it is desirable for the vehicle 170 to reach the merging point 350 earlier than the vehicles 180 and 190 by accelerating to the merging point 350 rather than decelerating. FIG. 21 shows a state where the vehicle 190 has already passed the junction 350 when the vehicle 190 reaches the section # 3 after t seconds.
If the vehicle 170 can travel at 80 km / h according to the notified adjusted traveling speed and can reach the junction 350 earlier than the vehicles 180 and 190 by 1.1 seconds, the vehicle 170 can travel the vehicles 180 and 180 It will be traveling ahead of 24 meters ((80 * 1000 meters) / 3600 seconds) * 1.1 seconds of 190. As a result, a space of 24 meters is secured in front of the vehicle 180 and the vehicle 190. The vehicle 190 can decelerate and change to the lane A, travel behind the vehicle 180, and enter the dividing line 400.
In the first pattern information of FIG. 18 including such a case, the adjustment traveling speed of the vehicle 170 is defined in advance for the combination of the position, the speed, and the presence or absence of the lane change in the main line 100. The information generation unit 252 notifies the vehicle 170 of the traveling speed at which the vehicle 170 can safely and smoothly join the main line 100 as the adjusted traveling speed according to the first pattern information. Further, as vehicle 170 safely and smoothly joins main line 100, vehicle 190 shown in FIG. 21 can also safely and smoothly enter dividing line 400.

As described above, the roadside processor 202 notifies the vehicle 170 of the adjusted traveling speed in consideration of the position, speed, and lane change of the main line vehicle, so the vehicle 170 merges with the main line vehicle at an interval. It is possible to reach the point 350 and join the main line safely and smoothly. Further, the vehicle 170 can take a traveling position at which the lane change of the main line vehicle can be smoothly performed. In addition, when the main line vehicle receives the notification information transmitted from the wireless communication device 222, the driver or the automatic driving function of the main line vehicle can know the traveling position when the vehicles 170 merge. For this reason, it becomes possible to perform lane change smoothly also for vehicles which are going to change lanes in order to enter the dividing line 400 like the vehicle 190 of FIG.
As described above, when the roadside processor 202 notifies the adjusted traveling speed via the wireless communication device 222, safe merging and diversion can be realized.

  If the vehicle 170 is compatible with automatic driving, it is easy for the vehicle 170 to travel at the adjusted traveling speed indicated in the notification information by the automatic driving function. When the vehicle 170 does not support automatic driving, the driver can drive the vehicle 170 at the adjusted traveling speed by transmitting the adjusted traveling speed to the driver by voice or the like.

  In the above, as exemplified in FIG. 18, an example using pattern information configured by a combination of the presence / absence of a vehicle for each section of the main line, the speed, and the presence / absence of lane change has been described. Instead of this, the information generation unit 252 may use pattern information in which the relationship between the distance between vehicles on the main line and the position of the vehicle is patterned without providing a section. In addition, the information generation unit 252 may calculate the adjusted traveling speed by performing a logical operation including determination of the magnitude of the inter-vehicle distance.

  Next, a procedure for the roadside processor 202 to generate the instruction information shown in FIG. 7 will be described.

The roadside processing apparatus 202 can acquire the vehicle identifier information D1002 of the main line vehicle, the information of the position and speed of the main line vehicle, the planned travel route information D1003, and the lane change presence / absence D1031 according to the flow shown in FIG.
The sensor device 212 can also acquire the position and speed of the vehicle 170 traveling on the merging line 300.
The information generation unit 252 of the roadside processing device 202 generates instruction information shown in FIG. 7 using the above-described information of the main line vehicle obtained by the flow of FIG.
Specifically, the information generation unit 252 of the roadside processor 202 generates the instruction information of FIG. 7 according to the flow of FIG. Hereinafter, an operation example of the information generation unit 252 of the roadside processing apparatus 202 will be described with reference to FIG.

  First, the information generation unit 252 specifies the speed and position of the main line vehicle and the presence or absence of a lane change (step S271). That is, the information generation unit 252 acquires the vehicle identifier information D1002 of the main line vehicle obtained by the flow of FIG. 17, the information of the position and speed of the main line vehicle, and the lane change presence / absence D1031 from the correspondence management unit 254. Identify the current position and speed of the and lane change.

  Next, a pattern corresponding to the current state of the main line vehicle is selected (step S272).

In the roadside processor 202, it is assumed that the second pattern information shown in FIG. 22 is stored in the memory 802 or the storage device 803.
In the second pattern information shown in FIG. 22, a plurality of patterns of combinations of the position and speed of the main line vehicle and the lane change presence / absence are described. The lane A, the lane B, the section # 1, the section # 2, and the section # 3 shown in FIG. 22 are the same as those shown in FIG. 18 and FIG. Further, in the second pattern information shown in FIG. 22, the instruction target vehicle and the instruction are described for each pattern. The instruction target vehicle is a vehicle to which the instruction information is transmitted. The instruction target vehicle of pattern # 1 in FIG. 22 is a vehicle in section # 2 of the lane A. In addition, for example, a lane change instruction, a speed change, and the like are described as the instruction. If a speed change is described as an indication, the deceleration width (e.g. -20 km / h) or the acceleration width (e.g. +10 km / h) is described.

Next, the information generation unit 252 generates instruction information for notifying the instruction described in the selected pattern (step S273). The information generation unit 252 generates, for example, instruction information for instructing a lane change. Also, the information generation unit 252 generates, for example, instruction information for instructing deceleration.
Finally, the third communication unit 263 transmits the instruction information to the in-vehicle device of the instruction target vehicle described in the pattern selected in step S272 via the wireless communication device 222 (step S274).

  FIG. 23 shows an effect obtained by instructing a main line vehicle to change lanes or change vehicle speed before merging.

FIG. 23 shows the traveling position of each vehicle before merging. The vehicle 190 travels in the lane B at the time of FIG. 23, but is scheduled to change lanes to the lane A in order to enter the dividing line 400. Vehicle 180 travels diagonally behind vehicle 190 on lane A, and corresponds to a rear main line vehicle. The information generation unit 252 detects a vehicle 180 which is a rear main line vehicle, and transmits instruction information to the vehicle 180.
Reference numeral 1321 describes instruction information transmitted from the roadside processor 202 to the vehicle 180 via the wireless communication device 222. The instruction information 1321 in FIG. 23 instructs the vehicle 180 to change lanes, since the lane change of the vehicle 190 is expected. Specifically, the roadside processing device 202 transmits instruction information including the vehicle identifier of the vehicle 180 and lane change = presence. Vehicle 180 changes lanes to lane B in accordance with the instruction information.
FIG. 24 shows a state after the vehicle 180 has changed lanes according to the instruction information 1321. Since the vehicle 180 changes lanes from the lane A to the lane B, a space where the vehicle 190 can easily change lanes is secured in the lane A. For this reason, the vehicle 190 can change lanes to the lane A with a margin between the vehicles.
FIG. 25 shows a state where the instruction information 1321 is not transmitted to the vehicle 180. In this case, since the vehicle 180 does not change lanes, it is still traveling obliquely behind the vehicle 190. Vehicle 190 is approaching branch point 450, but the presence of vehicle 180 delays the lane change to lane A. In addition, since the distance between the vehicle 190 and the vehicle 180 is narrow, it is difficult to smoothly change lanes. For this reason, the vehicle 190 is required to perform a rapid acceleration to change lanes to the lane A, and further to perform a rapid deceleration before the diversion point 450.

  Although FIG. 23 shows an example in which the vehicle 180 is instructed to change lanes, the information generation unit 252 may instruct the vehicle 180 to decelerate. When the vehicle 180 decelerates, a gap occurs between the vehicle 190 and the vehicle 180, so the vehicle 190 can safely and smoothly change lanes to the lane A.

  As described above, if the vehicle 180 is compatible with automatic driving, it is easy for the vehicle 180 to change lanes or change traveling speed according to the instruction information by the automatic driving function. When the vehicle 180 is not compatible with automatic driving, the driver can change the lane or change the traveling speed by transmitting the lane change or the change of the traveling speed to the driver by voice or the like.

Further, as shown in FIG. 28, the sensor device 213 may be installed in the section between the junction 350 and the diversion point 450. The sensor device 213 monitors the traveling of the vehicle in the monitoring section 122. The monitoring section 122 is a section between the junction 350 and the diversion point 450.
In the roadside processing device 202, the third communication unit 263 receives, from the sensor device 213, information on the position and speed of the vehicle in the monitoring section 122 measured by the sensor device 213.
Then, based on the information on the position of the vehicle received from the sensor device 213, the collation unit 253 counts the number of times of the lane change in the monitoring section 122. The collation unit 253 specifies the traveling lanes of the same vehicle at two or more different times according to the same procedure as step S10080 in FIG. 17, and determines the presence or absence of the lane change in the monitoring section 122. Then, the collation unit 253 increments the number of times of lane change every time the lane change in the monitoring section 122 is detected, and stores the number of lane changes in the memory 802. In addition, the collation unit 253 counts the number of vehicles that have passed the monitoring section 122.
Next, the collation unit 253 divides the number of lane changes generated in the monitoring section 122 by the number of vehicles passing through the monitoring section 122 to obtain the rate of lane change. The information generation unit 252 may generate notification information for notifying the rate of lane change obtained by the check unit 253.
Further, the collation unit 253 counts the number of decelerations in the monitoring section 122 based on the information on the speed of the vehicle received from the sensor device 213. The collation unit 253 compares the speeds of the same vehicle at two or more different times, and determines the presence or absence of deceleration equal to or greater than the specified deceleration width in the monitoring section 122. Then, the collation unit 253 increments the number of decelerations each time deceleration detected in the monitoring section 122 is equal to or greater than the prescribed deceleration width, and stores the number of decelerations in the memory 802. In addition, the collation unit 253 counts the number of vehicles that have passed the monitoring section 122.
Next, the collation unit 253 divides the number of decelerations occurring in the monitoring section 122 by the number of vehicles passing through the monitoring section 122 to obtain the rate of deceleration. The information generation unit 252 may generate notification information for notifying the rate of deceleration obtained by the comparison unit 253.
Each vehicle that receives the notification information can realize safe and smooth traveling by performing operation control with reference to the rate of lane change and the rate of deceleration.

Moreover, if the lane change or deceleration in the monitoring section 122 is equal to or greater than the threshold, there is a possibility that the adjusted traveling speed notified by the notification information is not appropriate.
Therefore, the information generation unit 252 corrects the adjusted traveling speed described in the first pattern information of FIG. 19 if the lane change or the deceleration in the monitoring section 122 is equal to or more than the threshold. For example, the information generation unit 252 sets a speed slower than the current adjusted traveling speed as the adjusted traveling speed after correction. Then, the information generation unit 252 generates notification information for notifying the adjusted traveling speed after correction.

  Thus, the roadside processor 202 notifies the vehicle of the lane change rate or the deceleration rate in the monitoring section 122 between the junction 350 and the diversion point 450. Thereby, the driver or the autonomous driving function can perform driving assuming lane change or deceleration of another vehicle when traveling a section between the junction 350 and the diversion point 450. In addition, the roadside processing device 202 corrects the adjusted traveling speed according to the rate of lane change or the rate of deceleration in the monitoring section 122, so that safer and smoother running of the vehicle can be realized.

In addition, the roadside processing device 201 disposed at a tollgate or the like acquires the vehicle identifier and the vehicle number, and detects whether the vehicle for which the vehicle identifier and the vehicle number have been acquired is an automatic traveling compatible vehicle or not. It is also good. In addition, the roadside processing device 201 sets an automatic travel flag for notifying that the vehicle is an automatic travel-supporting vehicle in the identifier number information D803, and transmits the identifier number information D803 to the roadside processing device 202. It is also good.
In the roadside processor 202, when the automatic travel flag is set in the identifier number information D803, the collation unit 253 can omit the association from step S10020 to step S10050 in FIG.
The main line vehicle information F 922 transmitted from the vehicle for which the automatic traveling is supported includes the current position and the current traveling speed of the vehicle, in addition to the vehicle identifier and the planned traveling route. It is conceivable to set an automatic travel flag also on the main line vehicle information F922. In this case, the checking unit 253 can determine whether or not the vehicle as the transmission source of the main vehicle information F922 is an automatic traveling compatible vehicle by examining the presence or absence of the automatic travel flag.
For the automatic travel compatible vehicle, the collation unit 253 uses the current position and the planned travel route included in the main line vehicle information F 922 without performing the association of steps S10020 to S10050 in FIG. Processing can be performed.
The collation unit 253 may delete the identifier number information D 803 received from the roadside processor 201 from the memory 802 when detecting that the automatic travel flag is set in the main line vehicle information F 922.
Further, when it is detected that the automatic travel flag is set in main line vehicle information F922, collation section 253 is identifier number information including the same vehicle identifier as the vehicle identifier included in main line vehicle information F922. D 803 is extracted from the memory 802. Then, the collation unit 253 may notify the sensor device 212 of the vehicle number included in the extracted identifier number information D803. In this case, the sensor device 212 does not transmit to the roadside processor 202 the information (current state information F 921) of the position and speed of the vehicle of the vehicle number notified from the collation unit 253.

  As described above, the processing load on the roadside processing device 202 and the sensor device 212 can be reduced, and the load on the CPU, memory, etc. of the roadside processing device 202 and the sensor device 212 can be reduced. Moreover, processing time in the roadside processing device 202 and the wireless communication device 221 can be shortened. For this reason, the roadside processor 202 can provide information to the vehicle in a short time. In addition, as the processing load is reduced, new functions can be introduced to the roadside processing apparatus 202.

  Also, the roadside processing unit 202 receives the vehicle identifier and the planned traveling route information from the central processing unit 231, associates the position and the speed of the vehicle received from the sensor unit 212, and performs the processing of FIG. It is also good.

The central processing unit 231 is, for example, a computer configured of a CPU that executes a program, an external storage device such as a hard disk, and a main storage device such as a RAM. The central processing unit 231 also has a communication interface such as Ethernet (registered trademark).
The central processing unit 231 transmits and receives information to and from the car navigation system via a mobile line connected to a car navigation system mounted on a vehicle and the Internet. Each vehicle transmits information on a vehicle identifier and a planned travel route to the central processing unit 231 using a mobile line or the like when changing the planned travel route in the car navigation system. The central processing unit 231 transmits the vehicle identifier and the planned traveling route to the roadside processing unit at each point.

  The roadside processing device 202 receives the vehicle identifier and the planned traveling route information from the central processing unit 231 as the main line vehicle information F 922 instead of the reception from the wireless communication device 222 and stores the received main line vehicle information F 922 in the memory 802 Do. The collation unit 253 performs the process of FIG. 17 using main line vehicle information F922 from the central processing unit 231 instead of main line vehicle information F922 from the wireless communication device 222.

  As described above, when the roadside processing unit 202 uses the main line vehicle information F 922 from the central processing unit 231, the amount of communication between the wireless communication unit 222 and the vehicle can be reduced. Therefore, the number of wireless communication devices 222 can be reduced or the functions installed in the wireless communication device 222 can be simplified, and driving assistance of the vehicle can be realized with a simpler configuration.

*** Description of the effects of the embodiment ***
In the present embodiment, the roadside processing device 202 notifies the junction vehicle that the lane change main vehicle is present. Therefore, the driver or the automatic driving function of the junction vehicle can know in advance the existence of the lane change vehicle, and can perform the operation assuming that the lane change vehicle performs deceleration for entering the dividing line 400. it can. Therefore, it is possible to prevent a rapid deceleration near the junction.
In addition, the roadside processing device 202 is the position and speed of the main line vehicle acquired at a location near the junction 350 based on the correspondence between the vehicle identifier and the vehicle number in the identifier number information D803 at a location before the junction 350 , The vehicle number, the vehicle identifier and the planned travel route. For this reason, even when a vehicle that can not perform highly accurate position measurement travels on the main line, the roadside processing device 202 can accurately determine the presence or absence of a lane change of the vehicle.

Further, in the present embodiment, the roadside processing device 202 notifies the vehicle 170 of the adjusted traveling speed in consideration of the position, the speed, and the presence or absence of the lane change of the main line vehicle. It is possible to open and reach the confluence point 350, and can join the main line safely and smoothly. Further, the vehicle 170 can take a traveling position at which the lane change of the main line vehicle can be smoothly performed. In addition, when the main line vehicle receives the notification information transmitted from the wireless communication device 222, the driver or the automatic driving function of the main line vehicle can know the traveling position when the vehicles 170 merge. For this reason, it becomes possible to perform lane change smoothly also for vehicles which are going to change lanes in order to enter the dividing line 400 like the vehicle 190 of FIG.
As described above, when the roadside processor 202 notifies the adjusted traveling speed via the wireless communication device 222, safe merging and diversion can be realized.

  Further, in the present embodiment, the roadside processing device 202 instructs the rear main line vehicle to change lanes or change the speed. As the rear main line vehicle changes lanes or changes speed according to the instruction, vehicles traveling diagonally forward can easily change lanes.

*** Description of hardware configuration ***
Finally, a supplementary description of the hardware configuration of the roadside processor 202 will be made.

The storage device 803 includes a map information management unit 251, an information generation unit 252, a check unit 253, a correspondence management unit 254, a sensor information management unit 255, a wireless communication information management unit 256, a first communication unit 261, and a second communication. In addition to the programs for realizing the unit 262 and the third communication unit 263, an operating system (OS) is also stored.
Then, at least a part of the OS is executed by the processor 801.
The processor 801 executes at least a part of the OS, while the map information management unit 251, the information generation unit 252, the collation unit 253, the correspondence management unit 254, the sensor information management unit 255, the wireless communication information management unit 256, the first communication A program that implements the unit 261, the second communication unit 262, and the third communication unit 263 is executed.
As the processor 801 executes the OS, task management, memory management, file management, communication control and the like are performed.
Also, the map information management unit 251, the information generation unit 252, the collation unit 253, the correspondence management unit 254, the sensor information management unit 255, the wireless communication information management unit 256, the first communication unit 261, the second communication unit 262, and the At least one of information, data, signal value, and variable value indicating the result of processing of “part” of the communication unit 263 of 3 is stored in at least one of the storage device 902, the register in the processor 901, and the cache memory. .
Also, the map information management unit 251, the information generation unit 252, the collation unit 253, the correspondence management unit 254, the sensor information management unit 255, the wireless communication information management unit 256, the first communication unit 261, the second communication unit 262, and the The program for realizing the function of “part” of the third communication part 263 may be stored in a portable storage medium such as a magnetic disc, a flexible disc, an optical disc, a compact disc, a Blu-ray (registered trademark) disc, and a DVD.

Also, the map information management unit 251, the information generation unit 252, the collation unit 253, the correspondence management unit 254, the sensor information management unit 255, the wireless communication information management unit 256, the first communication unit 261, the second communication unit 262, and the The “parts” of the three communication parts 263 may be read as “circuits” or “processes” or “procedures” or “processes”.
The roadside processor 202 may be realized by an electronic circuit such as a logic integrated circuit (IC), a gate array (GA), an application specific integrated circuit (ASIC), or a field-programmable gate array (FPGA).
In this case, the map information management unit 251, the information generation unit 252, the collation unit 253, the correspondence management unit 254, the sensor information management unit 255, the wireless communication information management unit 256, the first communication unit 261, and the second communication unit 262. The program for realizing the third communication unit 263 is realized as part of an electronic circuit.
The processor and the electronic circuit described above are also collectively referred to as processing circuitry.

  100 main lines, 111 lanes, 112 lanes, 122 monitoring sections, 140 vehicles, 141 vehicles, 142 vehicles, 143 vehicles, 144 vehicles, 145 vehicles, 146 vehicles, 147 vehicles, 148 vehicles, 149 vehicles, 150 vehicles, 151 vehicles, DESCRIPTION OF SYMBOLS 160 vehicles, 161 vehicles, 170 vehicles, 171 vehicles, 180 vehicles, 190 vehicles, 201 roadside processing device, 202 roadside processing device, 211 sensor device, 212 sensor device, 213 sensor device, 221 wireless communication device, 222 wireless communication Device, 231 central processing unit, 251 map information management unit, 252 information generation unit, 253 verification unit, 254 correspondence management unit, 255 sensor information management unit, 256 wireless communication information management unit, 261 first communication unit, 262 second Communication unit, 263 third communication unit 300 merging lines, 350 merging points, 400 dividing lines, 450 dividing points, 501 imaging units, 502 number reading units, 503 measuring units, 504 communication units, 601 transmission data storage units, 602 reception data storage units, 603 first communication Unit 604 second communication unit 801 processor 802 memory 803 storage device 804 first communication interface 805 second communication interface 806 third communication interface.

Claims (16)

A main line vehicle indicating a planned travel route of each main line vehicle transmitted from each on-vehicle device of one or more main line vehicles traveling on the main line toward a junction where the main line of a plurality of lanes and the junction line merges A receiver for receiving information;
A position specifying unit for specifying the current position of each main line vehicle;
Lane change which is a main line vehicle which performs lane change from the lane other than the merging lane where the merging line merges to the merging lane among the plurality of lanes of the main line within the predetermined section after passing the merging point A vehicle determination unit that determines whether there is a main line vehicle based on the planned travel route of each main line vehicle and the current position of each main line vehicle;
An information generation unit that generates notification information notifying that the lane change main vehicle is present when the vehicle determination unit determines that the lane change main vehicle is present;
An information processing apparatus, comprising: a transmission unit configured to transmit the notification information to an on-vehicle apparatus of a junction vehicle traveling on the junction. The vehicle determination unit
The information processing apparatus according to claim 1, wherein it is determined whether or not the lane change main line vehicle, which is a main line vehicle arriving at the junction point at the same time as the junction line vehicle reaches the junction point. The information generation unit
The information processing apparatus according to claim 1, generating notification information notifying that the lane change main vehicle may possibly decelerate within the predetermined section. The vehicle determination unit
The lane which is a main vehicle in a section from the lane change from the lane other than the merge lane to the merge lane after passing the merge point until the merge lane of the main lane reaches a split point The information processing apparatus according to claim 1, wherein it is determined whether there is a changed main line vehicle. The vehicle determination unit
It is determined whether or not the lane-changing main line vehicle, which is a main line vehicle traveling in a lane other than the merging lane, includes a route ahead of the dividing line included in the planned travel route. Information processor as described. The position specifying unit
Identifying the current traveling speed of each main line vehicle, and identifying the current position of the junction vehicle and the current traveling speed;
The information generation unit
Based on the current position of each main line vehicle, the current traveling speed, the current position of the junction line vehicle, and the current traveling speed, the position of the lane change main line vehicle when the junction line vehicle reaches the junction point is The information processing system according to claim 1, wherein the traveling speed of the junction vehicle, which is separated from the junction point by a predetermined distance or more, is specified as an adjusted traveling speed, and the notification information for notifying the specified adjusted traveling speed is generated. apparatus. The information generation unit
The information processing apparatus according to claim 6, wherein the adjusted traveling speed is corrected based on a rate at which a lane change occurs in the predetermined section. The information generation unit
The information processing apparatus according to claim 6, wherein the adjusted traveling speed is corrected based on a rate at which deceleration occurs in the predetermined section. The information generation unit
The information processing apparatus according to claim 7, generating the notification information for notifying a rate at which a lane change has occurred in the predetermined section. The information generation unit
The information processing apparatus according to claim 8, wherein the notification information is generated to notify a rate at which deceleration has occurred in the predetermined section. The vehicle determination unit
Based on the current position of each main line vehicle, it is determined whether or not there is a rear main line vehicle traveling obliquely behind the lane change main line vehicle in the merging lane,
The information generation unit
When the rear main line vehicle is present, an instruction information is generated to instruct the rear main line vehicle to change lanes or change the traveling speed before reaching the junction point,
The transmission unit is
The information processing apparatus according to claim 1, wherein the instruction information is transmitted to an in-vehicle apparatus of the rear main line vehicle. The receiving unit is
Receiving identifier number information in which a vehicle identifier of the same vehicle and a vehicle number are indicated;
Receiving main line vehicle information indicating a planned travel route of the main line vehicle and a vehicle identifier;
Receiving current status information indicating the vehicle number of the main line vehicle, the current position, and the current traveling speed,
The vehicle determination unit
The vehicle identifier of the same main line vehicle and the vehicle number are associated using the correspondence between the vehicle identifier and the vehicle number indicated in the identifier number information, and the planned travel route, the current position and the current traveling speed of the same main line vehicle And determine the main lane change vehicle based on the association of the vehicle identifier and the vehicle number of the same main line vehicle, and the association of the planned travel route of the same main line vehicle, the current position, and the current travel speed The information processing apparatus according to claim 1. The receiving unit is
In some cases, there may be received main line vehicle information indicating the planned travel route of the main line vehicle, the vehicle identifier, the current position, and the current travel speed, which are transmitted from the in-vehicle device of any main line vehicle.
The vehicle determination unit
The information according to claim 12, wherein when the main line vehicle information indicating the planned travel route, the vehicle identifier, the current position, and the current traveling speed is received by the reception unit, the information using the identifier number information is not associated. Processing unit. The information generation unit
The information processing apparatus according to claim 1, wherein the notification information for notifying a planned traveling route of the main lane change vehicle is generated. A travel planned route of each main line vehicle is transmitted from each on-vehicle device of one or more main line vehicles traveling on the main line toward a junction where a main line and a junction line of a plurality of lanes merge Receive the main line vehicle information
The computer specifies the current position of each main line vehicle,
A main line vehicle in which the computer performs a lane change from a lane other than a merging lane where the merging line merges to the merging lane among the plurality of lanes of the main line in a predetermined section after passing through the merging point It is determined based on the planned travel route of each main line vehicle and the current position of each main line vehicle whether there is a lane change main line vehicle.
When it is determined that the lane change main vehicle is present, notification information is generated to notify that the lane change main vehicle is present,
An information processing method, wherein the computer transmits the notification information to an in-vehicle device of a junction vehicle traveling on the junction. A main line vehicle indicating a planned travel route of each main line vehicle transmitted from each on-vehicle device of one or more main line vehicles traveling on the main line toward a junction where the main line of a plurality of lanes and the junction line merges Reception processing for receiving information;
Position identification processing for identifying the current position of each main line vehicle;
Lane change which is a main line vehicle which performs lane change from the lane other than the merging lane where the merging line merges to the merging lane among the plurality of lanes of the main line within the predetermined section after passing the merging point Vehicle determination processing that determines whether there is a main line vehicle based on the planned travel route of each main line vehicle and the current position of each main line vehicle;
Information generation processing for generating notification information for notifying that the lane change main vehicle is present when it is determined by the vehicle determination processing that the lane change main vehicle is present;
An information processing program that causes a computer to execute a transmission process of transmitting the notification information to an on-vehicle device of a junction vehicle traveling on the junction.

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