JPWO2019142275A1 - Vehicle guidance device and vehicle guidance method - Google Patents

Abstract

A predicted position calculation unit (25) that calculates a predicted position that is a position of the vehicle (4) and the peripheral object after a first period from the present based on the current position of the one or more vehicles (4) and the peripheral object; A target position calculating unit (27) for calculating a target position, which is the position of the vehicle (4) after the second period from the present time, and a speed of the vehicle (4) at the target position based on the predicted position; And a distribution unit (28) for generating distribution information including the speed and the speed, and distributing the distribution information to the vehicle (4).

Description

  The present invention relates to a vehicle guidance device, an automatic driving unit, a vehicle guidance system, and a vehicle guidance method for delivering future position information of a vehicle.

  In order to make vehicles run safely and smoothly, an infrastructure for grasping road conditions that change in real time, such as the running state of the vehicle and the surrounding environment, is being prepared. In Patent Literature 1, the parking assist control device transmits information on the travel route created based on the type of the vehicle to the automatic driving unit, and the automatic driving unit places the vehicle in the parking position based on the received information on the travel route. A technology for automatically traveling from a parking position to a parking position is disclosed. Further, in Patent Document 1, when the parking assist control device detects a possibility that a moving obstacle enters the moving route while the vehicle is automatically traveling along the moving route, the parking assist control device detects interference between the vehicle and the moving obstacle. A technique for performing a process for avoiding the collision is disclosed. Specifically, the parking assist control device instructs the automatic driving unit to stop the vehicle. The automatic driving unit can avoid interference between the vehicle and a moving obstacle by stopping the vehicle based on an instruction from the parking assist control device.

JP-A-2005-074321

  When parking two vehicles, the parking assist control device described in Patent Literature 1 stops one vehicle when the moving routes intersect and the vehicles overlap at the same position at the same time, and stops the other vehicle. Avoid interference by running. For this reason, when the moving routes of many vehicles intersect and the number of overlapping vehicles at the same position at the same time increases, a waiting time occurs in many vehicles and it takes time to park all the vehicles. was there.

  The present invention has been made in view of the above, and an object of the present invention is to provide a vehicle guidance device capable of guiding a vehicle while reducing a standby time.

  In order to solve the above-described problems and achieve the object, a vehicle guidance device according to the present invention is configured such that a position of a vehicle and a peripheral object after a first period from the present is determined based on a current position of one or more vehicles and a peripheral object. And a predicted position calculating unit that calculates a predicted position. In addition, the vehicle guidance device includes a target position that is a position of the vehicle after the second period from the present, and a target position calculation unit that calculates a speed of the vehicle at the target position based on the predicted position. Further, the vehicle guidance device includes a distribution unit that generates distribution information including the target position and the speed, and distributes the distribution information to the vehicle.

  ADVANTAGE OF THE INVENTION The vehicle guidance apparatus which concerns on this invention has the effect that a vehicle can be guided, reducing standby time.

The figure which shows the example of a structure of the vehicle guidance system concerning Embodiment 1. The figure which shows the example of the hardware constitutions for realizing the function of the control part of the vehicle guidance apparatus concerning Embodiment 1. The figure which shows the example which applied the vehicle guidance system concerning Embodiment 1 to parking facilities. Flowchart showing the operation of the vehicle guidance device and the vehicle when the vehicle guidance system according to the first embodiment is applied to a parking facility. FIG. 3 is a diagram showing a configuration example of a vehicle guidance system according to a second embodiment. FIG. 7 is a diagram illustrating an example of a state before guiding a vehicle when the vehicle guidance system according to the second embodiment is applied to a main road; The figure which shows the example of the state after guiding a vehicle in the case where the vehicle guidance system concerning Embodiment 2 is applied to a main road. Flowchart showing operations of a vehicle guidance device and a vehicle when the vehicle guidance system according to the second embodiment is applied to a main road.

  Hereinafter, a vehicle guidance device, an automatic driving unit, a vehicle guidance system, and a vehicle guidance method according to an embodiment of the present invention will be described in detail with reference to the drawings. The present invention is not limited by the embodiment.

Embodiment 1 FIG.
FIG. 1 is a diagram illustrating a configuration example of a vehicle guidance system 1 according to the first embodiment of the present invention. The vehicle guidance system 1 includes a vehicle guidance device 2, a sensor 3, and a vehicle 4. Although omitted in FIG. 1, the vehicle guidance system 1 can include a plurality of sensors 3 and a plurality of vehicles 4.

  The sensor 3 senses an object (hereinafter, referred to as a peripheral object) around the sensor 3, the vehicle 4, and the like, and transmits sensor information as a result of the sensing to the vehicle guidance device 2. The peripheral objects include moving objects and non-moving objects. The moving object includes a person or the like. Objects that do not move include signs and the like. The sensor 3 is, for example, a device such as a millimeter-wave radar or a fixed camera, and may be composed of a plurality of devices.

  The configuration of the vehicle 4 will be described. The vehicle 4 includes a positioning unit 41, a vehicle speed sensor 42, a gyro sensor 43, an automatic driving unit 44, a display device 45, an operation receiving unit 46, a storage unit 47, and a communication device 48.

  The positioning unit 41 includes a GPS (Global Positioning System) receiver, a receiver that receives information from a positioning infrastructure (not shown), a position estimating unit that estimates the position of the vehicle 4, and the like, and measures the position of the vehicle 4. The positioning unit 41 outputs to the communication device 48 vehicle position information including the measured position of the vehicle 4 and the measurement time that is the time when the position of the vehicle 4 was measured.

  The vehicle speed sensor 42 detects the traveling speed of the vehicle 4. The vehicle speed sensor 42 outputs vehicle speed information indicating the traveling speed of the vehicle 4 to the communication device 48.

  The gyro sensor 43 measures the azimuth of the vehicle 4 in the traveling direction. The gyro sensor 43 outputs vehicle direction information indicating the direction of travel of the vehicle 4 to the communication device 48.

  The storage unit 47 stores vehicle-specific information including information such as the vehicle type indicating the type of the vehicle 4 and the size of the vehicle 4.

  The communication device 48 provides vehicle position information acquired from the positioning unit 41, vehicle speed information acquired from the vehicle speed sensor 42, vehicle azimuth information acquired from the gyro sensor 43, and vehicle-specific information stored in the storage unit 47 to vehicle guidance. Transmit to device 2. When it is not necessary to distinguish the vehicle position information, the vehicle speed information, the vehicle azimuth information, and the vehicle unique information, they are collectively referred to as vehicle information. Further, the communication device 48 receives distribution information from the vehicle guidance device 2. The distribution information includes information on the target position of the vehicle 4 after Δx seconds and information on the speed of the vehicle 4 after Δx seconds. The communication device 48 outputs the received distribution information to the automatic operation unit 44. Δx seconds is an update interval at which the guidance of the target position and the speed for the vehicle 4 is distributed, that is, updated when the vehicle guidance device 2 guides the vehicle 4.

  The automatic driving unit 44 acquires the distribution information from the communication device 48 and controls the traveling of the mounted vehicle 4 based on the distribution information. Specifically, the automatic driving unit 44 determines that the vehicle 4 reaches the instructed target position after Δx seconds based on the target position and the speed of the vehicle 4 after Δx seconds included in the distribution information. , The vehicle 4 is automatically driven.

  The display device 45 acquires distribution information from the communication device 48. The display device 45 displays information on the target position and the speed of the vehicle 4 after Δx seconds included in the distribution information. Note that the display device 45 may support the driving operation of the passenger when the automatic driving unit 44 is not mounted or when the passenger drives. In this case, the vehicle 4 may include either the automatic driving unit 44 or the display device 45. When the automatic driving unit 44 is not mounted, or when the occupant drives, the occupant of the vehicle 4 drives the vehicle 4 to reach the target position after Δx seconds by operating according to the display contents of the display device 45. Can be.

  The operation receiving unit 46 receives a control request from the occupant to the vehicle guidance device 2, specifically, a parking request, a vehicle guidance request, and the like, which will be described later. The operation receiving unit 46 outputs the received control request to the communication device 48. The operation reception unit 46 may receive a control request from a passenger by a button operation, may receive a control request from a passenger by voice input, or may be a case where the vehicle 4 includes the display device 45. May receive a control request from a passenger through a touch panel integrated with the display device 45. The communication device 48 that has acquired the control request transmits the control request to the vehicle guidance device 2 together with the vehicle-specific information or the vehicle information. In the present embodiment, a case will be described in which a passenger of the vehicle 4 issues a control request such as a parking request or a vehicle guidance request to the vehicle guidance device 2 via the operation reception unit 46, but is not limited thereto. Not something. For example, regarding a parking request, a manager of a parking lot or the like may make a request to the vehicle guidance device 2.

  The configuration of the vehicle guidance device 2 will be described. The vehicle guidance device 2 includes a communication device 10 and a control unit 20.

  The communication device 10 receives the sensor information from the sensor 3 and outputs the received sensor information to the control unit 20. Further, the communication device 10 receives the vehicle information from the vehicle 4 and outputs the received vehicle information to the control unit 20. Further, the communication device 10 receives a control request from the vehicle 4 and outputs the received control request to the control unit 20. Further, the communication device 10 acquires distribution information from the control unit 20 and transmits the acquired distribution information to the vehicle 4.

  The control unit 20 includes an information acquisition unit 21, a current position calculation unit 22, a storage unit 23, a movement route calculation unit 24, a predicted position calculation unit 25, a movable range determination unit 26, and a target position calculation unit 27. And a distribution unit 28.

  The information acquisition unit 21 acquires sensor information, vehicle information, and a control request from the communication device 10. When acquiring the control request, the information acquisition unit 21 outputs the acquired sensor information and the vehicle position information, the vehicle speed information, and the vehicle direction information included in the vehicle information to the current position calculation unit 22. Further, when acquiring the control request, the information acquisition unit 21 causes the storage unit 23 to store the vehicle-specific information included in the acquired vehicle information.

  The current position calculation unit 22 calculates the current positions of the vehicle 4 and surrounding objects based on the sensor information, the vehicle position information, the vehicle speed information, and the vehicle direction information acquired from the information acquisition unit 21. Note that the number of vehicles 4 is one or more. The number of peripheral objects may be zero or one or more. The current position calculator 22 outputs information on the calculated current positions of the vehicle 4 and the surrounding objects to the movement route calculator 24 and the predicted position calculator 25. Here, the information such as the vehicle position information acquired from the vehicle 4 is information at a certain past time, and when there are a plurality of vehicles 4, the information at each vehicle 4 is not necessarily the same time. Therefore, the current position calculation unit 22 calculates the positions of all the vehicles 4 at the same time, that is, at the current time. Specifically, the current position calculation unit 22 calculates a difference time between the measurement time included in the vehicle position information and the current time. For example, the current position calculation unit 22 calculates the position of the vehicle 4 that has moved from the position indicated by the vehicle position information of the vehicle 4 in the direction indicated by the vehicle azimuth information at the speed indicated by the vehicle speed information by the calculated difference time. The position is set as the position of the current time, that is, the current position. The current position calculating unit 22 may further calculate the position of the vehicle 4 using the sensor information, the vehicle position information, the vehicle speed information, and the vehicle direction information acquired in the past. Further, the current position calculation unit 22 calculates the current position of the peripheral object using the latest sensor information acquired from the information acquisition unit 21, the sensor information acquired in the past, and the like. Specifically, the current position calculation unit 22 estimates the moving speed, the moving direction, and the like of the peripheral object using a plurality of pieces of sensor information having different acquisition times, and calculates the current position of the peripheral object.

  The storage unit 23 stores vehicle-specific information by operating the information acquisition unit 21. The storage unit 23 stores, for example, vehicle-specific information in the form of a database. Further, the storage unit 23 stores map information used in a process of a movement route calculation unit 24 described later. The map information includes at least map information in a range sensed by the sensor 3.

  The movement route calculation unit 24 refers to the map information stored in the storage unit 23 and, based on the information on the current position of the vehicle 4 and the surrounding objects acquired from the current position calculation unit 22, calculates the position of the vehicle 4 from the current position. Calculate the travel route. For example, when the vehicle guidance system 1 is applied to a parking facility, the movement route calculation unit 24 calculates a movement route from the current position of the vehicle 4 to a parking position where the vehicle 4 is parked. The movement route calculation unit 24 outputs the calculated movement route to the predicted position calculation unit 25 and the target position calculation unit 27.

  Based on the current position of the vehicle 4 obtained from the current position calculation unit 22, the predicted position calculation unit 25 calculates the predicted position of the vehicle 4 Δt seconds after the current time along the movement route obtained from the movement route calculation unit 24. Is calculated. In addition, the predicted position calculation unit 25 calculates the predicted position of the peripheral object Δt seconds after the current time based on the current position of the peripheral object acquired from the current position calculation unit 22. The predicted position calculation unit 25 calculates the predicted positions of the vehicle 4 and the surrounding objects whose current positions have been calculated by the current position calculation unit 22. The predicted position calculation unit 25 can calculate the predicted position of the peripheral object at least Δt seconds after the current time by using the same method as the current position calculation unit 22. Δt seconds is a time interval from the time when the current position of the vehicle 4 and the surrounding objects is calculated by the current position calculation unit 22 to the time when the predicted position calculation unit 25 calculates the predicted position.

  Further, the predicted position calculation unit 25 communicates between the vehicles 4 based on the calculated predicted positions of the vehicle 4 and the surrounding objects after Δt seconds and the vehicle size information included in the vehicle-specific information stored in the storage unit 23. Or, the possibility of collision between the vehicle 4 and a surrounding object is determined, and it is determined whether the position of the vehicle 4 needs to be changed after Δt seconds. The predicted position calculation unit 25 may determine that there is a possibility of a collision when a plurality of vehicles 4 exist at the same position after Δt seconds, or when the vehicle 4 and one or more peripheral objects exist at the same position after Δt seconds. It is determined that there is. Alternatively, the predicted position calculation unit 25 determines that there is a possibility of collision when the predicted positions of the plurality of vehicles 4 after Δt seconds overlap and when the flow lines of the plurality of vehicles 4 intersect. When determining that there is a possibility of a collision, the predicted position calculation unit 25 determines that the position of the vehicle 4 needs to be changed after Δt seconds. When it is determined that there is no possibility of collision, the predicted position calculation unit 25 determines that the change of the position of the vehicle 4 after Δt seconds is unnecessary. If the predicted position calculation unit 25 determines that the position of the vehicle 4 needs to be changed after Δt seconds, the information on the current position of the vehicle 4 and the surrounding objects and the information on the predicted positions of the vehicle 4 and the surrounding objects after Δt seconds Is output to the movable range determining unit 26, and the movable range determining unit 26 determines the movable range. When determining that the change of the position of the vehicle 4 after Δt seconds is unnecessary, the predicted position calculation unit 25 outputs information on the predicted position of the vehicle 4 after Δt seconds to the target position calculation unit 27.

  The movable range determination unit 26 acquires the information on the current position of the vehicle 4 and the surrounding object obtained from the predicted position calculation unit 25, the information on the predicted position of the vehicle 4 and the surrounding object at Δt seconds later, and the information obtained from the storage unit 23. Using the vehicle-specific information, the movable range indicating the movable range of the vehicle 4 until after Δt seconds is determined. The movable range may be, for example, a range centered on the predicted position of the vehicle 4 after Δt seconds, or a range centered on a position closer to the current position than the predicted position of the vehicle 4 after Δt seconds. There may be. Further, the shape of the movable range may be circular or elliptical. The movable range determination unit 26 holds the information on the current position of the vehicle 4 acquired from the predicted position calculation unit 25 and the information on the predicted position of the vehicle 4 after Δt seconds as a movement history. The movable range determination unit 26 changes the movable range using the movement history. For example, when the latest current position of the vehicle 4 is not within the previously determined movable range, the movable range determination unit 26 determines the size of the movable range determined using the latest current position of the vehicle 4 in the previous time. The range is wider than the determined movable range. The movable range determination unit 26 outputs to the target position calculation unit 27 information on the predicted positions of the vehicle 4 and the surrounding objects after Δt seconds and information on the movable range of the vehicle 4.

  The target position calculating unit 27 calculates the target position of the vehicle 4 after Δx seconds based on the moving route acquired from the moving route calculating unit 24 and the predicted position of the vehicle 4 after Δt seconds obtained from the predicted position calculating unit 25. And the speed of the vehicle 4 are calculated. The target position calculation unit 27 outputs the calculated target position and speed of the vehicle 4 after Δx seconds to the distribution unit 28. Alternatively, the target position calculating unit 27 obtains a moving route from the moving route calculating unit 24, obtains information on the predicted positions of the vehicle 4 and the surrounding objects after Δt seconds from the movable range determining unit 26, and determines the movable range. Information on the movable range of the vehicle 4 is obtained from the unit 26. Based on the acquired information, the target position calculating unit 27 calculates the target position of the vehicle 4 after Δx seconds so as to avoid collision between the vehicles 4 or between the vehicle 4 and a surrounding object, and the target position from the current position. The speed of the vehicle 4 up to is calculated. The target position calculation unit 27 outputs the calculated target position and speed of the vehicle 4 after Δx seconds to the distribution unit 28.

  The distribution unit 28 acquires the target position and speed information of the vehicle 4 after Δx seconds from the target position calculation unit 27, and generates distribution information including the acquired target position and speed information of the vehicle 4 after Δx seconds. . The distribution unit 28 outputs the generated distribution information to the communication device 10. The distribution unit 28 distributes the distribution information to the vehicle 4 via the communication device 10.

  The predicted position calculating unit 25 is a position predicting unit for smooth vehicle control, and evaluates a possibility of the vehicle 4 colliding in the future. Therefore, a relatively large numerical value is used for Δt. On the other hand, the target position calculation unit 27 has a purpose of performing close control on the vehicle 4 in order to smoothly move the vehicle 4 to the predicted position after Δt seconds. Therefore, it is generally considered that a numerical value is selected so that Δx <Δt, but the magnitude relationship between Δx and Δt is not limited to this condition. Note that a period from the present to Δt seconds, that is, Δt seconds is a first period, and a period from the present to Δx seconds, that is, Δx seconds is a second period.

  Here, a hardware configuration for realizing the function of the control unit 20 of the vehicle guidance device 2 will be described. FIG. 2 is a diagram illustrating an example of a hardware configuration for realizing the function of the control unit 20 of the vehicle guidance device 2 according to the first embodiment. The control unit 20 includes a communication interface 51, a ROM (Read Only Memory) 52, a RAM (Random Access Memory) 53, a CPU (Central Processing Unit) 54, and a storage device 55. The communication interface 51, ROM 52, RAM 53, CPU 54, and storage device 55 are connected via a bus 56. The communication interface 51 is connected to the communication device 10 and outputs information obtained from the communication device 10 to the CPU 54. A program for controlling the CPU 54 is recorded in the ROM 52. In the RAM 53, data during the calculation by the CPU 54, data after the calculation, and the like are recorded. The CPU 54 reads a program recorded in the ROM 52, performs an operation according to the read program, and implements the function of the control unit 20 of the vehicle guidance device 2. The storage device 55 stores map information and the like used for creating a travel route. The ROM 52, the RAM 53, and the CPU 54 may be realized by a dedicated processing circuit. The dedicated processing circuit is, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. I do.

  Next, the operation of the vehicle guidance system 1 will be described. In the first embodiment, a case will be specifically described in which the vehicle guidance system 1 is applied to a parking facility. FIG. 3 is a diagram illustrating an example in which the vehicle guidance system 1 according to the first embodiment is applied to a parking facility 60. In the parking facility 60, the vehicle guidance device 2 and the sensors 3a to 3d are installed. Each of the sensors 3a to 3d is the above-described sensor 3, and in the example of FIG. 3, is a fixed camera capable of photographing a wide-angle range. The parking facility 60 is provided with parking spaces 61 to 68 in which the vehicles 4a to 4c can park. Each of the vehicles 4a to 4c has the same configuration as the vehicle 4 described above. 3, in the parking facility 60, the vehicle 4a is already parked in the parking space 64, and the vehicles 4b and 4c have newly entered the parking facility 60.

  FIG. 4 is a flowchart illustrating operations of the vehicle guidance device 2 and the vehicle 4 when the vehicle guidance system 1 according to the first embodiment is applied to a parking facility 60. In the vehicles 4b and 4c, when the operation reception unit 46 receives a parking request from a passenger, the communication device 48 transmits the parking request to the vehicle guidance device 2 (Step S201).

  In the control unit 20 of the vehicle guidance device 2, the information acquisition unit 21 determines whether a parking request has been received from a user, that is, a passenger of the vehicle 4b, 4c, via the communication device 10 (step S101). When the parking request has not been received (step S101: No), the information acquisition unit 21 waits until the parking request is received. When the parking request is received (Step S101: Yes), the information acquisition unit 21 transmits the vehicle position information, the vehicle speed information, and the vehicle azimuth information included in the vehicle information acquired from the vehicles 4b and 4c simultaneously with or separately from the parking request. Output to the current position calculation unit 22. Further, the information acquisition unit 21 causes the storage unit 23 to store vehicle-specific information included in the vehicle information. Further, the information acquisition unit 21 outputs the sensor information acquired from the sensors 3a to 3d to the current position calculation unit 22.

  The current position calculation unit 22 calculates the current positions of the vehicles 4b and 4c and the surrounding object 5a based on the acquired sensor information, vehicle position information, vehicle speed information, and vehicle direction information (step S102).

  The movement route calculation unit 24 refers to the map information stored in the storage unit 23 and, based on the acquired information on the current positions of the vehicles 4b, 4c and the person 5a, moves from the current position of the vehicles 4b, 4c to the parking position. Is calculated (step S103). Specifically, the movement route calculation unit 24 calculates a movement route 71 indicated by an arrow from the current position of the vehicle 4b to the parking space 65 with respect to the vehicle 4b, and calculates the current position of the vehicle 4c with respect to the vehicle 4c. A travel route 72 indicated by an arrow from the vehicle to the parking space 63 is calculated.

  The predicted position calculation unit 25 calculates the predicted positions of the vehicles 4b and 4c and the person 5a after Δt seconds along the movement route (Step S104). In the example of FIG. 3, the predicted position calculation unit 25 calculates the predicted position of the vehicle 4b after Δt seconds along the movement route 71, and calculates the predicted position of the vehicle 4c after Δt seconds along the movement route 72. calculate.

  The predicted position calculation unit 25 determines the possibility of collision based on the calculated predicted positions of the vehicles 4b and 4c and the person 5a after Δt seconds and the vehicle-specific information, and changes the positions of the vehicles 4b and 4c after Δt seconds. The necessity is determined (step S105). For example, if the predicted position of the vehicle 4c after Δt seconds is before the position 73, the predicted position calculation unit 25 determines that there is no possibility that the vehicles 4b and 4c collide. The predicted position calculation unit 25 determines that it is unnecessary to change the positions of the vehicles 4b and 4c after Δt seconds. On the other hand, when the predicted position of the vehicle 4c after Δt seconds is ahead of the position 73, the predicted position calculation unit 25 determines that the moving path 72 of the vehicle 4c is moving toward the moving path 71 of the vehicle 4b. It is determined that 4b and 4c may collide. The predicted position calculation unit 25 determines that it is necessary to change the position of at least one of the vehicles 4b and 4c after Δt seconds.

  When it is necessary to change the position of at least one of the vehicles 4b and 4c after Δt seconds (step S105: Yes), the predicted position calculation unit 25 determines the information on the current positions of the vehicles 4b and 4c and the person 5a and the vehicle. The information of the predicted positions of the 4b, 4c and the person 5a after Δt seconds is output to the movable range determination unit 26.

  The movable range determination unit 26 uses the acquired information on the current positions of the vehicles 4b and 4c and the person 5a, information on the predicted positions of the vehicles 4b and 4c and the person 5a after Δt seconds, and vehicle-specific information to obtain Δt seconds. The movable range of the vehicles 4b, 4c is determined from the predicted positions of the vehicles 4b, 4c (step S106). In the example of FIG. 3, the movable range determination unit 26 determines the movable range of the vehicle 4b from the predicted position of the vehicle 4b after Δt seconds, and determines the movable range of the vehicle 4c from the predicted position of the vehicle 4c after Δt seconds. Is determined. The movable range determination unit 26 outputs to the target position calculation unit 27 information on the predicted positions of the vehicles 4b and 4c and the person 5a after Δt seconds and information on the movable ranges of the vehicles 4b and 4c.

  The target position calculation unit 27 can move the vehicles 4b and 4c based on the acquired movement route, information on the predicted positions of the vehicles 4b and 4c and the person 5a after Δt seconds, and information on the movable range of the vehicles 4b and 4c. In consideration of the range information, the target positions of the vehicles 4b and 4c after Δx seconds and the speeds of the vehicles 4b and 4c from the current position to the target position are calculated so that the collision of the vehicles 4b and 4c can be avoided (step S107). ). In this case, at least one target position of the vehicles 4b and 4c calculated by the target position calculation unit 27 may not be on the moving route. The target position calculation unit 27 outputs information of the calculated target positions and speeds of the vehicles 4b and 4c after Δx seconds to the distribution unit 28.

  On the other hand, when it is not necessary to change the positions of the vehicles 4b and 4c after Δt seconds (Step S105: No), the predicted position calculation unit 25 calculates information on the predicted positions of the vehicles 4b and 4c after Δt seconds from the target position calculation unit. 27. The target position calculator 27 calculates the target positions of the vehicles 4b and 4c after Δx seconds based on the acquired moving route and the predicted positions of the vehicles 4b and 4c after Δt seconds obtained from the predicted position calculator 25. The speeds of the vehicles 4b and 4c up to the position are calculated (step S108). The target position calculation unit 27 calculates the target positions such that the target positions of the vehicles 4b and 4c are on the moving paths 71 and 72, respectively. The target position calculation unit 27 outputs information of the calculated target positions and speeds of the vehicles 4b and 4c after Δx seconds to the distribution unit 28.

  The distribution unit 28 generates distribution information for the vehicle 4b including the acquired information on the target position and the speed of the vehicle 4b after Δx seconds, and the vehicle including the acquired information on the target position and the velocity of the vehicle 4c after Δx seconds 4c is generated, and the generated distribution information is output to the communication device 10. The communication device 10 transmits distribution information for the vehicle 4b to the vehicle 4b, and transmits distribution information for the vehicle 4c to the vehicle 4c (step S109).

  In the vehicles 4b and 4c, the automatic driving unit 44 determines whether the distribution information has been received via the communication device 48 (Step S202). When the distribution information is not received (step S202: No), the automatic driving units 44 of the vehicles 4b and 4c wait until receiving the distribution information. When receiving the distribution information (Step S202: Yes), the automatic driving units 44 of the vehicles 4b and 4c reach the specified target position after Δx seconds based on the information on the target position and the speed included in the distribution information. As described above, the vehicles 4b and 4c are respectively driven by the automatic driving at the instructed speeds (step S203).

  In the control unit 20 of the vehicle guidance device 2, the current position calculation unit 22 performs the same processing as the above-described step S102 (step S110). The movement route calculation unit 24 determines whether or not the vehicles 4b and 4c have completed parking based on the acquired current positions of the vehicles 4b and 4c and the movement routes of the vehicles 4b and 4c calculated last time (step S111). . Specifically, the movement route calculation unit 24 determines whether the current position of the vehicle 4b, 4c is the same as the end of the movement route 71, 72 of the vehicle 4b, 4c calculated last time, that is, the parking space 65, 63. It can be determined whether or not the vehicles 4b and 4c have completed parking. If the vehicles 4b and 4c have not been completely parked (step S111: No), the movement route calculation unit 24 returns to step S103 and calculates a movement route from the current position of the vehicles 4b and 4c to the parking position. The control unit 20 repeatedly performs the processing from step S103 to step S111 in a short cycle. When the parking of the vehicles 4b and 4c is completed (Step S111: Yes), the movement route calculation unit 24 notifies the distribution unit 28 that the parking of the vehicles 4b and 4c is completed. The distribution unit 28 generates parking completion information for the vehicle 4b indicating that parking of the vehicle 4b has been completed, generates parking completion information for the vehicle 4c indicating that parking of the vehicle 4c has been completed, and generates the generated parking. The completion information is output to the communication device 10. The communication device 10 transmits parking completion information for the vehicle 4b to the vehicle 4b, and transmits parking completion information for the vehicle 4c to the vehicle 4c (step S112). The vehicle guidance device 2 ends the processing in order from the vehicle 4 whose parking has been completed, and continues the processing until the parking of all the vehicles 4 is completed.

  In the vehicles 4b and 4c, the automatic driving unit 44 determines whether or not parking completion information has been received via the communication device 48 (Step S204). When the automatic driving unit 44 of the vehicles 4b and 4c has not received the parking completion information (Step S204: No), the process returns to Step S202. When the parking completion information is received (step S204: Yes), the automatic driving units 44 of the vehicles 4b and 4c end the traveling of the vehicles 4b and 4c by the automatic driving, respectively (step S205).

  In the present embodiment, the control unit 20 of the vehicle guidance device 2 repeatedly executes the processing of steps S103 to S111 shown in the flowchart of FIG. When the predicted position calculating unit 25 determines that there is a possibility of collision between the vehicles 4 or between the vehicle 4 and a surrounding object, the target position calculating unit 27 deviates from the moving route calculated by the moving route calculating unit 24. The position may be calculated as the target position. In this case, since the target position deviates from the movement route, the position of the vehicle 4 traveling according to the target position also deviates from the movement route. Therefore, in the vehicle guidance device 2 that has acquired the vehicle information from the vehicle 4 that has deviated from the travel route, the travel route calculation unit 24 calculates a travel route different from the travel route calculated up to the previous time. Specifically, in the example of FIG. 3, when the vehicle 4c travels rightward from the position 73 along the movement path 72, there is a possibility that the vehicle 4c will collide with the vehicle 4b. Therefore, the target position calculation unit 27 calculates a target position 75 that is not on the movement route 72 for the vehicle 4c. The vehicle 4c transmits information on the target position 75 to the vehicle guidance device 2 as vehicle position information. In the vehicle guidance device 2, since the current position of the vehicle 4c is the position of the target position 75, the movement route calculation unit 24 can calculate the movement route 76 indicated by the broken line. As described above, when the target position calculated by the target position calculating unit 27 is not on the previously calculated moving route, the moving route calculating unit 24 determines that the vehicle 4c deviates from the moving route 72 in the example of FIG. A new moving route 76 different from the calculated moving route 72 can be calculated.

  As described above, according to the present embodiment, in the vehicle guidance system 1, the vehicle guidance device 2 calculates the predicted positions of the vehicle 4 and the surrounding objects after Δt seconds, and calculates the vehicle Δx seconds after the predicted position. The target position and speed of the vehicle 4 are calculated, and the delivery information including the information on the target position and speed of the vehicle 4 is delivered to the vehicle 4. The vehicle guidance device 2 distributes the target position and the speed of the vehicle 4 in a short cycle of Δx seconds shorter than Δt seconds. Thereby, the vehicle 4 can travel so as to reach the target position at the instructed time, and can change the moving route in a short cycle. When there is a possibility of collision in the vehicle 4 in the future, the vehicle guidance device 2 stops the vehicle 4 to avoid the collision by instructing a target position of the vehicle 4 in advance to avoid the collision. Can be reduced, and the vehicle 4 can be guided flexibly.

  Further, in the vehicle guidance system 1, the vehicle 4 travels on the movement route calculated by the vehicle guidance device 2, thereby facilitating traffic. Therefore, it is possible to reduce the traveling time of the vehicle 4 and increase the number of vehicles 4 passing per unit time. In addition, the vehicle guidance device 2 manages both the position of the vehicle 4 and the surrounding objects and the time at which the position is measured, and controls the moving route and speed of the vehicle 4 to avoid the approach between the vehicles 4 and secure safety. The smooth movement of the vehicle 4 becomes possible.

Embodiment 2 FIG.
In the first embodiment, the case where the vehicle guidance system 1 is applied to the parking facility 60 to park the vehicle 4 has been described. In the second embodiment, a case where the vehicle 4 is guided by applying the vehicle guidance system to a main road will be described.

  FIG. 5 is a diagram illustrating a configuration example of a vehicle guidance system 1a according to the second embodiment. The vehicle guidance system 1a differs from the vehicle guidance system 1 of the first embodiment shown in FIG. 1 in that the vehicle guidance device 2 is replaced with a vehicle guidance device 2a. Like the vehicle guidance system 1 according to the first embodiment shown in FIG. 1, although omitted in FIG. 5, the vehicle guidance system 1 a can include a plurality of sensors 3 and a plurality of vehicles 4. The vehicle guidance device 2a differs from the vehicle guidance device 2 of the first embodiment shown in FIG. 1 in that the control unit 20 is replaced with a control unit 20a. The control unit 20a has a configuration in which a real-time map generation unit 29 is added to the control unit 20.

  The real-time map generation unit 29 acquires map information from the storage unit 23. The real-time map generation unit 29 periodically acquires the target position of the vehicle 4 after Δx seconds from the target position calculation unit 27, and displays the acquired target position of the vehicle 4 after Δx seconds on a map indicated by the map information. Place, or map, in real time. The real-time map generation unit 29 generates a real-time map on which the target position of the vehicle 4 after Δx seconds is mapped, and outputs the generated real-time map to the distribution unit 28.

  The distribution unit 28 acquires a real-time map from the real-time map generation unit 29. The distribution unit 28 generates distribution information including the information on the target position and the speed of the vehicle 4 after Δx seconds acquired from the target position calculation unit 27 and the real-time map acquired from the real-time map generation unit 29. The distribution unit 28 outputs the generated distribution information to the communication device 10. The distribution unit 28 distributes the distribution information to the vehicle 4 via the communication device 10.

  Note that the control unit 20a of the vehicle guidance device 2a is realized by the hardware configuration illustrated in FIG. 2, similarly to the control unit 20 of the vehicle guidance device 2 of the first embodiment.

  Next, the operation of the vehicle guidance system 1a will be described. FIG. 6 is a diagram illustrating an example of a state before the vehicles 4d, 4e, and 4f are guided when the vehicle guidance system 1a according to the second embodiment is applied to the main road 80. On the main road 80, a vehicle guidance device 2a and sensors 3e and 3f are installed. The sensors 3e and 3f are the above-mentioned sensors 3, respectively, and in the example of FIG. 6, are assumed to be millimeter-wave radars. Also, in the situation shown in FIG. 6, vehicles 4d to 4f exist on the main road 80, and a person 5b exists as a peripheral object. It is assumed that the person 5b is not visible from the passenger of the vehicle 4f due to the presence of the obstacle 6. FIG. 6 shows the current positions of the vehicles 4d to 4f and the person 5b at a certain time. In FIG. 6, the predicted positions after Δt seconds calculated by the vehicle guidance device 2a for the vehicles 4d to 4f and the person 5b are indicated by predicted positions 91 to 94, respectively. The lengths of the arrows 101 to 104 from the vehicles 4d to 4f and the person 5b to the predicted positions 91 to 94 indicate the speeds of the vehicles 4d to 4f and the person 5b. The method of calculating the predicted positions 91 to 94 of the vehicles 4d to 4f and the person 5b in the vehicle guidance device 2a can be calculated by the same method as in the first embodiment.

  FIG. 6 shows a state before the vehicle guidance device 2a provides guidance for avoiding a collision for the vehicles 4d to 4f and the person 5b. In this case, as shown in FIG. 6, the vehicle 4d may collide with the vehicle 4e after Δt seconds, and the vehicle 4f may collide with the person 5b after Δt seconds. FIG. 7 is a diagram illustrating an example of a state after the vehicles 4d to 4f are guided when the vehicle guidance system 1a according to the second embodiment is applied to the main road 80. As shown in FIG. 7, the vehicle guidance device 2a can avoid a collision between the vehicle 4d and the vehicle 4e after Δt seconds by decelerating the vehicle 4e. As shown in FIG. 7, the vehicle guidance device 2a can stop the vehicle 4f to avoid a collision between the vehicle 4f and the person 5b after Δt seconds.

  FIG. 8 is a flowchart illustrating operations of the vehicle guidance device 2a and the vehicle 4 when the vehicle guidance system 1a according to the second embodiment is applied to a main road 80. In the vehicles 4d to 4f, when the operation reception unit 46 receives a vehicle guidance request from a passenger, the communication device 48 transmits the vehicle guidance request to the vehicle guidance device 2a (step S401).

  In the control unit 20a of the vehicle guidance device 2a, the information acquisition unit 21 determines whether a vehicle guidance request has been received from a user, that is, a passenger of the vehicles 4d to 4f, via the communication device 10 (step S301). . When the vehicle guidance request has not been received (step S301: No), the information acquisition unit 21 waits until the vehicle guidance request is received. When the vehicle guidance request is received (Step S301: Yes), the information acquisition unit 21 acquires the vehicle position information, the vehicle speed information, and the vehicle direction included in the vehicle information acquired from the vehicles 4d to 4f simultaneously with or separately from the vehicle guidance request. The information is output to the current position calculator 22. Further, the information acquisition unit 21 causes the storage unit 23 to store vehicle-specific information included in the vehicle guidance information. The information acquisition unit 21 outputs the sensor information acquired from the sensors 3e and 3f to the current position calculation unit 22.

  The current position calculation unit 22 calculates the current positions of the vehicles 4d to 4f and the surrounding object person 5b based on the acquired sensor information, vehicle position information, vehicle speed information, and vehicle direction information (step S302).

  The movement route calculation unit 24 refers to the map information stored in the storage unit 23 and, based on the acquired information on the current positions of the vehicles 4d to 4f and the person 5b, moves from the current positions of the vehicles 4d to 4f within the guidance area. Is calculated (step S303). For example, the traveling route calculation unit 24 calculates a traveling route that continuously travels straight for the vehicles 4e and 4f that are traveling straight. In addition, the travel route calculation unit 24 calculates a travel route that makes a right turn for the vehicle 4d that is traveling rightward in the intersection.

  The predicted position calculation unit 25 calculates the predicted positions of the vehicles 4d to 4f and the person 5b after Δt seconds along the movement route (step S304). In the example of FIG. 6, the predicted position calculating unit 25 calculates the predicted positions of the vehicles 4d to 4f after Δt seconds along the moving routes of the vehicles 4d to 4f calculated by the moving route calculating unit 24.

  The predicted position calculation unit 25 determines the possibility of collision based on the calculated predicted positions of the vehicles 4d to 4f and the person 5b after Δt seconds, and changes the positions of the vehicles 4d to 4f after Δt seconds. The necessity is determined (step S305). In the example of FIG. 6, the predicted position calculation unit 25 determines that there is a possibility that the vehicle 4d and the vehicle 4e collide, and determines that there is a possibility that the vehicle 4f and the person 5b collide.

  When it is necessary to change the position of at least one of the vehicles 4d to 4f after Δt seconds (step S305: Yes), the predicted position calculation unit 25 determines the information on the current position of the vehicles 4d to 4f and the person 5b, and the vehicle. The information of the predicted positions of 4d to 4f and the person 5b after Δt seconds is output to the movable range determination unit 26.

  The movable range determination unit 26 uses the acquired information on the current positions of the vehicles 4d to 4f and the person 5b, the information on the predicted positions of the vehicles 4d to 4f and the person 5b after Δt seconds, and the vehicle-specific information to obtain Δt seconds. The movable range of the vehicles 4d to 4f is determined from the predicted positions of the subsequent vehicles 4d to 4f (step S306). In the example of FIG. 6, the movable range determination unit 26 determines the movable range of the vehicle 4d from the predicted position of the vehicle 4d after Δt seconds, and determines the movable range of the vehicle 4e from the predicted position of the vehicle 4e after Δt seconds. Is determined, and the movable range of the vehicle 4f is determined from the predicted position of the vehicle 4f after Δt seconds.

  The target position calculation unit 27 can move the vehicles 4d to 4f based on the acquired movement route, information on the predicted positions of the vehicles 4d to 4f and the person 5b after Δt seconds, and information on the movable range of the vehicles 4d to 4f. In consideration of the range information, the target positions of the vehicles 4d to 4f after Δx seconds and the speeds of the vehicles 4d to 4f from the current position to the target position are calculated so that the collision of the vehicles 4d to 4f can be avoided (step S307). ). In the example of FIG. 6, the target position calculation unit 27 determines the target positions of the vehicles 4d to 4f after Δx seconds and the target positions so that the collision can be avoided in the vehicles 4d to 4f and the person 5b as shown in FIG. Calculate the speed of The target position calculation unit 27 outputs information on the calculated target positions and speeds of the vehicles 4d to 4f after Δx seconds to the distribution unit 28 and the real-time map generation unit 29.

  When it is not necessary to change the positions of the vehicles 4d to 4f after Δt seconds (step S305: No), the predicted position calculation unit 25 uses the information on the predicted positions of the vehicles 4d to 4f after Δt seconds as the target position calculation unit. 27. The target position calculating unit 27 calculates the target positions of the vehicles 4d to 4f after Δx seconds based on the acquired moving route and the predicted positions of the vehicles 4d to 4f after Δt seconds obtained from the predicted position calculating unit 25. The speeds of the vehicles 4d to 4f to the position are calculated (step S308). The target position calculation unit 27 outputs information on the calculated target positions and speeds of the vehicles 4d to 4f after Δx seconds to the distribution unit 28 and the real-time map generation unit 29.

  The real-time map generation unit 29 maps the target positions of the vehicles 4d to 4f after Δx seconds obtained from the target position calculation unit 27 on the map obtained from the storage unit 23, and generates a real-time map (Step S309). The real-time map generation unit 29 outputs the generated real-time map to the distribution unit 28.

  The distribution unit 28 generates distribution information for the vehicle 4d including the acquired target position, speed, and real-time map of the vehicle 4d after Δx seconds, and generates the target position, speed, and real-time map of the vehicle 4e after Δx seconds. The distribution information for the vehicle 4f including the target position, the speed, and the real-time map of the vehicle 4f after Δx seconds is generated. The distribution unit 28 outputs the generated distribution information to the communication device 10. Communication device 10 transmits distribution information for vehicle 4d to vehicle 4d, transmits distribution information for vehicle 4e to vehicle 4e, and transmits distribution information for vehicle 4f to vehicle 4f (step S310).

  In the vehicles 4d to 4f, the automatic driving unit 44 determines whether distribution information has been received via the communication device 48 (step S402). When the distribution information is not received (step S402: No), the automatic driving unit 44 waits until the distribution information is received. When receiving the distribution information (Step S402: Yes), the automatic driving units 44 of the vehicles 4d to 4f reach the specified target position after Δx seconds based on the information on the target position and the speed included in the distribution information. As described above, the vehicles 4d to 4f are respectively driven by the automatic driving at the instructed speeds (step S403). Specifically, as shown in FIG. 7, the vehicle 4e decelerates just before the intersection. The vehicle 4f stops short of the position where the person 5b jumps out. Thereby, in the vehicle guidance system 1a, a collision between the vehicle 4d and the vehicle 4e can be avoided, and a collision between the vehicle 4f and the person 5b can be avoided.

  In the control unit 20a of the vehicle guidance device 2a, the current position calculation unit 22 performs the same processing as in step S302 described above (step S311). The movement route calculation unit 24 determines whether the vehicles 4d to 4f have moved out of the guidance area based on the obtained current positions of the vehicles 4d to 4f and the movement routes of the vehicles 4d to 4f calculated last time ( Step S312). Specifically, the moving route calculation unit 24 determines whether the vehicles 4d to 4f are outside the guidance area based on whether or not the current positions of the vehicles 4d to 4f have exceeded the last calculated moving routes of the vehicles 4d to 4f. Can be determined. When the vehicles 4d to 4f have not moved out of the guidance area (step S312: No), the traveling route calculation unit 24 returns to step S303 and again moves the current position of the vehicles 4d to 4f within the guidance area. Is calculated. The control unit 20a repeatedly performs the processing from step S303 to step S312 in a short cycle. When the vehicles 4d to 4f have moved out of the guidance area (step S312: Yes), the movement route calculation unit 24 notifies the distribution unit 28 that the guidance of the vehicles 4d to 4f has been completed. The distribution unit 28 generates guidance completion information for the vehicle 4d indicating that the guidance of the vehicle 4d has been completed, generates guidance completion information for the vehicle 4e indicating that the guidance of the vehicle 4e has been completed, and generates the guidance completion information for the vehicle 4f. It generates guidance completion information for the vehicle 4f indicating that the guidance has been completed, and outputs the generated guidance completion information to the communication device 10. The communication device 10 transmits the guidance completion information for the vehicle 4d to the vehicle 4d, transmits the guidance completion information for the vehicle 4e to the vehicle 4e, and transmits the guidance completion information for the vehicle 4f to the vehicle 4f (step S313). . The vehicle guidance device 2a ends the processing in order from the vehicle 4 for which the guidance has been completed, and continues the processing until the guidance for all the vehicles 4 is completed.

  In the vehicles 4d to 4f, the automatic driving unit 44 determines whether or not guidance completion information has been received via the communication device 48 (step S404). When the automatic driving units 44 of the vehicles 4d to 4f have not received the guidance completion information (Step S404: No), the process returns to Step S402. When receiving the guidance completion information (Step S404: Yes), the automatic driving units 44 of the vehicles 4d to 4f terminate the guidance driving of the vehicles 4d to 4f by the automatic driving, respectively (Step S405).

  In the present embodiment, control unit 20a of vehicle guidance device 2a transmits distribution information including a real-time map to vehicle 4. The occupant of the vehicle 4 can grasp the movement route of another vehicle 4 by checking the real-time map. For example, when the automatic driving unit 44 is mounted on the vehicle 4, when the automatic driving unit 44 stops or decelerates the vehicle 4 to avoid a collision, the occupant of the vehicle 4 checks the real-time map. Thereby, the reason why the vehicle 4 has stopped or decelerated can be grasped. When the automatic driving unit 44 is not mounted on the vehicle 4, the occupant of the vehicle 4 can grasp the moving route of the other vehicle 4 by checking the real-time map displayed on the display device 45. The vehicle 4 to be driven can be stopped or decelerated.

  As described above, according to the present embodiment, in vehicle guidance system 1a, vehicle guidance device 2a transmits to vehicle 4 distribution information including a real-time map on which the target position of another vehicle 4 is mapped. And Thereby, the occupant of the vehicle 4 can also grasp the planned movement route of the other vehicle 4 and can realize more secure and more comfortable vehicle movement.

  In the first embodiment, the vehicle guidance device 2 is installed adjacent to the parking facility 60, and in the second embodiment, the vehicle guidance device 2a is installed on the road side of the main road 80. , 2a are not limited to these. The vehicle guidance devices 2 and 2a may be mounted on the vehicle 4. For example, when there are a plurality of vehicles 4 in a case where the vehicle guidance device 2 is mounted on the vehicle 4, a parent and a child are determined between the vehicle guidance devices 2 of each vehicle 4, and the parent vehicle guidance device 2 Guidance is performed on the vehicle 4 on which the vehicle guidance device 2 serving as a child is mounted. Alternatively, the parent and the child are determined between the vehicle guidance devices 2 of the respective vehicles 4, and the parent vehicle guidance device 2 comprehensively determines the target position after Δt seconds calculated in each vehicle 4 by majority decision or the like. , The vehicle 4 is guided. Although the vehicle guidance device 2 has been described, the same applies to the vehicle guidance device 2a.

  The configurations described in the above embodiments are merely examples of the contents of the present invention, and can be combined with other known technologies, and can be combined with other known technologies without departing from the gist of the present invention. Parts can be omitted or changed.

  1, 1a vehicle guidance system, 2, 2a vehicle guidance device, 3, 3a to 3f sensor, 4, 4a to 4f vehicle, 5a, 5b person, 6 obstacle, 10, 48 communication device, 20, 20a control unit, 21 Information acquisition unit, 22 current position calculation unit, 23, 47 storage unit, 24 travel route calculation unit, 25 predicted position calculation unit, 26 movable range determination unit, 27 target position calculation unit, 28 distribution unit, 29 real-time map generation unit , 41 positioning unit, 42 vehicle speed sensor, 43 gyro sensor, 44 automatic driving unit, 45 display device, 46 operation reception unit, 60 parking facilities, 61-68 parking space, 80 main roads.

In order to solve the above-described problems and achieve the object, a vehicle guidance device of the present invention provides a vehicle position information at different times obtained from one or more vehicles , and a position information of a peripheral object at different times obtained from a sensor. And a current position calculation unit that calculates the current positions of the vehicle and the surrounding objects at the current time based on the current position. In addition, the vehicle guidance device includes a predicted position calculation unit that periodically calculates a predicted position , which is a position of the vehicle and the peripheral object after a first period from the current time , based on the current positions of the vehicle and the peripheral object. The vehicle guidance device includes a target position that is a position of the vehicle after the second period from the current time based on the predicted position, and a target position calculation unit that calculates the speed of the vehicle at the target position. Further, the vehicle guidance device includes a distribution unit that generates distribution information including the target position and the speed, and distributes the distribution information to the vehicle in a cycle of the second period .

Claims (10)

A predicted position calculation unit that calculates a predicted position that is a position of the vehicle and the peripheral object after a first period from a current based on the current position of the one or more vehicles and the peripheral object;
Based on the predicted position, from the present, a target position that is the position of the vehicle after a second period, and a target position calculation unit that calculates the speed of the vehicle at the target position;
A distribution unit that generates distribution information including the target position and the speed, and distributes the distribution information to the vehicle.
A vehicle guidance device comprising: A movable range determination unit that determines a movable range of the vehicle from a predicted position of the vehicle,
With
The predicted position calculation unit determines a possibility of a collision between vehicles or a collision between a vehicle and a surrounding object at the predicted position, and when there is a possibility of a collision, the movable range determination unit determines the movable range. Is determined,
The target position calculation unit further calculates the target position and the speed so as to avoid a collision for a vehicle that may have a collision by using the movable range,
The vehicle guidance device according to claim 1, wherein: The movable range determination unit changes the movable range using a movement history of the vehicle,
The vehicle guidance device according to claim 2, wherein: When the predicted position calculation unit calculates the predicted position of the vehicle, and when the target position calculation unit calculates the target position of the vehicle, a movement path calculation unit that calculates the movement path of the vehicle,
With
The target position calculation unit calculates the target position and the speed so as to be on the moving route when there is no possibility of collision based on the determination result of the predicted position calculation unit, In some cases, the target position and the speed are calculated to avoid a collision,
When the target position calculated by the target position calculating unit is not on the previously calculated moving route, the moving route calculating unit calculates a moving route different from the previously calculated moving route.
The vehicle guidance device according to claim 2 or 3, wherein: A real-time map generation unit that generates a real-time map in which a target position of the vehicle is arranged on a map,
With
The distribution unit further generates the distribution information including the real-time map, and distributes the distribution information to the vehicle,
The vehicle guidance device according to any one of claims 1 to 4, wherein:   An automatic driving unit that controls traveling of a mounted vehicle based on a target position and a speed included in distribution information acquired from the vehicle guidance device according to any one of claims 1 to 5. A vehicle guidance device according to any one of claims 1 to 5,
A vehicle equipped with the automatic driving unit according to claim 6,
A vehicle guidance system comprising: A predicted position calculating unit that calculates a predicted position, which is a position of the vehicle and the peripheral object after a first period from a current time, based on a current position of one or more vehicles and a peripheral object;
A target position calculating unit that calculates, based on the predicted position, a target position that is a position of the vehicle after a second period from the present, and a target position calculating step of calculating a speed of the vehicle at the target position;
A distribution unit that generates distribution information including the target position and the speed, and distributes the distribution information to the vehicle;
A vehicle guidance method, comprising: A display step of displaying information on the target position and the speed in the vehicle having acquired the distribution information;
The vehicle guidance method according to claim 8, comprising: In the vehicle having obtained the distribution information, an automatic driving unit controls an operation of the mounted vehicle based on the target position and the speed,
The vehicle guidance method according to claim 8, comprising:

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