WO2016113890A1 - Travel plan creation device and travel plan changing method - Google Patents

Travel plan creation device and travel plan changing method Download PDF

Info

Publication number
WO2016113890A1
WO2016113890A1 PCT/JP2015/051011 JP2015051011W WO2016113890A1 WO 2016113890 A1 WO2016113890 A1 WO 2016113890A1 JP 2015051011 W JP2015051011 W JP 2015051011W WO 2016113890 A1 WO2016113890 A1 WO 2016113890A1
Authority
WO
WIPO (PCT)
Prior art keywords
travel plan
vehicle
travel
information
plan
Prior art date
Application number
PCT/JP2015/051011
Other languages
French (fr)
Japanese (ja)
Inventor
亮 岡部
靖之 野田
下谷　光生
克治 淺賀
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to PCT/JP2015/051011 priority Critical patent/WO2016113890A1/en
Priority to JP2016569185A priority patent/JP6257808B2/en
Publication of WO2016113890A1 publication Critical patent/WO2016113890A1/en

Links

Images

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles

Definitions

  • the present invention relates to a vehicle travel plan creation technique, and particularly to recalculation of a vehicle travel plan having a function of traveling following other vehicles.
  • Patent Documents 1 to 9 In recent years, development of vehicles having a function of following other vehicles has been progressing (for example, Patent Documents 1 to 9 below).
  • automatic driving including semiautomatic driving such as automatic steering
  • following vehicle can be realized. Thereby, it is possible to reduce the burden on the driver of the following vehicle and to contribute to the efficient operation of the traffic infrastructure.
  • JP 2009-157790 A International Publication No. 2008-018607 JP-A-10-293899 JP 2009-262755 A JP 2010-247758 A JP 2010-146428 A Japanese Patent No. 3818722 Japanese Patent Laid-Open No. 2003-115095 JP 2008-275500 A
  • Patent Documents 1 to 9 consider only the leading vehicle that the following vehicle can follow at the present time, and do not consider the future position of the following vehicle and the leading vehicle. It is possible that it cannot be used. For example, when the destination vehicle cannot find the same leading vehicle as the following vehicle at the time when the following vehicle starts traveling, it is difficult to sufficiently extend the distance that the following vehicle follows.
  • Patent Document 9 it is considered that the follower vehicle changes the leading vehicle in the middle of traveling.
  • the change of the leading vehicle in Patent Document 9 can be performed when the current leading vehicle can no longer be tracked or is new. This is performed when a route or a new leading vehicle is found, and is not planned to use a plurality of leading vehicles in advance in consideration of the future position of the following vehicle.
  • Patent Document 9 discloses a technique for executing recalculation of a travel plan (re-searching for another route) as necessary while the following vehicle is traveling, but before the driver notices it. If the travel plan is changed, the driver may be confused if the actual follow-up travel is different even though the driver assumes the travel plan presented at the time of the travel plan, and the psychological burden may increase.
  • the present invention has been made in order to solve the above-described problems, and is intended to calculate a travel plan again when a situation change that does not exist in a prior travel plan occurs, and further, the driver does not notice. It is an object of the present invention to provide a travel plan creation device and a travel plan change method capable of preventing the travel plan from being changed and increasing the driver's psychological burden.
  • a travel plan creation device includes a processor that executes a program and a storage device that stores the program, and when the program is executed by the processor, the travel plan route and the departure schedule of the host vehicle.
  • a travel plan change notification screen for notifying the user of the change of the travel plan, or a travel plan selection for allowing the user to select whether or not to allow the travel plan to be changed.
  • the screen is intended to be displayed on the display device.
  • a travel plan creation device includes a processor that executes a program and a storage device that stores the program.
  • the program executes a program
  • the planned travel route and departure schedule of the host vehicle are provided.
  • the travel plan change notification screen for notifying the user of the change of the travel plan or the change of the travel plan is displayed. Since the travel plan selection screen that allows the user to select whether to permit or not is displayed, it is possible to prevent the travel plan from being changed without the driver being aware and to reduce the psychological burden on the driver. .
  • the travel plan creation device when the travel plan creation device outputs a recalculated travel plan in a situation where the current travel plan is available, the travel plan recalculated rather than the current travel plan.
  • the travel plan of the own vehicle is changed. Therefore, it is possible to prevent a travel plan having a higher driver burden than the current travel plan from being selected even though the current travel plan is available.
  • FIG. It is a figure which shows the structure of the travel plan presentation apparatus which concerns on Embodiment 1.
  • FIG. It is a figure which shows the structure of the vehicle information delivery system which concerns on Embodiment 1.
  • FIG. It is a figure which shows the example of the own vehicle information. It is a figure which shows the example of vehicle information (other vehicle information).
  • FIG. It is a figure which shows the hardware constitutions of the travel plan presentation apparatus which concerns on Embodiment 1.
  • FIG. It is a figure for demonstrating the relationship between following driving
  • FIG. 4 is a flowchart showing the operation of the travel plan creation device according to the first embodiment. It is a flowchart of a travel plan calculation process. It is a figure which shows the example of a display of a travel plan. It is a figure which shows the example of a display of a travel plan. It is a figure which shows the example of a display of a travel plan. It is a figure which shows the example of a display of a some travel plan. It is a figure which shows the example in the case of recalculating a travel plan.
  • FIG. 10 is a flowchart showing an operation in a follow-up traveling section of the navigation device according to the second embodiment. 10 is a flowchart of travel plan recalculation processing in the second embodiment.
  • FIG. 1 is a diagram illustrating a configuration of a travel plan presentation device 20 according to the first embodiment.
  • FIG. 2 is a diagram showing a configuration of a vehicle information distribution system that distributes information (vehicle information) of vehicles traveling in various places to the travel plan presentation device 20.
  • the travel plan presentation device 20 is a device that creates a travel plan for the user's vehicle (hereinafter also referred to as “own vehicle”) 100 and presents the created travel plan to the user.
  • the travel plan presentation device 20 is mounted on a device independent of the host vehicle 100 such as a mobile phone or a smartphone.
  • the travel plan presentation device 20 is associated with the own vehicle 100 by registering the information of the own vehicle 100 (own vehicle information) in the travel plan presentation device 20.
  • the travel plan presented by the travel plan presentation device 20 is not only the planned travel route of the own vehicle 100 but also a follow-up plan for traveling by causing the own vehicle 100 to follow another vehicle (hereinafter also referred to as “other vehicle”) 101. Is also included. That is, the travel plan includes at least information on the planned travel route of the host vehicle 100, information indicating a section (manual operation section) in which the host vehicle 100 travels by manual operation on the planned travel route, and the host vehicle on the planned travel route. Information indicating a section (following traveling section) in which the vehicle 100 is caused to follow the other vehicle 101 (leading vehicle) and information indicating the other vehicle 101 that is the leading vehicle in each following traveling section are included.
  • the travel plan presentation device 20 includes a travel plan creation device 10, an input device 21 that operates in cooperation with the travel plan creation device 10, a communication device 22, a map information storage device 23, and a display device 24. It is configured as a system consisting of
  • the input device 21 is a user interface that receives operations and information input by the user to the travel plan creation device 10.
  • the input device 21 may be hardware such as operation buttons and a mouse, or may be a software key using icons displayed on the screen.
  • a voice recognition device in which a user inputs operation contents by voice may be used.
  • Information input from the input device 21 includes information on the own vehicle 100 (vehicle information) necessary for the travel plan creation device 10 to create a travel plan, and when the travel plan creation device 10 creates a travel plan. And an item to be prioritized (priority item).
  • the travel plan creation device 10 communicates with the follow-up travel control device 40 and transmits a follow-up travel instruction according to the travel plan to the follow-up travel control device 40.
  • the follow-up travel control device 40 controls the travel control system (not shown) of the own vehicle 100 based on the follow-up travel instruction, and causes the own vehicle 100 to follow the preceding vehicle to be followed.
  • the follow-up travel control device 40 allows the host vehicle 100 to run at a constant speed when the host vehicle 100 is traveling in a section where manual driving is planned (manual driving section), or allows the user to run the host vehicle. Or urging them to perform 100 manual operations.
  • the priority items are not limited to those input by the user, and may be predetermined items, for example.
  • FIG. 3 is a diagram showing an example of own vehicle information.
  • the own vehicle information only needs to include at least information that can identify a scheduled travel route from the departure point to the destination of the own vehicle 100 and information about the scheduled departure time of the own vehicle.
  • information on performance such as the maximum speed and optimum speed of the own vehicle 100 and guidance when the own vehicle 100 follows the vehicle.
  • Vehicle conditions to be permitted (lead vehicle conditions).
  • the vehicle performance information is used when the travel plan creation device 10 creates a travel plan to make another vehicle 101 that the vehicle 100 can follow in terms of performance a candidate for a leading vehicle.
  • the leading vehicle condition is used to make the other vehicle 101 according to the user's preference a candidate for the leading vehicle when the travel plan creation device 10 creates a travel plan.
  • FIG. 3 shows an example in which the leading vehicle condition is “excluding small cars”.
  • the leading vehicle condition is “excluding small cars”.
  • “vehicles with inferior vehicle performance compared to own vehicle”, “running constraint conditions are the same as the own vehicle”, “driving method ( Vehicles having the same engine, EV (Electric vehicle), FCV (Fuel Cell), etc.) may be used.
  • the leading vehicle condition is not an alternative of being acceptable or not, and priority may be provided (for example, “a small vehicle or a normal vehicle is given priority over a light vehicle”).
  • the travel plan creation device 10 has a route search function, and when the user inputs a departure place and a destination (and a waypoint) using the input device 21, the travel plan creation device. 10 is configured to search for an appropriate route and determine a planned travel route.
  • the expression format of the departure point, destination, and waypoint may be an address, or a latitude / longitude.
  • the priority item is an evaluation standard for evaluating the magnitude of the burden on the driver (driver burden) for the travel plan.
  • a plurality of items are prepared in advance as priority item candidates, and the user selects one or more of them as priority items.
  • priority items the ratio of the follow-up travel section in the total length of the planned travel route (length of the follow-up travel distance), the arrival time at the destination, the ratio of the travel time in the follow-up travel section in the total travel time (follow-up travel time) Length) and the number of changes in the leading vehicle. It is also conceivable that information on the other vehicle 101 as the leading vehicle (driving evaluation value, route certainty, etc. shown in FIG. 4) is a priority item.
  • the travel plan creation device 10 creates a travel plan so that the driver burden evaluated based on the priority item set (selected) by the user is minimized. Further, when a plurality of priority items are set, the travel plan creation device 10 creates a travel plan that minimizes the driver burden for each priority item, and the user selects one of them. You may do it.
  • the communication device 22 of the travel plan presentation device 20 is for the travel plan creation device 10 to communicate with the vehicle information server 102 of the vehicle information distribution system (FIG. 2).
  • the vehicle information server 102 collects vehicle information transmitted by a plurality of vehicles (other vehicles) 101 that travel in various places, and in response to a request from the travel plan creation device 10, It transmits to the travel plan creation apparatus 10 as other vehicle information.
  • the vehicle information server 102 does not necessarily have to transmit the vehicle information of all the other vehicles 101 as the other vehicle information to the travel plan creation device 10. Only the vehicle information of the other vehicle 101 may be transmitted, or only the vehicle information of the other vehicle 101 existing within a certain range from the planned travel route of the host vehicle 100 may be transmitted.
  • the other vehicle 101 that is a private vehicle directly transmits vehicle information to the vehicle information server 102.
  • the other vehicle 101 is a commercial vehicle (route bus, express bus, delivery vehicle, commercial leading vehicle, etc.)
  • the other vehicle 101 transmits not only the vehicle information directly to the vehicle information server 102 but also the other vehicle.
  • a mode in which the company 103 to which the company 101 belongs transmits vehicle information of the other vehicle 101 to the vehicle information server 102 is also conceivable.
  • the vehicle information may include bus operation information (route map, timetable, operation delay information, etc.), delivery vehicle delivery information (delivery route and delivery schedule), and the like.
  • FIG. 4 is a diagram illustrating an example of vehicle information (other vehicle information) transmitted from the vehicle information server 102 to the travel plan creation device 10.
  • the other vehicle information only needs to include at least information capable of predicting the planned traveling route of the plurality of other vehicles 101 and the scheduled passage time of each point on the planned traveling route.
  • the information may be obtained from bus operation information or delivery information of a delivery vehicle.
  • the estimated departure time, departure location, destination, quality evaluation value (driving evaluation value) of the other vehicle 101 It includes certainty of the scheduled travel route and scheduled passage time (route certainty), and vehicle conditions (tracking vehicle conditions) that allow tracking when the vehicle is a leading vehicle.
  • the driving evaluation is determined based on, for example, a track record as a leading vehicle (for example, a length of travel time as a leading vehicle), an evaluation from a follower who has led in the past, or the like.
  • the route certainty is low for other vehicles 101 (mainly private cars) that do not require high planning for the planned travel route and waypoints, and other vehicles 101 (for which high planning properties are required for the planned travel route and waypoints). High value (mainly for commercial vehicles).
  • the other vehicle information may include information on the predicted speed of the other vehicle 101.
  • the travel plan creation device 10 can estimate the scheduled passage time of each point from the planned travel route and the predicted speed. In that case, the vehicle information server 102 does not necessarily have to distribute information on the scheduled passage time of each point. On the other hand, as shown in FIG. 4, if the scheduled passage time of each point is included, the travel plan creation device 10 can calculate the predicted speed of the other vehicle 101 from those values.
  • the map information storage device 23 of the travel plan presentation device 20 is a storage medium that stores map information including road network data, and includes, for example, a hard disk, a removable disk, and a memory. This map information is used when the travel plan creation device 10 performs a route search for determining the planned travel route of the vehicle 100 or when the created travel plan is displayed superimposed on a map.
  • the display device 24 is for displaying the travel plan created by the travel plan creation device 10 and presenting it to the user.
  • the display device 24 and the input device 21 may be configured as one touch panel having both functions.
  • the travel plan creation device 10 includes a host vehicle information acquisition unit 11, an other vehicle information acquisition unit 12, a travel plan calculation unit 13, a priority item setting unit 14, a travel plan holding unit 15, a display processing unit 16, and a travel plan recalculation instruction unit. 17.
  • the own vehicle information acquisition unit 11 acquires information on the own vehicle 100 (own vehicle information) input from the input device 21 by the user.
  • An example of the own vehicle information is shown in FIG. 3, but the own vehicle information includes at least information that can specify a planned travel route from the departure point of the own vehicle 100 to the destination, information on the scheduled departure time of the own vehicle, and As long as it is included.
  • the host vehicle information acquisition unit 11 includes a planned travel route acquisition unit 11a that performs route search using map information stored in the map information storage device 23.
  • the scheduled travel route acquisition unit 11a determines the planned travel route of the host vehicle 100 by searching for an optimal route between the departure point and the destination of the host vehicle 100. According to this configuration, the user only has to input the information of the departure place and the destination to the input device 21 instead of the information of the planned travel route of the host vehicle 100, so that convenience is improved.
  • the planned travel route acquisition unit 11a may acquire the planned travel route calculated by an external navigation device without calculating the planned travel route of the vehicle 100 itself.
  • the planned travel route acquisition unit 11a may be omitted.
  • the other vehicle information acquisition unit 12 acquires vehicle information (other vehicle information) of a plurality of other vehicles 101 from the vehicle information server 102 using the communication device 22.
  • vehicle information other vehicle information
  • An example of other vehicle information is shown in FIG. 4, but the other vehicle information includes information that can predict at least a scheduled travel route of each other vehicle 101 and a scheduled passage time of each point on the planned travel route. It only has to be included.
  • the travel plan calculation unit 13 creates a travel plan for the host vehicle 100 based on the host vehicle information and the other vehicle information. As described above, the travel plan includes at least information on the planned travel route, information indicating the manual operation section and the follow travel section on the travel planned route, and the other vehicle 101 that is a leading vehicle in each follow travel section. And information indicating. In addition, the travel plan calculation unit 13 selects a leading vehicle from a plurality of other vehicles 101 for each following travel section.
  • the priority item setting unit 14 acquires information on the priority item selected by the user using the input device 21 and sets the selected priority item in the travel plan calculation unit 13.
  • the travel plan holding unit 15 holds the travel plan calculated by the travel plan calculation unit 13.
  • the display processing unit 16 performs a process for causing the display device 24 to display the travel plan held in the travel plan holding unit 15.
  • the travel plan recalculation instruction unit 17 instructs the travel plan calculation unit 13 to recalculate the travel plan when a predetermined condition is satisfied.
  • the travel plan recalculation instruction unit 17 travels when a predetermined time has elapsed since the previous travel plan calculation and when other vehicle information distributed by the vehicle information server 102 has changed.
  • the plan calculation unit 13 is instructed to recalculate the travel plan.
  • FIG. 5 is a diagram illustrating a hardware configuration of the travel plan creation device 10 according to the first embodiment.
  • the travel plan creation device 10 includes at least a processor 51, a memory 52 (storage device), and an input / output interface 53.
  • the host vehicle information acquisition unit 11, the other vehicle information acquisition unit 12, the travel plan calculation unit 13, the priority item setting unit 14, the travel plan holding unit 15, the display processing unit 16, and the travel plan recalculation instruction unit 17 include a processor 51. Is realized by executing a program stored in the memory 52 (a storage area as the travel plan holding unit 15 is secured in the memory 52).
  • the input device 21, the communication device 22, the map information storage device 23, and the display device 24 constituting the travel plan presentation device 20 are connected to the input / output interface 53, and the processor 51 executes a program stored in the memory 52. Is controlled by In FIG. 1, the input device 21, the communication device 22, the map information storage device 23, and the display device 24 are configured to be externally attached to the travel plan creation device 10. You may make it arrange
  • processor 51 and one memory 52 are shown, but a plurality of processors 51 and a plurality of memories 52 may cooperate to realize the function of each element of the travel plan creation device 10. .
  • the own vehicle S corresponds to the own vehicle 100 of FIG. 2, and each of the other vehicles X1, X2,... Corresponds to the other vehicle 101 of FIG.
  • the own vehicle S scheduled to travel on the roads R1 and R2 and the other vehicle X1 scheduled to travel on the roads R3 and R2 are approximately at the intersection C1 (connection point of the roads R1, R2 and R3).
  • the driver of the host vehicle S After the host vehicle S and the other vehicle X1 enter the road R2, the driver of the host vehicle S performs a specific operation on the host vehicle S in a state where the host vehicle S follows the other vehicle X1 as shown in FIG. Then, the own vehicle S starts following traveling with the other vehicle X1 as the leading vehicle. Normally, the driver's burden is reduced by causing the vehicle S to follow the vehicle.
  • the speed of the other vehicle X1 is very slow, for example, if the own vehicle S is made to follow the other vehicle X1, the arrival time at the destination will be delayed (running time will be longer), so it will be burdened to drive for a long time.
  • the driver burden may increase.
  • the driver's burden is reduced by manually driving the vehicle S on the road R2 to shorten the travel time to the destination.
  • the follow-up driving and the driver's burden are not in a fixed relationship and vary depending on the driver's preference.
  • Priority items that the user inputs to the travel plan creation device 10 using the input device 21 are evaluation criteria for evaluating the driver burden based on such driver preferences. For example, if the priority item is “the length of the following travel distance”, it is evaluated that the travel plan as shown in FIG. 8 has a greater burden on the driver than the travel plan as shown in FIG. Is done. If the priority item is “arrival time at the destination”, the travel plan as shown in FIG. 8 in which the travel time is shortened is evaluated as having a smaller driver burden than the travel plan as shown in FIG. Is done.
  • FIG. 9 a case is considered where there are two other vehicles X1 and X2 that the vehicle S scheduled to travel on the roads R1 and R2 can follow.
  • the other vehicle X1 is scheduled to travel on the roads R1 and R2 like the host vehicle S
  • the other vehicle X2 is scheduled to travel on the roads R1 and R3.
  • the other vehicle X1 is assumed to be slower than the other vehicle X2.
  • the vehicle R when the own vehicle S is made to follow the other vehicle X1, the vehicle R can run by following the other vehicle X1 on the roads R1 and R2. Although the burden can be reduced, the arrival time at the destination will be delayed. Further, as shown in FIG. 11, when the own vehicle S is made to follow the other vehicle X2, the burden on the driver can be reduced in that the travel time can be reduced, but only the vehicle up to the intersection C1 (the connection point of the roads R1, R2, R3). Since the vehicle S cannot be caused to follow, the following travel distance is shortened.
  • the leading vehicle is changed during the follow-up running.
  • the vehicle S scheduled to travel on the roads R1 and R4 follows the road R1 with the other vehicle X1 scheduled to travel on the roads R1 and R2 as a leading vehicle.
  • the other vehicle X1 and the other vehicle X2 reach the intersection C1 (connection point of the roads R1 to R4) at substantially the same time.
  • the tracking of the host vehicle S to the other vehicle X1 can be terminated at the intersection C1, and then the host vehicle S can be tracked to the other vehicle X2 as shown in FIG.
  • the follow-up travel distance can be increased by transferring the leading vehicle.
  • the ease of changing the leading vehicle is also taken into consideration.
  • FIG. 14 there are two other vehicles X1 and X2 that the vehicle S scheduled to travel on the roads R1 and R4 can follow, and both the other vehicles X1 and X2 are scheduled to travel on the roads R1 and R2.
  • the distance at which the host vehicle S can follow the other vehicle X1 and the distance at which the host vehicle S can follow the other vehicle X2 are the same.
  • the driver's burden changes depending on which of the other vehicles X1 and X2 the vehicle S follows.
  • the other vehicle X1 reaches the intersection C1 (connection point of the roads R1 to R4) at almost the same time as the other vehicle X3, and the other vehicle X2 Assume that the intersection C1 is reached at a time earlier than X3.
  • the connection to the other vehicle X3 can be easily performed as shown in FIG. 17 (if the own vehicle S is made to follow the other vehicle X2, Without waiting for the other vehicle X3, the host vehicle S cannot follow the other vehicle X3), and the driver's burden can be reduced.
  • the driver's burden may increase due to the arrival time at the destination being delayed.
  • the host vehicle S is made to follow the other vehicle X2 as shown in FIG. 18 to quickly reach the intersection C1, and the host vehicle S is manually driven on the road R4 as shown in FIG.
  • the driver burden can be reduced.
  • the host vehicle S when there is no other vehicle that can be a leading vehicle in the vicinity of the own vehicle S, it is also considered to stop the own vehicle S and wait for the other vehicle.
  • FIG. 20 consider a case in which there is another vehicle X1 having the road R1 as a travel route behind the host vehicle S scheduled to travel on the road R1.
  • the host vehicle S is stopped in the service area SA, waits for the other vehicle X1 to approach, and then the host vehicle S follows the other vehicle X1 as shown in FIG.
  • the own vehicle S can be caused to follow the road R1.
  • the follow-up mileage can be lengthened and the driver's burden can be reduced (the arrival time at the destination is delayed, but the driver's burden can be reduced by stopping the vehicle S and waiting). Increase is suppressed).
  • the waiting of the own vehicle S can also be used to change (transfer) the leading vehicle.
  • the vehicle S scheduled to travel on the roads R1 and R2 travels following the other vehicle X1 scheduled to travel on the roads R1 and R3.
  • the tracking of the host vehicle S to the other vehicle X1 is terminated before the service area SA, and as shown in FIG. 24, the host vehicle S is stopped in the service area SA and waits for the other vehicle X2 to approach.
  • the leading vehicle can be changed from the other vehicle X1 to the other vehicle X2 by making the own vehicle S follow the other vehicle X2 as shown in FIG.
  • the host vehicle S can be caused to follow the road R2 as well as the road R2.
  • the travel plan creation device 10 of the present embodiment further travels on the road ahead.
  • a travel plan for the vehicle 100 is created in consideration of the presence of the vehicle.
  • the host vehicle S when the host vehicle S is scheduled to travel on the roads R1, R8, R9, and R6, not only the traveling road R1 and the next road R8, but also a further road Consider other vehicles traveling on R9 and R6.
  • the priority item when the priority item is set to “the length of the following travel distance”, the vehicle S is caused to follow the other vehicle X1 on the road R8 as shown in FIG. 27, and the road R9 is shown as shown in FIG.
  • the travel plan of the host vehicle S is created so that the host vehicle S follows the other vehicle X2 (that is, so as to transfer between the other vehicle X1 and the other vehicle X2).
  • the priority item is set to “the length of the follow-up mileage”, when it is predicted that there is no other vehicle that the vehicle S can follow on the road R6 as shown in FIG. 29, the road R6 A travel plan for manually driving the host vehicle S is established.
  • FIG. 32 is a flowchart showing the operation.
  • the own vehicle information acquisition unit 11 and the priority item setting unit 14 acquire information input by the user from the input device 21 (step S101). Specifically, the host vehicle information acquisition unit 11 acquires host vehicle information input by the user, and the priority item setting unit 14 acquires the priority item selected by the user.
  • the own vehicle information includes at least information that can identify a scheduled travel route from the departure point of the own vehicle 100 to the destination, and information of the scheduled departure time of the own vehicle. Since the own vehicle information acquisition unit 11 of the present embodiment includes the planned travel route acquisition unit 11a, if the user inputs the departure point and the destination of the own vehicle 100, the own vehicle information acquisition unit 11 The planned travel route of the car 100 can be acquired.
  • the other vehicle information acquisition unit 12 acquires the other vehicle information via the communication device 22 (step S102).
  • the other vehicle information includes at least information capable of predicting the planned traveling route of the plurality of other vehicles 101 and the scheduled passage time of each point on the planned traveling route.
  • the travel plan calculation unit 13 performs a process (travel plan calculation process) for calculating the travel plan of the host vehicle 100 (step S103). Details of the travel plan calculation process will be described later.
  • the travel plan calculated by the travel plan calculation unit 13 is stored in the travel plan holding unit 15 (step S104).
  • the display processing unit 16 generates image data for displaying the travel plan stored in the travel plan holding unit 15 on the display device 24 (step S105).
  • the image data generated by the display processing unit 16 is input to the display device 24. As a result, the travel plan is displayed on the display device 24 (step S106).
  • FIG. 33 is a flowchart of a travel plan calculation process.
  • the travel plan calculation unit 13 divides the vehicle into a plurality of sections by setting a plurality of division points on the planned travel route of the vehicle 100 (step S201). Between two adjacent division points is one section, and each section is a unit for calculating a travel plan. Any method may be used for arranging the dividing points. For example, a method is considered in which a point having a specific attribute such as a point where a plurality of roads are connected (intersection, branching point, etc.) or a point where a vehicle can be stopped (parking area, service area, road station, etc.) is used as a division point. It is done. Further, a simple method of arranging the dividing points for every fixed distance may be used.
  • the number of division points may be determined according to the calculation capability of the processor 51 as the travel plan calculation unit 13 and the definition required for the travel plan.
  • N + 1 divided points P 0 to P N are set, where the start point (starting point) of the planned travel route is the division point P 0 and the end point (destination) of the planned travel route is the division point P N.
  • the planned travel route is divided into N sections.
  • a section divided by the division point P i and the division point P i + 1 is defined as a section Q i . That is, the first interval is represented as Q 0 and the last interval is represented as Q N ⁇ 1.
  • the travel plan calculation unit 13 clears “calculated travel plan set RF” that is a collection of data in which the calculated travel plan data is stocked (step S202).
  • the travel plan calculation unit 13 calculates a plurality of travel plans having different patterns, stores them in the calculated travel plan set RF, and then conforms to the priority item selected by the user from the stored travel plans. Is extracted and output.
  • the travel plan calculation unit 13 clears “during travel plan R”, which is data of a travel plan being calculated (step S203).
  • each variable used for calculating the traveling plan is initialized based on the vehicle information.
  • a variable T representing time, a variable L representing a position, and a variable D representing a section are used (hereinafter, these variables are simply referred to as “time T”, “position L”, “section D ”).
  • time T is set to the scheduled departure time of the vehicle 100
  • the position L is set to the division point P 0 is the starting place
  • the interval D is set to the interval Q 0 is the first interval.
  • the travel plan calculation unit 13 refers to the map information in the map information storage device 23 and can stop the own vehicle 100 near the position L and wait for the other vehicle 101 as a leading vehicle. It is determined whether there is a (standby possible point) (step S204).
  • the “near position L” here may be in front of or in the middle of section D (including position L) (however, when position L is division point P 0 , it is in front of section D (section Q 0 )). There is no leg).
  • a certain distance from the position L may be defined as “near position L”, or two sections (section D and the section immediately before it) sandwiching position L may be defined as “near position L”. Good.
  • the standby possible point may not be a point on the planned travel route, and a standby point may be a point within a certain range around the planned travel route (for example, a range of 20 m around the section D and the immediately preceding section). It is good. In this case, the shorter the distance between the planned travel route and the standby point, the faster the time that can be merged with the leading vehicle, that is, the follow-up traveling can be started earlier, so the driver's burden is reduced.
  • the travel plan calculation unit 13 searches for other vehicles 101 that are candidates for a leading vehicle that can wait at the standby point. Specifically, the travel plan calculation unit 13 searches for other vehicles 101 that pass through the section D within a predetermined time from the time T based on the other vehicle information. Step S205).
  • whether or not the other vehicle 101 can join the own vehicle 100 in the section D is determined by whether or not the own vehicle 100 can join within a predetermined time after entering the section D (standby is possible). If the point is an intermediate point in the section D, it is determined based on whether or not the vehicle 100 can join the waiting point after the vehicle 100 has departed). For example, the other vehicle 101 that travels in the section D at a speed that exceeds the vehicle performance of the host vehicle 100 cannot merge.
  • the travel plan calculation part 13 selects the action in the area D from the following two types, and adds the selected content to the travel plan R being calculated (step S206).
  • [Action 1-1] Wait for the other vehicle 101 found in step S205 at the standby possible point.
  • [Action 1-2] Do not wait for the other vehicle 101. If the action 1-1 is selected in step S206, the time T is updated by adding the waiting time to the time T. If action 1-2 is selected in step S206, the value of time T is maintained.
  • step S206 either action 1-1 or action 1-2 is selected.
  • the travel plan for selecting action 1-1 and action 1-2 are finally selected. Both the travel plan to be created will be created. However, if the corresponding other vehicle 101 is not found in step S205, the action 1-1 is not selected.
  • step S205 If a plurality of corresponding other vehicles 101 are found in step S205, the action 1-1 is further divided into a plurality of options, and a travel plan for waiting for each of the other vehicles 101 is created. For example, if two vehicles A and B are found as corresponding other vehicles 101 in step S205, one of the following three actions is selected in step S206. [Action 1-1A] Wait for vehicle A at a point where standby is possible. [Action 1-1B] Wait for vehicle B at a point where standby is possible. [Action 1-2] Do not wait for the other vehicle 101 (vehicle A, vehicle B).
  • the target of the action 1-1 may be limited to a part of them. For example, among the corresponding other vehicles 101, only those having a relatively short waiting time may be targeted, or only those having a destination relatively close to the destination of the vehicle 100 may be targeted. Conceivable. By doing so, the choices in step S206 are reduced, and the calculation load of the processor 51 as the travel plan calculation unit 13 can be reduced.
  • the travel plan calculation unit 13 searches for other vehicles 101 that are candidates for the leading vehicle of the vehicle 100 in the section D. Specifically, the travel plan calculation unit 13 can pass through the section D and join the own vehicle 100 in the section D among the other cars 101 in the vicinity of the position L at the time T based on the other vehicle information. Is searched (step S207). Here again, whether or not the other vehicle 101 can join the own vehicle 100 in the section D is determined by whether or not the own vehicle 100 can join within a predetermined time after entering the section D.
  • step S207 when the priority item selected by the user includes an item related to the other vehicle 101 as the leading vehicle, only the other vehicle 101 suitable for the priority item may be searched. For example, when the driving evaluation value or the route certainty of the other vehicle 101 is selected as the priority item, only the other vehicle 101 having a certain level or higher is selected as a search target.
  • step S207 when the difference between the time T and the current time is larger than a predetermined threshold (that is, when the time T indicates a time after a long time has elapsed from the current time), the path certainty is obtained. It is preferable to search only the other vehicle 101 having a high speed. This is because, after a long time has elapsed, there is a high possibility that the planned travel route and the scheduled passage time of the other vehicle 101 with low route certainty have been changed. In addition, it is preferable to search only the other vehicle 101 having a vehicle performance equal to or lower than that of the own vehicle 100. This is because it may be difficult for the host vehicle 100 to travel following the other vehicle 101 having higher vehicle performance than the host vehicle 100.
  • the travel plan calculation unit 13 selects an action in the section D from the following two ways, and adds the contents to the calculated travel plan R (step S208).
  • the host vehicle 100 is caused to travel following the other vehicle 101 found in step S207.
  • the own vehicle 100 is driven manually.
  • the section D is a follow-up traveling section, and information for identifying the other vehicle 101 that is the leading vehicle in the section D (for example, a vehicle body number, a registration ID for the vehicle information distribution system, etc.) Is added to the calculated travel plan R.
  • the time T is updated by adding the travel time of the section D calculated from the predicted speed of the other vehicle 101 as the leading vehicle to the time T.
  • the position L is updated by setting the position L to the next division point.
  • the section D is updated by setting the position D to the next section (section starting from the updated position L).
  • the traveling plan is such that the leading vehicle is not changed in those sections.
  • section D is a manual operation section.
  • the time T is updated by adding the travel time of the section D calculated based on the speed of the vehicle 100 to the time T.
  • the position L is updated by setting the position L to the next division point.
  • the section D is updated by setting the position D to the next section (section starting from the updated position L).
  • step S208 either action 2-1 or action 2-2 is selected. However, in the process of step S211 described later, a travel plan for selecting action 2-1 and action 2-2 are finally selected. Both the travel plan to be created will be created. However, if the corresponding other vehicle 101 is not found in step S207, the action 2-1 is not selected in step S208.
  • the action 2-1 is further divided into a plurality of options, and a travel plan for causing each other vehicle 101 to follow the own vehicle 100 is created.
  • a travel plan for causing each other vehicle 101 to follow the own vehicle 100 is created.
  • two vehicles A and B are found as corresponding other vehicles 101 in step S207.
  • one of the following three actions is selected.
  • [Action 2-1A] The host vehicle 100 is caused to travel following the vehicle A.
  • Action 2-1B The host vehicle 100 is caused to travel following the vehicle B.
  • the own vehicle 100 is driven manually.
  • the target of the action 2-1 (the target that the host vehicle 100 follows) may be limited to a part of them according to the priority items. . For example, only the other vehicle 101 whose destination is a point relatively close to the destination of the own vehicle 100 may be targeted. By doing so, the choices in step S208 are reduced, and the calculation load of the processor 51 as the travel plan calculation unit 13 can be reduced.
  • the travel plan calculation unit 13 checks whether or not the updated position L is a destination (division point P N ) (step S209). If the position L is not the destination, that is, if the position L is an intermediate point on the planned travel route (NO in step S209), in order to calculate a travel plan for the section starting from the position L (updated section D), The process returns to step S204.
  • step S209 When the position L is the destination (the end point of the planned travel route) (YES in step S209), the travel plan for the entire travel planned route is stored in the calculated travel plan R, and the calculated travel is calculated. It adds to the plan set RF (step S210). Then, it is determined whether or not all the action combination patterns (behavior combination patterns) that can be selected in step S206 and step S208 have been selected (whether all travel plans corresponding to each action combination pattern have been created). (Step S211).
  • step S211 If there are unselected action combination patterns (NO in step S211), the process returns to step 203 to create a travel plan corresponding to these action combination patterns. In the second and subsequent loops, the same action combination pattern as previously selected is not selected.
  • step S211 When all the action combination patterns have been selected (YES in step S211), all the travel plans corresponding to the respective action combination patterns are stored in the calculated travel plan set RF. In this case, a travel plan that is determined to have a low driver burden is extracted from the calculated travel plan set RF and output (step S212). At this time, the driver burden of each travel plan is evaluated in consideration of priority items.
  • the priority item is “the length of the follow-up travel distance”, it is determined that the travel plan having the largest proportion of the follow-up travel section in the total length of the planned travel route has a smaller driver burden.
  • the priority item is “arrival time at destination”, it is determined that the driving plan with the earliest expected arrival time at the destination has a smaller driver burden.
  • the priority item is “the length of the follow-up travel time”, it is determined that the travel plan having the largest travel time ratio of the follow-up travel section in the total travel time has a smaller driver burden.
  • the priority item is “the number of changes of the leading vehicle”, it is determined that the driving plan with a smaller number of changes of the leading vehicle has a smaller driver burden.
  • the priority item when the priority item is “driving evaluation value”, it is determined that the driving plan with a higher average driving evaluation value of the other vehicle 101 serving as the leading vehicle has a smaller driver burden.
  • the priority item is “route certainty”, it is determined that the driving plan with a higher average value of the route certainty evaluation value of the other vehicle 101 serving as the leading vehicle has a smaller driver burden.
  • the calculation of the driver burden for each travel plan does not necessarily have to be performed after the travel plans for all the sections have been determined (for example, step S212), and the process for determining the travel plans for each section (a loop of steps S204 to S209). May be performed in parallel.
  • the travel plan calculation unit 13 may output a plurality of travel plans so that the user can select one of them. For example, a mode in which the travel plan calculation unit 13 outputs a predetermined number of travel plans from the one with the smallest driver burden or the one with the smallest driver burden for each selection item is conceivable.
  • the travel plan output by the travel plan calculation unit 13 is displayed on the display device 24 by the processes of steps S105 and S106 in FIG.
  • an example of the display mode of the travel plan output by the travel plan calculation unit 13 is shown.
  • the travel plan may be displayed as a graph as shown in FIG. As shown in FIG. 35, by color-coding the follow-up travel section and the manual operation section, it becomes easy to grasp the proportion of the follow-up travel section or the manual operation section in the entire planned travel route. Therefore, there is an advantage that the user can intuitively recognize the driver burden of the travel plan.
  • characters and figures representing the travel plan may be displayed superimposed on the map.
  • a line indicating the planned travel route of the host vehicle 100 (a triangular icon surrounded by a circle) is displayed in different colors for the following travel section and the manual operation section.
  • the current position (triangle icon) of the other vehicle 101 serving as the leading vehicle and its planned travel route are also shown.
  • FIG. 37 is a display example when a plurality of travel plans are respectively graphed and displayed simultaneously.
  • the travel plans are graphed, the user can intuitively recognize the driver burden of the travel plans. Therefore, when the travel plans that are graphed are displayed side by side, the driver burdens of the travel plans can be easily compared. For example, if the user looks at the screen of FIG. 37, the travel plan with the longest follow-up travel distance is “travel plan 3”, and the travel plan with the smallest number of changes in the leading vehicle is “travel plan 1”. Can be seen at a glance.
  • the length of the horizontal axis of each graph represents distance, but may represent time.
  • the display form in which the length of the horizontal axis with each graph represents time is when the driver wants to select a travel plan with a long follow-up travel time or when he wants to select a travel plan with the earliest arrival time at the destination, Selection is easy and effective.
  • the information indicating the leading vehicle is simply displayed as ⁇ follow the vehicle X1 '', but actually the leading vehicle is more specifically shown.
  • Information that can be identified is displayed. Since the driver must visually find the leading vehicle before starting follow-up, information that can identify the leading vehicle from the appearance, such as the vehicle type, vehicle name, body color, number of the license plate, etc. It is desirable to display it as information indicating. Further, the vehicle type, the vehicle name, and the color of the vehicle body may be expressed using a photograph or image of the vehicle.
  • the travel plan recalculation instruction unit 17 travels when a certain time has elapsed since the previous travel plan calculation and when other vehicle information distributed by the vehicle information server 102 has changed.
  • the plan calculation unit 13 is instructed to recalculate the travel plan.
  • a travel plan that causes the vehicle 100 to follow the other vehicle X1 and the other vehicle X2 is created as shown in FIGS. R8, R9).
  • the travel plan is created, as shown in FIG. 38, when another vehicle X3 scheduled to travel on the roads R4, R9, and R6 appears, the vehicle S follows the other vehicle X3 on the road R9 instead of the other vehicle X2. If the travel plan is changed so that the vehicle travels, the road R6 can also follow the road as shown in FIG. As a result, the follow-up mileage becomes longer, so the driver's burden can be reduced (when the priority item is “the length of the follow-up mileage”).
  • the travel plan recalculation instruction unit 17 makes it possible to change such a travel plan.
  • the travel plan It is desirable to change the travel plan if the recalculated travel plan can make the driver's burden smaller than the current travel plan.
  • the travel plan is recalculated if the current travel plan is not available. I have to change it. However, even in such a case, it is not preferable to change the travel plan without user approval.
  • the display processing unit 16 selects which one as shown in FIG. A screen (travel plan selection screen) that allows the driver to select whether to adopt the travel plan is displayed on the display device 24.
  • the travel plan selection screen of FIG. 40 the recalculated travel plan and text and icons for selecting whether to change the travel plan are superimposed on the map.
  • a text representing the current travel plan and a text representing the recalculated new travel plan may be displayed side by side.
  • a graph representing the current travel plan and a graph representing the recalculated new travel plan may be displayed side by side on the travel plan selection screen. If both the current travel plan and the recalculated travel plan are displayed on the travel plan selection screen as shown in FIGS. 41 and 42, the user can easily compare the two.
  • the travel plan change notification screen for notifying the driver to that effect is displayed.
  • the travel plan change notification screen of FIG. 43 the travel plan after the change (recalculated travel plan) and the text indicating that the travel plan has been changed are superimposed on the map.
  • illustration is omitted, on the travel plan change notification screen, the travel plan after the change may be displayed as text or a graph.
  • the travel plan change notification screen or the travel plan selection screen is displayed on the display device 24 so that the user (driver) is not aware. It is possible to prevent the travel plan from being changed and to reduce the psychological burden on the driver.
  • FIG. 44 is a flowchart showing the processing.
  • the travel plan recalculation instruction unit 17 confirms whether or not a certain time has elapsed since the previous travel plan creation (step S301). When a certain time has elapsed since the previous travel plan creation (YES in step S301), the travel plan recalculation instruction unit 17 causes the travel plan calculation unit 13 to perform a travel plan calculation process to recalculate the travel plan ( Step S306).
  • the travel plan calculation process in step S306 may be the same as that shown in FIG.
  • the travel plan recalculation instruction unit 17 transmits the other vehicle 101 serving as the leading vehicle of the host vehicle 100 via the communication device 22.
  • Other vehicle information is acquired (step S302), and it is confirmed whether or not the other vehicle information has been changed (step S303).
  • the travel plan recalculation instruction unit 17 causes the travel plan calculation unit 13 to recalculate the travel plan (step S306).
  • step S303 If a certain time has not elapsed since the previous travel plan was created and no other vehicle information has been changed (NO in step S303), the travel plan is not recalculated and the current travel plan is It is maintained (step S304). That is, the travel plan stored in the travel plan holding unit 15 is maintained.
  • the travel plan recalculation instruction unit 17 checks whether or not the current travel plan is available. (Step S307). If there is a large change in the other vehicle information that contributes to the current travel plan 101 (a change that cannot maintain the current travel route), the current travel plan becomes unusable. This determination can be made by checking whether or not the same travel plan as the current travel plan is stored in the calculated travel plan set RF during the travel plan calculation process in step S306.
  • step S307 it is confirmed whether the driver burden can be reduced by the recalculated travel plan. That is, it is confirmed whether or not the driver burden of the recalculated travel plan is smaller than the driver burden of the current travel plan. If the driver burden cannot be reduced by the recalculated travel plan (NO in step S308), the current travel plan is maintained (step S304).
  • step S308 If the driver burden can be reduced by the recalculated travel plan (YES in step S308), image data of the travel plan selection screen as shown in FIG. 40 is generated (step S309), and the travel plan selection screen is displayed on the display device 24. (Step S310). If there is a travel plan change instruction from the user (YES in step S311), the recalculated travel plan is adopted. That is, the travel plan held in the travel plan holding unit 15 is changed from the current travel plan to the recalculated one (step S312).
  • step S304 If the user does not receive a travel plan change instruction (NO in step S311), the current travel plan is maintained (step S304).
  • the recalculated travel plan is more burdensome to the driver than the current travel plan.
  • the travel plan can be changed only when is small. Accordingly, it is possible to prevent a travel plan having a larger driver burden than the current travel plan from being selected even though the current travel plan is available.
  • step S313 the recalculated travel plan is automatically adopted (step S313), and an image of the travel plan change notification screen as shown in FIG. Data is generated (step S314), and a travel plan change notification screen is displayed on the display device 24 (step S315).
  • step S305 it is confirmed whether or not the vehicle 100 has finished traveling. If the user inputs that fact or the travel plan creation device 10 can confirm that the current location of the host vehicle 100 is the destination, it is determined that the travel of the host vehicle 100 has ended (YES in step S305), and travel The plan recalculation process is terminated. If the traveling of the host vehicle 100 is not completed, the above processing is repeatedly executed until the traveling is completed.
  • FIG. 45 is a diagram illustrating a configuration of the navigation device 30 according to the second embodiment.
  • the navigation device 30 is configured by adding a current position acquisition device 31, a route search device 32, and a guidance device 33 to the travel plan presentation device 20 of FIG.
  • the hardware configuration of the navigation device 30 is basically the same as that in FIG. 5, and the current position acquisition device 31, the route search device 32, and the guidance device 33 are also processor 51, as are the elements of the travel plan creation device 10. Is realized by executing a program stored in the memory 52.
  • FIG. 46 is a diagram showing a configuration of a vehicle information distribution system according to the second embodiment.
  • the vehicle information distribution system is substantially the same as that in FIG. 2, but has a configuration in which a navigation device 30 including a travel plan presentation device 20 is mounted on the host vehicle 100.
  • the navigation device 30 may not be permanently installed in the host vehicle 100, and may be a portable navigation device that can be brought into the host vehicle 100, for example.
  • the current position acquisition device 31 of the navigation device 30 calculates the current location of the navigation device 30 from position information acquired from GPS (Global Positioning System) or the like.
  • GPS Global Positioning System
  • the route search device 32 searches for an optimum route from the departure point to the destination set by the user. Normally, since the current location acquired by the current location acquisition device 31 is automatically set as a departure location, the user simply inputs the destination and the route from the current location to the destination (the planned travel route of the vehicle 100). Can be obtained.
  • the planned travel route acquisition unit 11 a included in the own vehicle information acquisition unit 11 acquires the planned travel route of the host vehicle 100 calculated by the route search device 32.
  • the guidance device 33 provides guidance information to the driver so that the host vehicle 100 travels according to the travel plan created by the travel plan creation device 10 (travel plan stored in the travel plan holding unit 15). .
  • the guide device 33 guides the host vehicle 100 to the position of the leading vehicle or guides the host vehicle 100 so that the host vehicle 100 can follow and follow the traveling plan as well as guide the planned travel route as in the conventional navigation device.
  • the vehicle 100 is guided to a waiting point (service area or the like).
  • the guide device 33 acquires the position of the leading vehicle (other vehicle 101) by inter-vehicle communication using the communication device 22. And the own vehicle 100 is guided to the position which can follow a leading vehicle from the positional relationship of the own vehicle 100 and a leading vehicle. For example, if the positions of the host vehicle 100 and the leading vehicle are displayed on the map displayed on the display device 24 and the host vehicle 100 approaches the leading vehicle to some extent, the positional relationship between the host vehicle 100 and the leading vehicle as shown in FIG. Should be enlarged. At that time, it is more preferable to indicate an area (followable area) where the own vehicle 100 can start following traveling.
  • the image showing the positional relationship between the host vehicle 100 and the leading vehicle is an example created by a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit) included in the processor 51 of FIG.
  • a CPU Central Processing Unit
  • a GPU Graphics Processing Unit
  • an image in front of the host vehicle 100 captured by a camera mounted on the host vehicle 100 may be used.
  • the head-up display is a display device that directly displays an image in the driver's field of view by displaying an image on a screen (for example, a windshield) through which the driver can see forward.
  • the travel plan creation device 10 communicates with the follow-up travel control device 40 and transmits a follow-up travel instruction according to the travel plan to the follow-up travel control device 40.
  • the follow-up travel control device 40 controls the travel control system (not shown) of the own vehicle 100 based on the follow-up travel instruction, and causes the own vehicle 100 to follow the preceding vehicle to be followed. Further, the follow-up travel control device 40 allows the host vehicle 100 to run at a constant speed when the host vehicle 100 is traveling in a section where manual driving is planned (manual driving section), or allows the user to run the host vehicle. Or urging them to perform 100 manual operations.
  • the guide information generated by the guide device 33 may be displayed as a voice message from a speaker or the like in the host vehicle 100, in addition to being displayed on the display device 24.
  • a voice message “Please move to a position where automatic tracking can be performed” is output to the user. It is good to urge the own vehicle 100 to follow the leading vehicle.
  • a voice message such as “Please move to a followable area. When you enter the followable area, follow-up running automatically starts” may be output.
  • the followable area depends on the performance of the follow-up traveling control device 40, typically the inter-vehicle distance that can be followed.
  • the performance of the follow-up travel control device 40 may be stored in advance in the travel plan creation device 10, or the travel plan creation device 10 may obtain through communication with the follow-up travel control device 40. In the case of the latter method, it is possible to reflect the dynamic performance of the follow-up travel control device 40 according to the travel environment such as weather, brightness, and time, and the travel plan creation device 10 can provide a more accurate followable area. It can be displayed on the display device 24.
  • a special display effect may be given to the image of the leading vehicle. For example, if the leading vehicle image that is currently being tracked is surrounded by a blue solid line frame and the leading vehicle is changed, the frame of the leading vehicle image that is following is changed to a yellow dashed line, and the vehicle to be newly tracked is blue. It is preferable to display so that the current and future leading vehicles can be identified, for example, by enclosing with a dashed frame and completing the transfer of the leading vehicle, such as enclosing the new leading vehicle with a blue solid frame. Further, when it is difficult to follow the current leading vehicle, when a new following vehicle to be transferred cannot be found, a red dashed frame may be added to the image of the current leading vehicle.
  • the timing for giving such a special display effect may be only for a certain period before and after changing the leading vehicle. Further, such a special display effect may be applied to a case where an image in front of the host vehicle 100 taken by the camera is displayed on the display device 24 or a head-up display is used.
  • the special display effect is not limited to the display of the frame, and may be an effect using other figures or characters.
  • FIG. 48 is a flowchart showing the operation. Note that the operation of the guide device 33 when the host vehicle 100 travels in the manual driving section may be the same as that of a general navigation device, and thus description thereof is omitted here.
  • the guide device 33 guides the host vehicle 100 to a position where the other vehicle 101 that is the leading vehicle in the section can travel following the travel plan (step S401). (When the vehicle 100 is already following the leading vehicle as planned, the guidance is not necessary).
  • the guidance apparatus 33 confirms whether there is a change of the leading vehicle based on a travel plan (step S402). If there is a change in the leading vehicle (YES in step S402), the guidance device 33 sets the leading vehicle targeted for guidance as the leading vehicle after the change (step S403), and returns to step S401.
  • the guidance device 33 checks whether there is a change in the lead vehicle due to the change (re-creation) of the travel plan (step S404). ). If there is a change in the leading vehicle due to the change in the travel plan (YES in step S404), the guide device 33 sets the leading vehicle targeted for guidance to the changed leading vehicle (step S405), and the process proceeds to step S401. Return.
  • the guidance device 33 confirms whether or not the own vehicle 100 has arrived at the destination. (Step S406). If own vehicle 100 has arrived at the destination (YES in step S406), guide device 33 ends the guidance process. If the vehicle 100 has not arrived at the destination (NO in step S406), the process returns to step S401.
  • the guidance device 33 can always grasp the leading vehicle that is the target of guidance.
  • FIG. 49 is a flowchart of the travel plan recalculation process.
  • the flow in FIG. 49 is basically the same as the flow shown in FIG. 44, but the condition for executing the travel plan calculation process (step S306) for recalculating the travel plan is greater than the flow in FIG. is doing.
  • step S306 is executed when a certain time has elapsed since the previous travel plan was created and when other vehicle information of the other vehicle 101 serving as the leading vehicle is changed.
  • step S306 is also executed in the following cases. Since the other flow is the same as that of FIG. 44, description thereof is omitted here.
  • the travel plan recalculation instructing unit 17 acquires the position of the own vehicle 100 (own vehicle position) from the current position acquisition device 31 (step S351), and the position of the own vehicle 100 or its change amount (that is, the change amount) Even when the traveling distance of the host vehicle 100 satisfies a predetermined condition (YES in step S352), step S306 is executed.
  • the “predetermined condition” in step S352 is, for example, when the vehicle 100 has traveled a certain distance, the vehicle 100 is a predetermined point (for example, a point having a specific attribute such as an intersection or a service area, This is the case where the vehicle 100 has passed the time when the travel plan is created (such as the division point determined in step S201 in FIG. 33), or when the vehicle 100 has taken an action different from that of the travel plan.
  • step S353 when it is detected by vehicle-to-vehicle communication via the communication device 22 that the currently following leading vehicle is taking an action different from the vehicle information (other vehicle information) (YES in step S353). ), The travel plan calculation process of step S306 is executed.
  • the action different from the other vehicle information is, for example, traveling on a route different from the planned traveling route, passing through each point at a time greatly deviating from the scheduled passing time, and the like.
  • the operation of the navigation device 30 has been described on the assumption that the host vehicle 100 is moved to the followable area by manual driving.
  • the follow-up running control device 40 has an automatic running speed control function and
  • the driver only has to manually perform the driving operation for changing the lane, and the driver's burden can be further reduced.
  • the navigation device 30 notifies the driver of switching to the driving mode using the driving speed automatic control function and the lane keeping function by voice announcement or screen display, the psychological burden on the driver can be reduced.
  • the host vehicle 100 is separated from the leading vehicle due to the influence of a traffic light or an interrupting vehicle while the host vehicle 100 is traveling following the leading vehicle.
  • the traveling direction is the same as that of the leading vehicle (original leading vehicle), and the other vehicle traveling at a higher speed than the original leading vehicle is used as a temporary leading vehicle to follow the own vehicle 100.
  • the driver is encouraged to change to the original leading vehicle by performing a display and voice announcement so that the driver can identify the original leading vehicle. It may be.
  • the method for calculating or recalculating the travel plan is not limited to that described above. That is, the present invention recalculates the travel plan when a specific condition related to the follow-up travel is satisfied regardless of the method and content of the travel plan, the travel plan change notification screen or the travel plan selection screen, It is characterized by being displayed on a display device. For example, the travel plan does not have to be created by dividing the planned travel route into a plurality of sections, even if it is a simpler travel plan (for example, “follow the vehicle X1”), The invention is applicable.
  • the present invention can be freely combined with each other or can be appropriately modified or omitted.
  • travel plan creation device 11 own vehicle information acquisition unit, 11a planned travel route acquisition unit, 12 other vehicle information acquisition unit, 13 travel plan calculation unit, 14 priority item setting unit, 15 travel plan holding unit, 16 display processing unit, 17 travel plan recalculation instruction unit, 20 travel plan presentation device, 21 input device, 22 communication device, 23 map information storage device, 24 display device, 30 navigation device, 31 current position acquisition device, 32 route search device, 33 guidance device , 51 processor, 52 memory, 53 input / output interface, 100 own vehicle, 101 other vehicle, 102 vehicle information server, 103 companies.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

A travel plan creation device (10) equipped with: a host vehicle information acquisition unit (11) that acquires host vehicle information that includes a scheduled travel route and a scheduled departure time for a host vehicle (100); an other-vehicle information acquisition unit (12) that acquires other-vehicle information that includes information capable of predicting scheduled travel routes and scheduled transit times for each site on the scheduled travel routes for multiple other vehicles (101); and a travel plan calculation unit (13) that calculates a travel plan for the host vehicle (100) on the basis of the host vehicle information and the other-vehicle information. The travel plan calculation unit (13) recalculates the travel plan when a predetermined condition has been satisfied. When the travel plan calculation unit (13) outputs a recalculated travel plan, a display processing unit (16) displays on a display device (24) a screen notifying the user of the change in the travel plan (a travel plan change notification screen), or a screen enabling the user to select whether to permit a change in the travel plan (a travel plan selection screen).

Description

走行計画作成装置および走行計画変更方法Travel plan creation device and travel plan change method
　本発明は、車両の走行計画の作成技術に関し、特に、他車に追従して走行する機能を有する車両の走行計画の再算出に関するものである。 The present invention relates to a vehicle travel plan creation technique, and particularly to recalculation of a vehicle travel plan having a function of traveling following other vehicles.
　近年、他の車両に追従して走行する機能を有する車両の開発が進んでいる（例えば、下記の特許文献１～９）。車両が他の車両（先導車）に追従して自動的に走行することにより、追従する側の車両（追従車）の自動運転（自動操舵などの半自動運転を含む）を実現できる。それにより、追従車の運転者の負担を軽減できると共に、交通インフラ（インフラストラクチャ）の効率的な運用にも寄与することができる。 In recent years, development of vehicles having a function of following other vehicles has been progressing (for example, Patent Documents 1 to 9 below). When the vehicle automatically travels following another vehicle (leading vehicle), automatic driving (including semiautomatic driving such as automatic steering) of the following vehicle (following vehicle) can be realized. Thereby, it is possible to reduce the burden on the driver of the following vehicle and to contribute to the efficient operation of the traffic infrastructure.
特開２００９－１５７７９０号公報JP 2009-157790 A 国際公開２００８－０１８６０７号International Publication No. 2008-018607 特開平１０－２９３８９９号公報JP-A-10-293899 特開２００９－２６２７５５号公報JP 2009-262755 A 特開２０１０－２４７７５８号公報JP 2010-247758 A 特開２０１０－１４６４２８号公報JP 2010-146428 A 特許第３８１８７２２号公報Japanese Patent No. 3818722 特開２００３－１１５０９５号公報Japanese Patent Laid-Open No. 2003-115095 特開２００８－２７５５００号公報JP 2008-275500 A
　特許文献１～９の技術は、現時点で追従車が追従可能な先導車のみを考慮したものであり、追従車および先導車の将来的な位置を考慮したものではないため、追従走行を十分に活用できないことも考えられる。例えば、追従車が走行を開始する時点で目的地が追従車と同じ先導車を見付けることができなかった場合には、追従車を追従走行させる距離を十分に伸ばすことは困難である。 The technologies of Patent Documents 1 to 9 consider only the leading vehicle that the following vehicle can follow at the present time, and do not consider the future position of the following vehicle and the leading vehicle. It is possible that it cannot be used. For example, when the destination vehicle cannot find the same leading vehicle as the following vehicle at the time when the following vehicle starts traveling, it is difficult to sufficiently extend the distance that the following vehicle follows.
　なお、特許文献９では、追従車が走行の途中で先導車を変更することが考慮されているが、特許文献９の先導車の変更は、現在の先導車を追従できなくなった場合や、新しい経路または新しい先導車が見つかった場合に行われるものであり、追従車の将来的な位置を考慮して事前に複数の先導車を利用するように計画されたものではない。 In Patent Document 9, it is considered that the follower vehicle changes the leading vehicle in the middle of traveling. However, the change of the leading vehicle in Patent Document 9 can be performed when the current leading vehicle can no longer be tracked or is new. This is performed when a route or a new leading vehicle is found, and is not planned to use a plurality of leading vehicles in advance in consideration of the future position of the following vehicle.
　また、特許文献９には、追従車の走行途中に、必要に応じて走行計画の再算出（別の経路の再探索）を実行する技術が開示されているが、運転者が気付かないうちに走行計画が変更されると、運転者は走行計画時に提示された走行計画を想定しているにも関わらず実際の追従走行が異なると運転者が戸惑い、心理負担が大きくなることが考えられる。 Further, Patent Document 9 discloses a technique for executing recalculation of a travel plan (re-searching for another route) as necessary while the following vehicle is traveling, but before the driver notices it. If the travel plan is changed, the driver may be confused if the actual follow-up travel is different even though the driver assumes the travel plan presented at the time of the travel plan, and the psychological burden may increase.
　本発明は以上のような課題を解決するためになされたものであり、事前の走行計画にない状況変化が発生した場合に再度走行計画を算出することを目的とし、更には運転者が気付かないうちに走行計画が変更され運転者の心理負担が増えることを防止できる走行計画作成装置および走行計画変更方法を提供することを目的とする。 The present invention has been made in order to solve the above-described problems, and is intended to calculate a travel plan again when a situation change that does not exist in a prior travel plan occurs, and further, the driver does not notice. It is an object of the present invention to provide a travel plan creation device and a travel plan change method capable of preventing the travel plan from being changed and increasing the driver's psychological burden.
　本発明の第１の態様に係る走行計画作成装置は、プログラムを実行するプロセッサと、プログラムを記憶する記憶装置とを備え、プログラムがプロセッサにより実行されると、自車の走行予定経路および出発予定時刻を含む自車情報を取得し、複数の他車の走行予定経路および当該走行予定経路上の各地点の通過予定時刻を予測可能な情報を含む他車情報を取得し、自車情報および他車情報に基づいて、自車を先導車に追従させて走行させる追従走行の計画を含む走行計画を算出して出力し、予め定められた条件が満たされた場合に、走行計画を再算出して出力し、再算出した走行計画を出力するとき、走行計画の変更をユーザへ通知する走行計画変更通知画面、または、走行計画の変更を許可するか否かをユーザに選択させる走行計画選択画面を、表示装置に表示させるものである。 A travel plan creation device according to a first aspect of the present invention includes a processor that executes a program and a storage device that stores the program, and when the program is executed by the processor, the travel plan route and the departure schedule of the host vehicle. Obtains own vehicle information including time, obtains other vehicle information including information that can predict the scheduled travel time of multiple other vehicles and the scheduled passage time of each point on the planned travel route, Based on the vehicle information, calculate and output a travel plan including a follow-up travel plan that causes the host vehicle to follow the leading vehicle and recalculate the travel plan when a predetermined condition is satisfied. When the recalculated travel plan is output, a travel plan change notification screen for notifying the user of the change of the travel plan, or a travel plan selection for allowing the user to select whether or not to allow the travel plan to be changed. The screen is intended to be displayed on the display device.
　本発明の第２の態様に係る走行計画作成装置は、プログラムを実行するプロセッサと、プログラムを記憶する記憶装置とを備え、プログラムがプロセッサにより実行されると、自車の走行予定経路および出発予定時刻を含む自車情報を取得し、複数の他車の走行予定経路および当該走行予定経路上の各地点の通過予定時刻を予測可能な情報を含む他車情報を取得し、自車情報および他車情報に基づいて、自車を先導車に追従させて走行させる追従走行の計画を含む走行計画を算出して出力し、予め定められた条件が満たされた場合に、走行計画を再算出して出力し、１以上の優先項目に基づいて、算出または再算出した走行計画の運転者負担の大きさを評価し、現在の走行計画が利用可能な状況で再算出した走行計画を出力する場合、現在の走行計画よりも再算出された走行計画の方が運転者負担が小さいときに限り、走行計画の変更をユーザへ通知する走行計画変更通知画面、または、走行計画の変更を許可するか否かをユーザに選択させる走行計画選択画面を、表示装置に表示させるものである。 A travel plan creation device according to a second aspect of the present invention includes a processor that executes a program and a storage device that stores the program. When the program is executed by the processor, the planned travel route and departure schedule of the host vehicle are provided. Obtains own vehicle information including time, obtains other vehicle information including information that can predict the scheduled travel time of multiple other vehicles and the scheduled passage time of each point on the planned travel route, Based on the vehicle information, calculate and output a travel plan including a follow-up travel plan that causes the host vehicle to follow the leading vehicle and recalculate the travel plan when a predetermined condition is satisfied. When the driver's burden of the calculated or recalculated travel plan is evaluated based on one or more priority items, and the recalculated travel plan is output when the current travel plan is available ,Current A travel plan change notification screen for notifying the user of a change in the travel plan, or whether or not to allow a change in the travel plan only when the recalculated travel plan is less burdensome on the driver than the travel plan A travel plan selection screen to be selected by the user is displayed on the display device.
　本発明の第１の態様によれば、走行計画作成装置が、再算出した走行計画を出力するときに、走行計画の変更をユーザへ通知する走行計画変更通知画面、または、走行計画の変更を許可するか否かをユーザに選択させる走行計画選択画面を、表示させるため、運転者が気付かないうちに走行計画が変更されることを防止して運転者への心理負担を軽減することができる。 According to the first aspect of the present invention, when the travel plan creation device outputs the recalculated travel plan, the travel plan change notification screen for notifying the user of the change of the travel plan or the change of the travel plan is displayed. Since the travel plan selection screen that allows the user to select whether to permit or not is displayed, it is possible to prevent the travel plan from being changed without the driver being aware and to reduce the psychological burden on the driver. .
　本発明の第２の態様によれば、現在の走行計画が利用可能な状況で走行計画作成装置が再算出した走行計画を出力する場合、現在の走行計画よりも再算出された走行計画の方が運転者負担が小さいときに限り、自車の走行計画が変更される。そのため、現在の走行計画が利用可能であるにもかかわらず、現在の走行計画よりも運転者負担が大きい走行計画が選択されることが防止される。 According to the second aspect of the present invention, when the travel plan creation device outputs a recalculated travel plan in a situation where the current travel plan is available, the travel plan recalculated rather than the current travel plan. However, only when the driver's burden is small, the travel plan of the own vehicle is changed. Therefore, it is possible to prevent a travel plan having a higher driver burden than the current travel plan from being selected even though the current travel plan is available.
　本発明の目的、特徴、態様、および利点は、以下の詳細な説明と添付図面とによって、より明白となる。 The objects, features, aspects and advantages of the present invention will become more apparent from the following detailed description and the accompanying drawings.
実施の形態１に係る走行計画提示装置の構成を示す図である。It is a figure which shows the structure of the travel plan presentation apparatus which concerns on Embodiment 1. FIG. 実施の形態１に係る車両情報配信システムの構成を示す図である。It is a figure which shows the structure of the vehicle information delivery system which concerns on Embodiment 1. FIG. 自車情報の例を示す図である。It is a figure which shows the example of the own vehicle information. 車両情報（他車情報）の例を示す図である。It is a figure which shows the example of vehicle information (other vehicle information). 実施の形態１に係る走行計画提示装置のハードウェア構成を示す図である。It is a figure which shows the hardware constitutions of the travel plan presentation apparatus which concerns on Embodiment 1. FIG. 追従走行と運転者負担との関係を説明するための図である。It is a figure for demonstrating the relationship between following driving | running | working and a driver | operator burden. 追従走行と運転者負担との関係を説明するための図である。It is a figure for demonstrating the relationship between following driving | running | working and a driver | operator burden. 追従走行と運転者負担との関係を説明するための図である。It is a figure for demonstrating the relationship between following driving | running | working and a driver | operator burden. 追従走行と運転者負担との関係を説明するための図である。It is a figure for demonstrating the relationship between following driving | running | working and a driver | operator burden. 追従走行と運転者負担との関係を説明するための図である。It is a figure for demonstrating the relationship between following driving | running | working and a driver | operator burden. 追従走行と運転者負担との関係を説明するための図である。It is a figure for demonstrating the relationship between following driving | running | working and a driver | operator burden. 追従走行と運転者負担との関係を説明するための図である。It is a figure for demonstrating the relationship between following driving | running | working and a driver | operator burden. 追従走行と運転者負担との関係を説明するための図である。It is a figure for demonstrating the relationship between following driving | running | working and a driver | operator burden. 追従走行と運転者負担との関係を説明するための図である。It is a figure for demonstrating the relationship between following driving | running | working and a driver | operator burden. 追従走行と運転者負担との関係を説明するための図である。It is a figure for demonstrating the relationship between following driving | running | working and a driver | operator burden. 追従走行と運転者負担との関係を説明するための図である。It is a figure for demonstrating the relationship between following driving | running | working and a driver | operator burden. 追従走行と運転者負担との関係を説明するための図である。It is a figure for demonstrating the relationship between following driving | running | working and a driver | operator burden. 追従走行と運転者負担との関係を説明するための図である。It is a figure for demonstrating the relationship between following driving | running | working and a driver | operator burden. 追従走行と運転者負担との関係を説明するための図である。It is a figure for demonstrating the relationship between following driving | running | working and a driver | operator burden. 追従走行と運転者負担との関係を説明するための図である。It is a figure for demonstrating the relationship between following driving | running | working and a driver | operator burden. 追従走行と運転者負担との関係を説明するための図である。It is a figure for demonstrating the relationship between following driving | running | working and a driver | operator burden. 追従走行と運転者負担との関係を説明するための図である。It is a figure for demonstrating the relationship between following driving | running | working and a driver | operator burden. 追従走行と運転者負担との関係を説明するための図である。It is a figure for demonstrating the relationship between following driving | running | working and a driver | operator burden. 追従走行と運転者負担との関係を説明するための図である。It is a figure for demonstrating the relationship between following driving | running | working and a driver | operator burden. 追従走行と運転者負担との関係を説明するための図である。It is a figure for demonstrating the relationship between following driving | running | working and a driver | operator burden. 追従走行と運転者負担との関係を説明するための図である。It is a figure for demonstrating the relationship between following driving | running | working and a driver | operator burden. 追従走行と運転者負担との関係を説明するための図である。It is a figure for demonstrating the relationship between following driving | running | working and a driver | operator burden. 追従走行と運転者負担との関係を説明するための図である。It is a figure for demonstrating the relationship between following driving | running | working and a driver | operator burden. 追従走行と運転者負担との関係を説明するための図である。It is a figure for demonstrating the relationship between following driving | running | working and a driver | operator burden. 追従走行と運転者負担との関係を説明するための図である。It is a figure for demonstrating the relationship between following driving | running | working and a driver | operator burden. 追従走行と運転者負担との関係を説明するための図である。It is a figure for demonstrating the relationship between following driving | running | working and a driver | operator burden. 実施の形態１に係る走行計画作成装置の動作を示すフローチャートである。4 is a flowchart showing the operation of the travel plan creation device according to the first embodiment. 走行計画算出処理のフローチャートである。It is a flowchart of a travel plan calculation process. 走行計画の表示例を示す図である。It is a figure which shows the example of a display of a travel plan. 走行計画の表示例を示す図である。It is a figure which shows the example of a display of a travel plan. 走行計画の表示例を示す図である。It is a figure which shows the example of a display of a travel plan. 複数の走行計画の表示例を示す図である。It is a figure which shows the example of a display of a some travel plan. 走行計画を再算出する場合の例を示す図である。It is a figure which shows the example in the case of recalculating a travel plan. 走行計画を再算出する場合の例を示す図である。It is a figure which shows the example in the case of recalculating a travel plan. 走行計画選択画面の例を示す図である。It is a figure which shows the example of a travel plan selection screen. 走行計画選択画面の例を示す図である。It is a figure which shows the example of a travel plan selection screen. 走行計画選択画面の例を示す図である。It is a figure which shows the example of a travel plan selection screen. 走行計画変更通知画面の例を示す図である。It is a figure which shows the example of a travel plan change notification screen. 実施の形態１における走行計画再算出処理のフローチャートである。3 is a flowchart of travel plan recalculation processing in the first embodiment. 実施の形態２に係るナビゲーション装置の構成を示す図である。It is a figure which shows the structure of the navigation apparatus which concerns on Embodiment 2. FIG. 実施の形態２に係る車両情報配信システムの構成を示す図である。It is a figure which shows the structure of the vehicle information delivery system which concerns on Embodiment 2. FIG. 実施の形態２に係るナビゲーション装置の案内画面の例を示す図である。It is a figure which shows the example of the guidance screen of the navigation apparatus which concerns on Embodiment 2. FIG. 実施の形態２に係るナビゲーション装置の追従走行区間での動作を示すフローチャートである。10 is a flowchart showing an operation in a follow-up traveling section of the navigation device according to the second embodiment. 実施の形態２における走行計画再算出処理のフローチャートである。10 is a flowchart of travel plan recalculation processing in the second embodiment.
　＜実施の形態１＞
　図１は、実施の形態１に係る走行計画提示装置２０の構成を示す図である。また、図２は、各地を走行する車両の情報（車両情報）を走行計画提示装置２０に配信する車両情報配信システムの構成を示す図である。 <Embodiment 1>
FIG. 1 is a diagram illustrating a configuration of a travel plan presentation device 20 according to the first embodiment. FIG. 2 is a diagram showing a configuration of a vehicle information distribution system that distributes information (vehicle information) of vehicles traveling in various places to the travel plan presentation device 20.
　走行計画提示装置２０は、ユーザの車両（以下「自車」ともいう）１００の走行計画を作成し、作成した走行計画をユーザに提示する装置である。実施の形態１では、走行計画提示装置２０は、例えば携帯電話やスマートフォンなど、自車１００とは独立した機器に搭載されているものと仮定する。ただし、自車１００の情報（自車情報）を走行計画提示装置２０に登録することによって、走行計画提示装置２０は自車１００に対応付けされる。 The travel plan presentation device 20 is a device that creates a travel plan for the user's vehicle (hereinafter also referred to as “own vehicle”) 100 and presents the created travel plan to the user. In the first embodiment, it is assumed that the travel plan presentation device 20 is mounted on a device independent of the host vehicle 100 such as a mobile phone or a smartphone. However, the travel plan presentation device 20 is associated with the own vehicle 100 by registering the information of the own vehicle 100 (own vehicle information) in the travel plan presentation device 20.
　走行計画提示装置２０が提示する走行計画は、自車１００の走行予定経路だけでなく、自車１００を他の車両（以下「他車」ともいう）１０１に追従させて走行する追従走行の計画も含まれている。すなわち、走行計画には、少なくとも、自車１００の走行予定経路の情報と、走行予定経路において自車１００を手動運転で走行させる区間（手動運転区間）を示す情報と、走行予定経路において自車１００を他車１０１（先導車）に追従させて走行させる区間（追従走行区間）を示す情報と、それぞれの追従走行区間で先導車となる他車１０１を示す情報とが含まれる。 The travel plan presented by the travel plan presentation device 20 is not only the planned travel route of the own vehicle 100 but also a follow-up plan for traveling by causing the own vehicle 100 to follow another vehicle (hereinafter also referred to as “other vehicle”) 101. Is also included. That is, the travel plan includes at least information on the planned travel route of the host vehicle 100, information indicating a section (manual operation section) in which the host vehicle 100 travels by manual operation on the planned travel route, and the host vehicle on the planned travel route. Information indicating a section (following traveling section) in which the vehicle 100 is caused to follow the other vehicle 101 (leading vehicle) and information indicating the other vehicle 101 that is the leading vehicle in each following traveling section are included.
　図１に示すように、走行計画提示装置２０は、走行計画作成装置１０と、走行計画作成装置１０と連携して動作する入力装置２１、通信装置２２、地図情報記憶装置２３および表示装置２４とから成るシステムとして構成されている。 As shown in FIG. 1, the travel plan presentation device 20 includes a travel plan creation device 10, an input device 21 that operates in cooperation with the travel plan creation device 10, a communication device 22, a map information storage device 23, and a display device 24. It is configured as a system consisting of
　入力装置２１は、ユーザが走行計画作成装置１０に対して入力する操作や情報を受け付けるユーザインターフェイスである。入力装置２１は、操作ボタンやマウス等のハードウェアでもよいし、画面に表示されるアイコンを用いたソフトウェアキーでもよい。さらに、ユーザが音声で操作内容を入力する音声認識装置であってもよい。 The input device 21 is a user interface that receives operations and information input by the user to the travel plan creation device 10. The input device 21 may be hardware such as operation buttons and a mouse, or may be a software key using icons displayed on the screen. Furthermore, a voice recognition device in which a user inputs operation contents by voice may be used.
　入力装置２１から入力される情報には、走行計画作成装置１０が走行計画を作成するために必要な自車１００の情報（自車情報）と、走行計画作成装置１０が走行計画を作成する際に優先させる項目（優先項目）とが含まれる。また、走行計画作成装置１０は、追従走行制御装置４０との通信を行い、追従走行制御装置４０に対し、走行計画に従った追従走行指示を送信する。追従走行制御装置４０は、追従走行指示に基づいて自車１００の走行制御系（不図示）を制御して、自車１００を追従すべき先行車両に追従させる。また、追従走行制御装置４０は、手動運転が計画されている区間（手動運転区間）を自車１００が走行しているときは、自車１００に定速走行を行わせたり、ユーザに自車１００の手動運転を行わせるように促したりする。なお、優先項目は、ユーザが入力したものに限られず、例えば、予め定められたものでもよい。 Information input from the input device 21 includes information on the own vehicle 100 (vehicle information) necessary for the travel plan creation device 10 to create a travel plan, and when the travel plan creation device 10 creates a travel plan. And an item to be prioritized (priority item). In addition, the travel plan creation device 10 communicates with the follow-up travel control device 40 and transmits a follow-up travel instruction according to the travel plan to the follow-up travel control device 40. The follow-up travel control device 40 controls the travel control system (not shown) of the own vehicle 100 based on the follow-up travel instruction, and causes the own vehicle 100 to follow the preceding vehicle to be followed. Further, the follow-up travel control device 40 allows the host vehicle 100 to run at a constant speed when the host vehicle 100 is traveling in a section where manual driving is planned (manual driving section), or allows the user to run the host vehicle. Or urging them to perform 100 manual operations. The priority items are not limited to those input by the user, and may be predetermined items, for example.
　図３は、自車情報の例を示す図である。自車情報には、少なくとも、自車１００の出発地から目的地までの走行予定経路を特定できる情報と、自車の出発予定時刻の情報とが含まれていればよい。図３では、さらに自車情報の付属情報（付属自車情報）として、自車１００の最高速度や最適速度などの性能（車両性能）の情報と、自車１００が追従走行するときに先導を許可する車両の条件（先導車条件）とを含ませている。車両性能の情報は、走行計画作成装置１０が走行計画を作成する際に、自車１００が性能的に追従可能な他車１０１を先導車の候補にするために用いられる。先導車条件は、走行計画作成装置１０が走行計画を作成する際に、ユーザの好みに応じた他車１０１を先導車の候補にするために用いられる。 FIG. 3 is a diagram showing an example of own vehicle information. The own vehicle information only needs to include at least information that can identify a scheduled travel route from the departure point to the destination of the own vehicle 100 and information about the scheduled departure time of the own vehicle. In FIG. 3, as additional information of the own vehicle information (attached own vehicle information), information on performance (vehicle performance) such as the maximum speed and optimum speed of the own vehicle 100 and guidance when the own vehicle 100 follows the vehicle. Vehicle conditions to be permitted (lead vehicle conditions). The vehicle performance information is used when the travel plan creation device 10 creates a travel plan to make another vehicle 101 that the vehicle 100 can follow in terms of performance a candidate for a leading vehicle. The leading vehicle condition is used to make the other vehicle 101 according to the user's preference a candidate for the leading vehicle when the travel plan creation device 10 creates a travel plan.
　図３では、先導車条件を「小型車を除く」とした例を示したが、例えば、「自車よりも車両性能が劣る車両」、「走行制約条件が自車と同じ」、「走行方式（エンジン、ＥＶ（Electric Vehicle）、ＦＣＶ（Fuel Cell Vehicle）など）が同じ車両」などでもよい。また、先導車条件は可または不可の二者択一ではなく、優先度を設けてもよい（例えば、「軽自動車よりも、小型自動車や普通自動車を優先する」など）。 FIG. 3 shows an example in which the leading vehicle condition is “excluding small cars”. For example, “vehicles with inferior vehicle performance compared to own vehicle”, “running constraint conditions are the same as the own vehicle”, “driving method ( Vehicles having the same engine, EV (Electric vehicle), FCV (Fuel Cell), etc.) may be used. In addition, the leading vehicle condition is not an alternative of being acceptable or not, and priority may be provided (for example, “a small vehicle or a normal vehicle is given priority over a light vehicle”).
　また、本実施の形態では、走行計画作成装置１０に経路探索機能を持たせており、ユーザが入力装置２１を用いて出発地と目的地（さらには経由地）を入力すると、走行計画作成装置１０が適切な経路を探索して、走行予定経路を決定する構成となっている。出発地、目的地、経由地の表現形式は、住所でもよいし、緯度・経度でもよい。 Further, in the present embodiment, the travel plan creation device 10 has a route search function, and when the user inputs a departure place and a destination (and a waypoint) using the input device 21, the travel plan creation device. 10 is configured to search for an appropriate route and determine a planned travel route. The expression format of the departure point, destination, and waypoint may be an address, or a latitude / longitude.
　また、優先項目は、走行計画について運転者にかかる負担（運転者負担）の大きさを評価するための評価基準となるものである。本実施の形態では、優先項目の候補として、予め複数の項目が用意されており、ユーザがそれらのうちの１以上を優先項目として選択するものとする。優先項目としては、走行予定経路の全長に占める追従走行区間の割合（追従走行距離の長さ）、目的地への到着時刻、全走行時間に占める追従走行区間の走行時間の割合（追従走行時間の長さ）、先導車の変更回数などが考えられる。また、先導車とする他車１０１の情報（図４に示す運転評価値、経路確実性など）を、優先項目とすることも考えられる。 Also, the priority item is an evaluation standard for evaluating the magnitude of the burden on the driver (driver burden) for the travel plan. In the present embodiment, a plurality of items are prepared in advance as priority item candidates, and the user selects one or more of them as priority items. As priority items, the ratio of the follow-up travel section in the total length of the planned travel route (length of the follow-up travel distance), the arrival time at the destination, the ratio of the travel time in the follow-up travel section in the total travel time (follow-up travel time) Length) and the number of changes in the leading vehicle. It is also conceivable that information on the other vehicle 101 as the leading vehicle (driving evaluation value, route certainty, etc. shown in FIG. 4) is a priority item.
　走行計画作成装置１０は、ユーザが設定（選択）した優先項目に基づき評価した運転者負担が最小となるように、走行計画を作成する。また、優先項目が複数設定されている場合には、走行計画作成装置１０が、それぞれの優先項目ごとに、運転者負担が最小となる走行計画を作成し、ユーザがそのうちの一つを選択するようにしてもよい。 The travel plan creation device 10 creates a travel plan so that the driver burden evaluated based on the priority item set (selected) by the user is minimized. Further, when a plurality of priority items are set, the travel plan creation device 10 creates a travel plan that minimizes the driver burden for each priority item, and the user selects one of them. You may do it.
　図１の説明に戻り、走行計画提示装置２０の通信装置２２は、走行計画作成装置１０が車両情報配信システム（図２）の車両情報サーバー１０２との通信を行うためのものである。車両情報サーバー１０２は、各地を走行する複数の車両（他車）１０１が送信する車両情報を収集しており、走行計画作成装置１０からの要求に応じて、各他車１０１の車両情報を、他車情報として走行計画作成装置１０へ送信する。このとき、車両情報サーバー１０２は、必ずしも全ての他車１０１の車両情報を、他車情報として走行計画作成装置１０へ送信しなくてもよく、例えば、自車１００の走行予定経路を通る予定のある他車１０１の車両情報のみを送信したり、自車１００の走行予定経路から一定範囲内に存在する他車１０１の車両情報のみを送信したりしてもよい。 Referring back to FIG. 1, the communication device 22 of the travel plan presentation device 20 is for the travel plan creation device 10 to communicate with the vehicle information server 102 of the vehicle information distribution system (FIG. 2). The vehicle information server 102 collects vehicle information transmitted by a plurality of vehicles (other vehicles) 101 that travel in various places, and in response to a request from the travel plan creation device 10, It transmits to the travel plan creation apparatus 10 as other vehicle information. At this time, the vehicle information server 102 does not necessarily have to transmit the vehicle information of all the other vehicles 101 as the other vehicle information to the travel plan creation device 10. Only the vehicle information of the other vehicle 101 may be transmitted, or only the vehicle information of the other vehicle 101 existing within a certain range from the planned travel route of the host vehicle 100 may be transmitted.
　本実施の形態の車両情報配信システムでは、自家用車である他車１０１は、車両情報を車両情報サーバー１０２へ直接送信する。しかし、他車１０１が商用車（路線バス、高速バス、配送車両、商用の先導車など）の場合は、他車１０１が車両情報を車両情報サーバー１０２へ直接送信する形態だけでなく、他車１０１の属する企業１０３が、他車１０１の車両情報を車両情報サーバー１０２へ送信する形態も考えられる。その場合、車両情報には、バスの運行情報（路線図、時刻表、運行遅延情報など）や配送車両の配送情報（配送経路および配送スケジュール）などを含んでいてもよい。 In the vehicle information distribution system of the present embodiment, the other vehicle 101 that is a private vehicle directly transmits vehicle information to the vehicle information server 102. However, when the other vehicle 101 is a commercial vehicle (route bus, express bus, delivery vehicle, commercial leading vehicle, etc.), the other vehicle 101 transmits not only the vehicle information directly to the vehicle information server 102 but also the other vehicle. A mode in which the company 103 to which the company 101 belongs transmits vehicle information of the other vehicle 101 to the vehicle information server 102 is also conceivable. In this case, the vehicle information may include bus operation information (route map, timetable, operation delay information, etc.), delivery vehicle delivery information (delivery route and delivery schedule), and the like.
　図４は、車両情報サーバー１０２が走行計画作成装置１０へ送信する車両情報（他車情報）の例を示す図である。他車情報には、少なくとも、複数の他車１０１の走行予定経路と、その走行予定経路上の各地点の通過予定時刻とを予測可能な情報が含まれていればよい。他車１０１が商用車の場合、それらの情報は、バスの運行情報や配送車両の配送情報から求めたものでもよい。 FIG. 4 is a diagram illustrating an example of vehicle information (other vehicle information) transmitted from the vehicle information server 102 to the travel plan creation device 10. The other vehicle information only needs to include at least information capable of predicting the planned traveling route of the plurality of other vehicles 101 and the scheduled passage time of each point on the planned traveling route. When the other vehicle 101 is a commercial vehicle, the information may be obtained from bus operation information or delivery information of a delivery vehicle.
　図４では、さらに他車情報の付属情報（付属他車情報）として、他車１０１の出発予定時刻、出発地、目的地、先導車としての質の高さの評価値（運転評価値）、走行予定経路および通過予定時刻の確実性（経路確実性）、並びに、先導車となるときに追従を許可する車両の条件（追従車条件）を含ませている。運転評価は、例えば先導車としての実績（例えば、先導車としての走行時間の長さ）や、過去に先導した追従者からの評価などに基づいて決められる。経路確実性は、走行予定経路や経由地に高い計画性が求められない他車１０１（主に自家用車）では低い値となり、走行予定経路や経由地に高い計画性が求められる他車１０１（主に商用車）では高い値となる。 In FIG. 4, as additional information of the other vehicle information (attached other vehicle information), the estimated departure time, departure location, destination, quality evaluation value (driving evaluation value) of the other vehicle 101, It includes certainty of the scheduled travel route and scheduled passage time (route certainty), and vehicle conditions (tracking vehicle conditions) that allow tracking when the vehicle is a leading vehicle. The driving evaluation is determined based on, for example, a track record as a leading vehicle (for example, a length of travel time as a leading vehicle), an evaluation from a follower who has led in the past, or the like. The route certainty is low for other vehicles 101 (mainly private cars) that do not require high planning for the planned travel route and waypoints, and other vehicles 101 (for which high planning properties are required for the planned travel route and waypoints). High value (mainly for commercial vehicles).
　その他、他車情報には、他車１０１の予想速度の情報を含ませてもよい。他車情報に予想速度が含まれる場合には、走行計画作成装置１０が走行予定経路と予想速度とから、各地点の通過予定時刻を推定できる。その場合には、必ずしも車両情報サーバー１０２が各地点の通過予定時刻の情報を配信しなくてもよい。逆に、図４のように、各地点の通過予定時刻が含まれていれば、走行計画作成装置１０は、それらの値から他車１０１の予想速度を算出することができる。 In addition, the other vehicle information may include information on the predicted speed of the other vehicle 101. When the predicted speed is included in the other vehicle information, the travel plan creation device 10 can estimate the scheduled passage time of each point from the planned travel route and the predicted speed. In that case, the vehicle information server 102 does not necessarily have to distribute information on the scheduled passage time of each point. On the other hand, as shown in FIG. 4, if the scheduled passage time of each point is included, the travel plan creation device 10 can calculate the predicted speed of the other vehicle 101 from those values.
　図１の説明に戻り、走行計画提示装置２０の地図情報記憶装置２３は、道路網のデータを含む地図情報を記憶する記憶媒体であり、例えばハードディスク、リムーバブルディスク、メモリなどで構成される。この地図情報は、走行計画作成装置１０が自車１００の走行予定経路を決定するための経路探索を行うときや、作成した走行計画を地図に重畳して表示させるときに用いられる。 Referring back to FIG. 1, the map information storage device 23 of the travel plan presentation device 20 is a storage medium that stores map information including road network data, and includes, for example, a hard disk, a removable disk, and a memory. This map information is used when the travel plan creation device 10 performs a route search for determining the planned travel route of the vehicle 100 or when the created travel plan is displayed superimposed on a map.
　表示装置２４は、走行計画作成装置１０が作成した走行計画を表示してユーザに提示するためのものである。なお、入力装置２１としてのソフトウェアキーを、表示装置２４の画面に表示させる場合、表示装置２４と入力装置２１は、両者の機能を兼ね備えた１つのタッチパネルとして構成されてもよい。 The display device 24 is for displaying the travel plan created by the travel plan creation device 10 and presenting it to the user. In addition, when displaying the software key as the input device 21 on the screen of the display device 24, the display device 24 and the input device 21 may be configured as one touch panel having both functions.
　次に、走行計画作成装置１０の構成を説明する。走行計画作成装置１０は、自車情報取得部１１、他車情報取得部１２、走行計画算出部１３、優先項目設定部１４、走行計画保持部１５、表示処理部１６および走行計画再算出指示部１７から構成されている。 Next, the configuration of the travel plan creation device 10 will be described. The travel plan creation device 10 includes a host vehicle information acquisition unit 11, an other vehicle information acquisition unit 12, a travel plan calculation unit 13, a priority item setting unit 14, a travel plan holding unit 15, a display processing unit 16, and a travel plan recalculation instruction unit. 17.
　自車情報取得部１１は、ユーザが入力装置２１から入力した自車１００の情報（自車情報）を取得する。自車情報の例は図３に示したが、自車情報には、少なくとも、自車１００の出発地から目的地までの走行予定経路を特定できる情報と、自車の出発予定時刻の情報とが含まれていればよい。 The own vehicle information acquisition unit 11 acquires information on the own vehicle 100 (own vehicle information) input from the input device 21 by the user. An example of the own vehicle information is shown in FIG. 3, but the own vehicle information includes at least information that can specify a planned travel route from the departure point of the own vehicle 100 to the destination, information on the scheduled departure time of the own vehicle, and As long as it is included.
　本実施の形態では、自車情報取得部１１は、地図情報記憶装置２３に記憶されている地図情報を用いた経路探索を行う走行予定経路取得部１１ａを備えた構成となっている。走行予定経路取得部１１ａは、自車１００の出発地と目的地との間の最適な経路を探索することによって、自車１００の走行予定経路を決定する。この構成によれば、ユーザは、自車１００の走行予定経路の情報の代わりに、出発地と目的地の情報を入力装置２１に入力すればよいため、利便性が向上する。 In the present embodiment, the host vehicle information acquisition unit 11 includes a planned travel route acquisition unit 11a that performs route search using map information stored in the map information storage device 23. The scheduled travel route acquisition unit 11a determines the planned travel route of the host vehicle 100 by searching for an optimal route between the departure point and the destination of the host vehicle 100. According to this configuration, the user only has to input the information of the departure place and the destination to the input device 21 instead of the information of the planned travel route of the host vehicle 100, so that convenience is improved.
　なお、走行予定経路取得部１１ａは、自車１００の走行予定経路を自ら算出せずに、外部のナビゲーション装置が算出した走行予定経路を取得するものであってもよい。また、ユーザが入力装置２１から走行予定経路の情報を入力可能な場合には、走行予定経路取得部１１ａは省略してもよい。 Note that the planned travel route acquisition unit 11a may acquire the planned travel route calculated by an external navigation device without calculating the planned travel route of the vehicle 100 itself. In addition, when the user can input information on the planned travel route from the input device 21, the planned travel route acquisition unit 11a may be omitted.
　他車情報取得部１２は、通信装置２２を用いて、車両情報サーバー１０２から、複数の他車１０１の車両情報（他車情報）を取得する。他車情報の例は図４に示したが、他車情報には、少なくとも、各他車１０１の走行予定経路と、当該走行予定経路上の各地点の通過予定時刻とを予測可能な情報が含まれていればよい。 The other vehicle information acquisition unit 12 acquires vehicle information (other vehicle information) of a plurality of other vehicles 101 from the vehicle information server 102 using the communication device 22. An example of other vehicle information is shown in FIG. 4, but the other vehicle information includes information that can predict at least a scheduled travel route of each other vehicle 101 and a scheduled passage time of each point on the planned travel route. It only has to be included.
　走行計画算出部１３は、自車情報および他車情報に基づいて、自車１００の走行計画を作成する。先に述べたように、走行計画には、少なくとも走行予定経路の情報と、その走行予定経路における手動運転区間および追従走行区間を示す情報と、それぞれの追従走行区間で先導車となる他車１０１を示す情報と、が含まれる。また、走行計画算出部１３は、追従走行区間ごとに、複数の他車１０１のうちから先導車を選択する。 The travel plan calculation unit 13 creates a travel plan for the host vehicle 100 based on the host vehicle information and the other vehicle information. As described above, the travel plan includes at least information on the planned travel route, information indicating the manual operation section and the follow travel section on the travel planned route, and the other vehicle 101 that is a leading vehicle in each follow travel section. And information indicating. In addition, the travel plan calculation unit 13 selects a leading vehicle from a plurality of other vehicles 101 for each following travel section.
　優先項目設定部１４は、ユーザが入力装置２１を用いて選択した優先項目の情報を取得して、選択された優先項目を走行計画算出部１３に設定する。 The priority item setting unit 14 acquires information on the priority item selected by the user using the input device 21 and sets the selected priority item in the travel plan calculation unit 13.
　走行計画保持部１５は、走行計画算出部１３が算出した走行計画を保持する。表示処理部１６は、走行計画保持部１５に保持されている走行計画を、表示装置２４に表示させるための処理を行う。 The travel plan holding unit 15 holds the travel plan calculated by the travel plan calculation unit 13. The display processing unit 16 performs a process for causing the display device 24 to display the travel plan held in the travel plan holding unit 15.
　走行計画再算出指示部１７は、予め定められた条件が満たされた場合に、走行計画算出部１３に対して走行計画の再算出を指示する。実施の形態１では、走行計画再算出指示部１７が、前回の走行計画の算出から一定時間が経過した場合と、車両情報サーバー１０２が配信する他車情報に変更があった場合とに、走行計画算出部１３に対して走行計画の再算出を指示するものとする。 The travel plan recalculation instruction unit 17 instructs the travel plan calculation unit 13 to recalculate the travel plan when a predetermined condition is satisfied. In the first embodiment, the travel plan recalculation instruction unit 17 travels when a predetermined time has elapsed since the previous travel plan calculation and when other vehicle information distributed by the vehicle information server 102 has changed. The plan calculation unit 13 is instructed to recalculate the travel plan.
　図５は、実施の形態１に係る走行計画作成装置１０のハードウェア構成を示す図である。図５のように、走行計画作成装置１０は、少なくともプロセッサ５１、メモリ５２（記憶装置）、入出力インターフェイス５３を含む構成となっている。上記の自車情報取得部１１、他車情報取得部１２、走行計画算出部１３、優先項目設定部１４、走行計画保持部１５、表示処理部１６および走行計画再算出指示部１７は、プロセッサ５１がメモリ５２に記憶されたプログラムを実行することにより実現される（走行計画保持部１５としての記憶領域は、メモリ５２内に確保される）。 FIG. 5 is a diagram illustrating a hardware configuration of the travel plan creation device 10 according to the first embodiment. As shown in FIG. 5, the travel plan creation device 10 includes at least a processor 51, a memory 52 (storage device), and an input / output interface 53. The host vehicle information acquisition unit 11, the other vehicle information acquisition unit 12, the travel plan calculation unit 13, the priority item setting unit 14, the travel plan holding unit 15, the display processing unit 16, and the travel plan recalculation instruction unit 17 include a processor 51. Is realized by executing a program stored in the memory 52 (a storage area as the travel plan holding unit 15 is secured in the memory 52).
　また、走行計画提示装置２０を構成する入力装置２１、通信装置２２、地図情報記憶装置２３および表示装置２４は、入出力インターフェイス５３に接続され、プロセッサ５１がメモリ５２に記憶されたプログラムを実行することによって制御される。図１では、入力装置２１、通信装置２２、地図情報記憶装置２３および表示装置２４が、走行計画作成装置１０に外付けされた構成としたが、それらのハードウェアが走行計画作成装置１０の内部に配設されるようにしてもよい。 The input device 21, the communication device 22, the map information storage device 23, and the display device 24 constituting the travel plan presentation device 20 are connected to the input / output interface 53, and the processor 51 executes a program stored in the memory 52. Is controlled by In FIG. 1, the input device 21, the communication device 22, the map information storage device 23, and the display device 24 are configured to be externally attached to the travel plan creation device 10. You may make it arrange | position to.
　なお、図５には、プロセッサ５１およびメモリ５２を１つずつ示したが、複数のプロセッサ５１および複数のメモリ５２が連携して、走行計画作成装置１０の各要素の機能を実現してもよい。 In FIG. 5, one processor 51 and one memory 52 are shown, but a plurality of processors 51 and a plurality of memories 52 may cooperate to realize the function of each element of the travel plan creation device 10. .
　ここで、追従走行の幾つかの例を示しつつ、追従走行と運転者負担との関係について説明する。図６～図３１において、自車Ｓは図２の自車１００に対応し、他車Ｘ１，Ｘ２，…のそれぞれは図２の他車１０１に対応している。 Here, the relationship between the following driving and the driver's burden will be described while showing some examples of the following driving. 6 to 31, the own vehicle S corresponds to the own vehicle 100 of FIG. 2, and each of the other vehicles X1, X2,... Corresponds to the other vehicle 101 of FIG.
　まず、図６のように、道路Ｒ１，Ｒ２を走行予定の自車Ｓと、道路Ｒ３，Ｒ２を走行予定の他車Ｘ１とが、交差点Ｃ１（道路Ｒ１，Ｒ２，Ｒ３の接続地点）にほぼ同じ時刻に到達する場合を考える。自車Ｓおよび他車Ｘ１が道路Ｒ２に進入した後、図７のように、自車Ｓを他車Ｘ１に後続させた状態で、自車Ｓの運転者が自車Ｓに特定の操作を行うと、自車Ｓは他車Ｘ１を先導車とする追従走行を開始する。通常は、自車Ｓを追従走行させることによって、運転者負担が軽減される。 First, as shown in FIG. 6, the own vehicle S scheduled to travel on the roads R1 and R2 and the other vehicle X1 scheduled to travel on the roads R3 and R2 are approximately at the intersection C1 (connection point of the roads R1, R2 and R3). Consider the case where the same time is reached. After the host vehicle S and the other vehicle X1 enter the road R2, the driver of the host vehicle S performs a specific operation on the host vehicle S in a state where the host vehicle S follows the other vehicle X1 as shown in FIG. Then, the own vehicle S starts following traveling with the other vehicle X1 as the leading vehicle. Normally, the driver's burden is reduced by causing the vehicle S to follow the vehicle.
　しかし、例えば他車Ｘ１の速度が非常に遅い場合には、自車Ｓを他車Ｘ１に追従させると目的地への到着時刻が遅くなる（走行時間が長くなる）ため、長時間運転を負担に感じる運転者にとっては、むしろ運転者負担が増えることも考えられる。そのよう場合には、図８のように、道路Ｒ２で自車Ｓを手動運転して目的地への走行時間を短縮する方が、運転者負担は低減される。このように、追従走行と運転者負担とは一定の関係にはなく、運転者の嗜好によって変わる。 However, when the speed of the other vehicle X1 is very slow, for example, if the own vehicle S is made to follow the other vehicle X1, the arrival time at the destination will be delayed (running time will be longer), so it will be burdened to drive for a long time. For the driver who feels like this, the driver burden may increase. In such a case, as shown in FIG. 8, the driver's burden is reduced by manually driving the vehicle S on the road R2 to shorten the travel time to the destination. Thus, the follow-up driving and the driver's burden are not in a fixed relationship and vary depending on the driver's preference.
　ユーザが入力装置２１を用いて走行計画作成装置１０に入力する優先項目は、そのような運転者の嗜好に基づいて運転者負担を評価するための評価基準となる。例えば、優先項目が「追従走行距離の長さ」であれば、追従走行距離が長くなる図７のような走行計画よりも、図８のような走行計画の方が運転者負担が大きいと評価される。また、優先項目が「目的地への到着時刻」であれば、走行時間が短縮される図８のような走行計画の方が、図７のような走行計画よりも運転者負担が小さいと評価される。 Priority items that the user inputs to the travel plan creation device 10 using the input device 21 are evaluation criteria for evaluating the driver burden based on such driver preferences. For example, if the priority item is “the length of the following travel distance”, it is evaluated that the travel plan as shown in FIG. 8 has a greater burden on the driver than the travel plan as shown in FIG. Is done. If the priority item is “arrival time at the destination”, the travel plan as shown in FIG. 8 in which the travel time is shortened is evaluated as having a smaller driver burden than the travel plan as shown in FIG. Is done.
　次に、図９のように、道路Ｒ１，Ｒ２を走行予定の自車Ｓが追従可能な２台の他車Ｘ１，Ｘ２が存在する場合を考える。この例では、他車Ｘ１は自車Ｓと同じく道路Ｒ１，Ｒ２を走行予定であり、他車Ｘ２は道路Ｒ１，Ｒ３を走行予定である。また、他車Ｘ１は他車Ｘ２よりも速度が遅いものとする。 Next, as shown in FIG. 9, a case is considered where there are two other vehicles X1 and X2 that the vehicle S scheduled to travel on the roads R1 and R2 can follow. In this example, the other vehicle X1 is scheduled to travel on the roads R1 and R2 like the host vehicle S, and the other vehicle X2 is scheduled to travel on the roads R1 and R3. The other vehicle X1 is assumed to be slower than the other vehicle X2.
　この場合、図１０のように自車Ｓを他車Ｘ１に追従させると、道路Ｒ１，Ｒ２で自車Ｓを他車Ｘ１に追従させて走行できるため、追従走行距離を長くできる点では運転者負担を小さくできるが、その反面、目的地への到着時刻は遅くなる。また、図１１のように自車Ｓを他車Ｘ２に追従させると、走行時間を短縮できる点では運転者負担を小さくできるが、交差点Ｃ１（道路Ｒ１，Ｒ２，Ｒ３の接続地点）までしか自車Ｓを追従走行させることができないため追従走行距離は短くなる。 In this case, as shown in FIG. 10, when the own vehicle S is made to follow the other vehicle X1, the vehicle R can run by following the other vehicle X1 on the roads R1 and R2. Although the burden can be reduced, the arrival time at the destination will be delayed. Further, as shown in FIG. 11, when the own vehicle S is made to follow the other vehicle X2, the burden on the driver can be reduced in that the travel time can be reduced, but only the vehicle up to the intersection C1 (the connection point of the roads R1, R2, R3). Since the vehicle S cannot be caused to follow, the following travel distance is shortened.
　本実施の形態では、追従走行の途中で先導車を変更することも想定される。例えば、図１２のように、道路Ｒ１において、道路Ｒ１，Ｒ４を走行予定の自車Ｓが、道路Ｒ１，Ｒ２を走行予定の他車Ｘ１を先導車として追従走行している場合を考える。この例において、道路Ｒ３，Ｒ４を走行予定の他車Ｘ２が存在し、他車Ｘ１と他車Ｘ２とが交差点Ｃ１（道路Ｒ１～Ｒ４の接続地点）にほぼ同じ時刻に到達するものとする。この場合、交差点Ｃ１で自車Ｓの他車Ｘ１への追従を終了させ、その後、図１３のように自車Ｓを他車Ｘ２に追従させることができる。このように先導車を乗り継ぐことで、追従走行距離を長くすることができる。 In this embodiment, it is also assumed that the leading vehicle is changed during the follow-up running. For example, as shown in FIG. 12, consider a case in which the vehicle S scheduled to travel on the roads R1 and R4 follows the road R1 with the other vehicle X1 scheduled to travel on the roads R1 and R2 as a leading vehicle. In this example, it is assumed that there is another vehicle X2 scheduled to travel on the roads R3 and R4, and the other vehicle X1 and the other vehicle X2 reach the intersection C1 (connection point of the roads R1 to R4) at substantially the same time. In this case, the tracking of the host vehicle S to the other vehicle X1 can be terminated at the intersection C1, and then the host vehicle S can be tracked to the other vehicle X2 as shown in FIG. Thus, the follow-up travel distance can be increased by transferring the leading vehicle.
　さらに、本実施の形態では、先導車の変更のしやすさも考慮される。例えば、図１４のように、道路Ｒ１，Ｒ４を走行予定の自車Ｓが追従可能な２台の他車Ｘ１，Ｘ２が存在し、他車Ｘ１，Ｘ２は共に道路Ｒ１，Ｒ２を走行予定である場合を考える。この場合、自車Ｓを他車Ｘ１に追従させることができる距離と、自車Ｓを他車Ｘ２に追従させることができる距離とは同じである。しかし、道路Ｒ３，Ｒ４を走行予定の他車Ｘ３への乗り継ぎを考慮すると、自車Ｓを他車Ｘ１，Ｘ２のどちらに追従させるかによって、運転者負担が変わる。 Furthermore, in this embodiment, the ease of changing the leading vehicle is also taken into consideration. For example, as shown in FIG. 14, there are two other vehicles X1 and X2 that the vehicle S scheduled to travel on the roads R1 and R4 can follow, and both the other vehicles X1 and X2 are scheduled to travel on the roads R1 and R2. Consider a case. In this case, the distance at which the host vehicle S can follow the other vehicle X1 and the distance at which the host vehicle S can follow the other vehicle X2 are the same. However, considering the connection to the other vehicle X3 scheduled to travel on the roads R3 and R4, the driver's burden changes depending on which of the other vehicles X1 and X2 the vehicle S follows.
　ここで、図１５（自車Ｓは不図示）のように、他車Ｘ１は他車Ｘ３とほぼ同じ時刻に交差点Ｃ１（道路Ｒ１～Ｒ４の接続地点）に到達し、他車Ｘ２は他車Ｘ３よりも早い時刻に交差点Ｃ１に到達するものとする。この場合、図１６のように自車Ｓを他車Ｘ１に追従させると、図１７のように他車Ｘ３への乗り継ぎを楽に行うことができ（自車Ｓを他車Ｘ２に追従させると、他車Ｘ３を待たなければ、自車Ｓを他車Ｘ３へ追従させることができない）、運転者負担を小さくできる。 Here, as shown in FIG. 15 (the own vehicle S is not shown), the other vehicle X1 reaches the intersection C1 (connection point of the roads R1 to R4) at almost the same time as the other vehicle X3, and the other vehicle X2 Assume that the intersection C1 is reached at a time earlier than X3. In this case, if the own vehicle S is made to follow the other vehicle X1 as shown in FIG. 16, the connection to the other vehicle X3 can be easily performed as shown in FIG. 17 (if the own vehicle S is made to follow the other vehicle X2, Without waiting for the other vehicle X3, the host vehicle S cannot follow the other vehicle X3), and the driver's burden can be reduced.
　ただし、他車Ｘ１，Ｘ３の速度が非常に遅ければ、先導車を容易に変更できたとしても、目的地への到着時刻が遅くなることで運転者負担が大きくなることが考えられる。そのよう場合には、図１８のように自車Ｓを他車Ｘ２に追従させて早く交差点Ｃ１へ到達させ、図１９のように道路Ｒ４で自車Ｓを手動運転して走行時間を短縮すれば、運転者負担を小さくできる。 However, if the speeds of the other vehicles X1 and X3 are very slow, even if the leading vehicle can be easily changed, the driver's burden may increase due to the arrival time at the destination being delayed. In such a case, the host vehicle S is made to follow the other vehicle X2 as shown in FIG. 18 to quickly reach the intersection C1, and the host vehicle S is manually driven on the road R4 as shown in FIG. Thus, the driver burden can be reduced.
　また、本発明では、自車Ｓの付近に先導車にできる他車が存在しない場合に、自車Ｓを停車させて他車を待つことも考慮される。例えば、図２０のように、道路Ｒ１を走行予定の自車Ｓの後方に、道路Ｒ１を走行経路とする他車Ｘ１が存在する場合を考える。この場合、図２１のように、自車ＳをサービスエリアＳＡに停車させて他車Ｘ１が接近するのを待ち、その後、図２２のように自車Ｓを他車Ｘ１に追従させれば、道路Ｒ１で自車Ｓを追従走行させることができる。このように他車Ｘ１を待つことで、追従走行距離を長くでき、運転者負担を小さくできる（目的地への到着時刻は遅くなるが、自車Ｓを停車させて待機させることで運転者負担の増大は抑えられる）。 Also, in the present invention, when there is no other vehicle that can be a leading vehicle in the vicinity of the own vehicle S, it is also considered to stop the own vehicle S and wait for the other vehicle. For example, as shown in FIG. 20, consider a case in which there is another vehicle X1 having the road R1 as a travel route behind the host vehicle S scheduled to travel on the road R1. In this case, as shown in FIG. 21, the host vehicle S is stopped in the service area SA, waits for the other vehicle X1 to approach, and then the host vehicle S follows the other vehicle X1 as shown in FIG. The own vehicle S can be caused to follow the road R1. By waiting for the other vehicle X1 in this way, the follow-up mileage can be lengthened and the driver's burden can be reduced (the arrival time at the destination is delayed, but the driver's burden can be reduced by stopping the vehicle S and waiting). Increase is suppressed).
　自車Ｓの待機は、先導車の変更（乗り継ぎ）にも利用できる。例えば、図２３のように、道路Ｒ１，Ｒ２を走行予定の自車Ｓが、道路Ｒ１，Ｒ３を走行予定の他車Ｘ１に追従して走行しており、その自車Ｓの後方に、道路Ｒ１，Ｒ２を走行経路とする他車Ｘ２が存在する場合を考える。この場合、サービスエリアＳＡの手前で自車Ｓの他車Ｘ１への追従を終了させ、図２４のように、自車ＳをサービスエリアＳＡに停車させて他車Ｘ２が接近するのを待ち、その後、図２５のように自車Ｓを他車Ｘ２に追従させることで、先導車を他車Ｘ１から他車Ｘ２へと変更できる。その結果、道路Ｒ１だけでなく道路Ｒ２でも自車Ｓを追従走行させることができる。 The waiting of the own vehicle S can also be used to change (transfer) the leading vehicle. For example, as shown in FIG. 23, the vehicle S scheduled to travel on the roads R1 and R2 travels following the other vehicle X1 scheduled to travel on the roads R1 and R3. Consider a case in which there is another vehicle X2 that uses R1 and R2 as travel routes. In this case, the tracking of the host vehicle S to the other vehicle X1 is terminated before the service area SA, and as shown in FIG. 24, the host vehicle S is stopped in the service area SA and waits for the other vehicle X2 to approach. Then, the leading vehicle can be changed from the other vehicle X1 to the other vehicle X2 by making the own vehicle S follow the other vehicle X2 as shown in FIG. As a result, the host vehicle S can be caused to follow the road R2 as well as the road R2.
　以上の例では、自車Ｓが走行中の道路またはその次の道路を走行する他車の存在を考慮したが、本実施の形態の走行計画作成装置１０は、さらに先の道路を走行する他車の存在も考慮して、自車１００の走行計画を作成する。 In the above example, the existence of another vehicle traveling on the road on which the vehicle S is traveling or the next road is considered. However, the travel plan creation device 10 of the present embodiment further travels on the road ahead. A travel plan for the vehicle 100 is created in consideration of the presence of the vehicle.
　例えば、図２６のように、自車Ｓが道路Ｒ１，Ｒ８，Ｒ９，Ｒ６を走行予定の場合、走行中の道路Ｒ１およびその次の道路Ｒ８を走行する他車だけでなく、さらに先の道路Ｒ９，Ｒ６を走行する他車まで考慮に入れる。例えば、優先項目が「追従走行距離の長さ」に設定されている場合には、図２７のように道路Ｒ８で自車Ｓを他車Ｘ１に追従させ、且つ、図２８のように道路Ｒ９で自車Ｓを他車Ｘ２に追従させるように（つまり、他車Ｘ１と他車Ｘ２とを乗り継ぐように）、自車Ｓの走行計画が作成される。なお、優先項目が「追従走行距離の長さ」に設定されていても、図２９のように道路Ｒ６で自車Ｓが追従可能な他車が存在しないと予想されるときは、道路Ｒ６で自車Ｓを手動運転するような走行計画が立てられる。 For example, as shown in FIG. 26, when the host vehicle S is scheduled to travel on the roads R1, R8, R9, and R6, not only the traveling road R1 and the next road R8, but also a further road Consider other vehicles traveling on R9 and R6. For example, when the priority item is set to “the length of the following travel distance”, the vehicle S is caused to follow the other vehicle X1 on the road R8 as shown in FIG. 27, and the road R9 is shown as shown in FIG. Thus, the travel plan of the host vehicle S is created so that the host vehicle S follows the other vehicle X2 (that is, so as to transfer between the other vehicle X1 and the other vehicle X2). Even if the priority item is set to “the length of the follow-up mileage”, when it is predicted that there is no other vehicle that the vehicle S can follow on the road R6 as shown in FIG. 29, the road R6 A travel plan for manually driving the host vehicle S is established.
　また、図２６の例において、優先項目が「目的地への到着時刻」に設定されており、他車Ｘ１，Ｘ２の速度が非常に遅い場合には、道路Ｒ８で自車Ｓを他車Ｘ１に追従させずに手動運転する走行計画が作成される。その場合、図３０のように自車Ｓが他車Ｘ２よりも先に交差点Ｃ２（道路Ｒ３，Ｒ４，Ｒ８，Ｒ９の接続地点）に到着するため、図３１のように道路Ｒ９，Ｒ６も自車Ｓを手動運転するように走行計画が立てられる。なお、図３０の状態で他車Ｘ２を待つことも可能であるが、そのようにすると道路Ｒ８で自車Ｓを手動運転して走行時間を短縮したことが無意味になるため、そのような走行計画は好ましくない。 In the example of FIG. 26, when the priority item is set to “arrival time at the destination” and the speeds of the other vehicles X1 and X2 are very slow, the host vehicle S is replaced by the other vehicle X1 on the road R8. A travel plan for manual operation without following the above is created. In this case, as shown in FIG. 30, the host vehicle S arrives at the intersection C2 (the connection point of the roads R3, R4, R8, and R9) before the other vehicle X2, so that the roads R9 and R6 are also used as shown in FIG. A travel plan is made so that the vehicle S is driven manually. Although it is possible to wait for the other vehicle X2 in the state of FIG. 30, it becomes meaningless that the driving time is shortened by manually driving the vehicle S on the road R8. Travel plans are not preferred.
　次に、実施の形態１に係る走行計画作成装置１０の動作を説明する。図３２は、その動作を示すフローチャートである。 Next, the operation of the travel plan creation device 10 according to Embodiment 1 will be described. FIG. 32 is a flowchart showing the operation.
　走行計画作成装置１０が起動すると、まず、自車情報取得部１１および優先項目設定部１４が、ユーザが入力装置２１から入力した情報を取得する（ステップＳ１０１）。具体的には、自車情報取得部１１はユーザが入力した自車情報を取得し、優先項目設定部１４はユーザが選択した優先項目を取得する。自車情報は、少なくとも、自車１００の出発地から目的地までの走行予定経路を特定できる情報と、自車の出発予定時刻の情報とを含む。本実施の形態の自車情報取得部１１は、走行予定経路取得部１１ａを有しているため、ユーザが自車１００の出発地と目的地を入力すれば、自車情報取得部１１は自車１００の走行予定経路を取得できる。 When the travel plan creation device 10 is activated, first, the own vehicle information acquisition unit 11 and the priority item setting unit 14 acquire information input by the user from the input device 21 (step S101). Specifically, the host vehicle information acquisition unit 11 acquires host vehicle information input by the user, and the priority item setting unit 14 acquires the priority item selected by the user. The own vehicle information includes at least information that can identify a scheduled travel route from the departure point of the own vehicle 100 to the destination, and information of the scheduled departure time of the own vehicle. Since the own vehicle information acquisition unit 11 of the present embodiment includes the planned travel route acquisition unit 11a, if the user inputs the departure point and the destination of the own vehicle 100, the own vehicle information acquisition unit 11 The planned travel route of the car 100 can be acquired.
　次に、他車情報取得部１２が、通信装置２２を介して他車情報を取得する（ステップＳ１０２）。他車情報には、少なくとも、複数の他車１０１の走行予定経路と、その走行予定経路上の各地点の通過予定時刻とを予測可能な情報が含まれる。 Next, the other vehicle information acquisition unit 12 acquires the other vehicle information via the communication device 22 (step S102). The other vehicle information includes at least information capable of predicting the planned traveling route of the plurality of other vehicles 101 and the scheduled passage time of each point on the planned traveling route.
　その後、走行計画算出部１３が、自車１００の走行計画を算出する処理（走行計画算出処理）を行う（ステップＳ１０３）。走行計画算出処理の詳細は後述する。 Thereafter, the travel plan calculation unit 13 performs a process (travel plan calculation process) for calculating the travel plan of the host vehicle 100 (step S103). Details of the travel plan calculation process will be described later.
　走行計画算出部１３が算出した走行計画は、走行計画保持部１５に格納される（ステップＳ１０４）。表示処理部１６は、走行計画保持部１５に格納されている走行計画を、表示装置２４に表示するための画像データを生成する（ステップＳ１０５）。表示処理部１６が生成した画像データは表示装置２４に入力され、その結果、表示装置２４に走行計画が表示される（ステップＳ１０６）。 The travel plan calculated by the travel plan calculation unit 13 is stored in the travel plan holding unit 15 (step S104). The display processing unit 16 generates image data for displaying the travel plan stored in the travel plan holding unit 15 on the display device 24 (step S105). The image data generated by the display processing unit 16 is input to the display device 24. As a result, the travel plan is displayed on the display device 24 (step S106).
　次に、走行計画算出処理（図３２のステップＳ１０３）を詳細に説明する。図３３は、走行計画算出処理のフローチャートである。 Next, the travel plan calculation process (step S103 in FIG. 32) will be described in detail. FIG. 33 is a flowchart of a travel plan calculation process.
　走行計画算出処理が開始されると、走行計画算出部１３は、自車１００の走行予定経路上に複数の分割地点を設定することにより、複数の区間に分割する（ステップＳ２０１）。隣り合う２つの分割地点の間が１つの区間となり、各区間は走行計画を算出する単位となる。分割地点を配置する方法は任意でよい。例えば、複数の道路が接続する地点（交差点、分岐点等）、車両を停車できる地点（パーキングエリア、サービスエリア、道の駅等）など、特定の属性を有する地点を分割地点とする方法が考えられる。また、一定距離ごとに分割地点を配置するシンプルな方法でもよい。走行予定経路を細かく分割する（分割地点の数を多くする）と、より多くのパターンの走行計画を算出可能となるが、それらを算出するための計算量が膨大になる。よって、分割地点の数は、走行計画算出部１３としてのプロセッサ５１の計算能力、および、走行計画に要求される精細度に応じて決定するとよい。 When the travel plan calculation process is started, the travel plan calculation unit 13 divides the vehicle into a plurality of sections by setting a plurality of division points on the planned travel route of the vehicle 100 (step S201). Between two adjacent division points is one section, and each section is a unit for calculating a travel plan. Any method may be used for arranging the dividing points. For example, a method is considered in which a point having a specific attribute such as a point where a plurality of roads are connected (intersection, branching point, etc.) or a point where a vehicle can be stopped (parking area, service area, road station, etc.) is used as a division point. It is done. Further, a simple method of arranging the dividing points for every fixed distance may be used. If the planned travel route is finely divided (the number of division points is increased), more patterns of travel plans can be calculated, but the calculation amount for calculating them becomes enormous. Therefore, the number of division points may be determined according to the calculation capability of the processor 51 as the travel plan calculation unit 13 and the definition required for the travel plan.
　ここでは、走行予定経路の始点（出発地）を分割地点Ｐ０とし、走行予定経路の終点（目的地）を分割地点ＰＮとするＮ＋１個の分割地点Ｐ０～ＰＮが設定されて、走行予定経路がＮ個の区間に分割されたと仮定する。また、分割地点Ｐｉと分割地点Ｐｉ＋１とで区切られる区間を、区間Ｑｉと定義する。つまり最初の区間はＱ０と表され、最後の区間はＱＮ－１と表される。 Here, N + 1 divided points P 0 to P N are set, where the start point (starting point) of the planned travel route is the division point P 0 and the end point (destination) of the planned travel route is the division point P N. Assume that the planned travel route is divided into N sections. Further, a section divided by the division point P i and the division point P i + 1 is defined as a section Q i . That is, the first interval is represented as Q 0 and the last interval is represented as Q N −1.
　次に、走行計画算出部１３は、算出済みの走行計画のデータがストックされるデータの集合体である「算出済み走行計画集合ＲＦ」をクリアする（ステップＳ２０２）。走行計画算出部１３は、異なるパターンの走行計画を複数算出して、それらを算出済み走行計画集合ＲＦに格納し、その後、格納された走行計画のうちからユーザが選択した優先項目に適合したものを抽出して出力する。 Next, the travel plan calculation unit 13 clears “calculated travel plan set RF” that is a collection of data in which the calculated travel plan data is stocked (step S202). The travel plan calculation unit 13 calculates a plurality of travel plans having different patterns, stores them in the calculated travel plan set RF, and then conforms to the priority item selected by the user from the stored travel plans. Is extracted and output.
　次に、走行計画算出部１３は、算出途中の走行計画のデータである「算出中走行計画Ｒ」をクリアする（ステップＳ２０３）。算出中走行計画Ｒをクリアする際、走行計画の算出に使用する各変数を自車情報に基づいて初期化する。本実施の形態では、時刻を表す変数Ｔと、位置を表す変数Ｌと、区間を表す変数Ｄとが用いられる（以下ではそれらの各変数を単に「時刻Ｔ」、「位置Ｌ」、「区間Ｄ」という）。初期化によって、時刻Ｔは自車１００の出発予定時刻に設定され、位置Ｌは出発地である分割地点Ｐ０に設定され、区間Ｄは最初の区間である区間Ｑ０に設定される。 Next, the travel plan calculation unit 13 clears “during travel plan R”, which is data of a travel plan being calculated (step S203). When the calculated traveling plan R is cleared, each variable used for calculating the traveling plan is initialized based on the vehicle information. In the present embodiment, a variable T representing time, a variable L representing a position, and a variable D representing a section are used (hereinafter, these variables are simply referred to as “time T”, “position L”, “section D ”). The initialization, time T is set to the scheduled departure time of the vehicle 100, the position L is set to the division point P 0 is the starting place, the interval D is set to the interval Q 0 is the first interval.
　次に、走行計画算出部１３は、地図情報記憶装置２３の地図情報を参照して、位置Ｌの付近に、自車１００を停車させて先導車としての他車１０１を待つことが可能な地点（待機可能地点）があるか否かを判断する（ステップＳ２０４）。ここでいう「位置Ｌの付近」は、区間Ｄの手前または途中（位置Ｌを含む）であればよい（ただし、位置Ｌが分割地点Ｐ０のときは区間Ｄ（区間Ｑ０）の手前に区間は存在しない）。例えば、位置Ｌから一定距離内を「位置Ｌの付近」と定義してもよいし、位置Ｌを挟む２区間（区間Ｄとその直前の区間）を「位置Ｌの付近」と定義してもよい。また、待機可能地点は走行予定経路上の地点でなくてもよく、走行予定経路周辺の一定範囲内（例えば、区間Ｄとその直前の区間の周囲２０ｍの範囲など）にある地点を待機可能地点としてもよい。その場合、走行予定経路と待機可能地点との間の距離が短い方が、先導車と合流できる時間が早くなる、すなわち、早く追従走行を開始できるので、運転者負担は小さくなる。 Next, the travel plan calculation unit 13 refers to the map information in the map information storage device 23 and can stop the own vehicle 100 near the position L and wait for the other vehicle 101 as a leading vehicle. It is determined whether there is a (standby possible point) (step S204). The “near position L” here may be in front of or in the middle of section D (including position L) (however, when position L is division point P 0 , it is in front of section D (section Q 0 )). There is no leg). For example, a certain distance from the position L may be defined as “near position L”, or two sections (section D and the section immediately before it) sandwiching position L may be defined as “near position L”. Good. Further, the standby possible point may not be a point on the planned travel route, and a standby point may be a point within a certain range around the planned travel route (for example, a range of 20 m around the section D and the immediately preceding section). It is good. In this case, the shorter the distance between the planned travel route and the standby point, the faster the time that can be merged with the leading vehicle, that is, the follow-up traveling can be started earlier, so the driver's burden is reduced.
　位置Ｌの付近に待機可能地点がある場合、走行計画算出部１３は、その待機可能地点で待つことが可能な先導車の候補となる他車１０１を検索する。具体的には、走行計画算出部１３は、時刻Ｔから予め定められた時間内に区間Ｄを通る他車１０１のうち、区間Ｄで合流可能なものを、他車情報に基づいて検索する（ステップＳ２０５）。 When there is a standby point near the position L, the travel plan calculation unit 13 searches for other vehicles 101 that are candidates for a leading vehicle that can wait at the standby point. Specifically, the travel plan calculation unit 13 searches for other vehicles 101 that pass through the section D within a predetermined time from the time T based on the other vehicle information. Step S205).
　ここで、他車１０１が区間Ｄで自車１００と合流可能か否かは、自車１００が、区間Ｄに入ってから予め定められた時間内に合流できるか否かによって判断する（待機可能地点が区間Ｄの途中地点である場合は、待機可能地点を自車１００が出発してから予め定められた時間内に合流できるか否かによって判断する）。例えば、自車１００の車両性能を上回るような速度で区間Ｄを走行する他車１０１は、合流不可能である。 Here, whether or not the other vehicle 101 can join the own vehicle 100 in the section D is determined by whether or not the own vehicle 100 can join within a predetermined time after entering the section D (standby is possible). If the point is an intermediate point in the section D, it is determined based on whether or not the vehicle 100 can join the waiting point after the vehicle 100 has departed). For example, the other vehicle 101 that travels in the section D at a speed that exceeds the vehicle performance of the host vehicle 100 cannot merge.
　そして、走行計画算出部１３は、区間Ｄでの行動を次の２通りから選択し、選択した内容を算出中走行計画Ｒに追加する（ステップＳ２０６）。
［行動１－１］待機可能地点で、ステップＳ２０５で見つかった他車１０１を待つ。
［行動１－２］他車１０１を待たない。
また、ステップＳ２０６で行動１－１が選択された場合は、その待ち時間を時刻Ｔに加算することによって、時刻Ｔが更新される。ステップＳ２０６で行動１－２が選択された場合は、時刻Ｔの値は維持される。 And the travel plan calculation part 13 selects the action in the area D from the following two types, and adds the selected content to the travel plan R being calculated (step S206).
[Action 1-1] Wait for the other vehicle 101 found in step S205 at the standby possible point.
[Action 1-2] Do not wait for the other vehicle 101.
If the action 1-1 is selected in step S206, the time T is updated by adding the waiting time to the time T. If action 1-2 is selected in step S206, the value of time T is maintained.
　ステップＳ２０６では行動１－１または行動１－２の片方が選択されるが、後述するステップＳ２１１の処理によって、最終的には、行動１－１を選択する走行計画と、行動１－２を選択する走行計画との両方が作成されることになる。ただし、ステップＳ２０５で該当する他車１０１が見つからなかった場合には、行動１－１が選択されることはない。 In step S206, either action 1-1 or action 1-2 is selected. By the process in step S211 to be described later, the travel plan for selecting action 1-1 and action 1-2 are finally selected. Both the travel plan to be created will be created. However, if the corresponding other vehicle 101 is not found in step S205, the action 1-1 is not selected.
　ステップＳ２０５で該当する他車１０１が複数見つかった場合には、行動１－１が更に複数の選択肢に分けられ、それぞれの他車１０１を待つ走行計画が作成されることになる。例えば、ステップＳ２０５で、該当する他車１０１として車両Ａ，Ｂの２台が見つかった場合は、ステップＳ２０６では以下の３通りの行動から１つが選択される。
［行動１－１Ａ］待機可能地点で車両Ａを待つ。
［行動１－１Ｂ］待機可能地点で車両Ｂを待つ。
［行動１－２］他車１０１（車両Ａ，車両Ｂ）を待たない。 If a plurality of corresponding other vehicles 101 are found in step S205, the action 1-1 is further divided into a plurality of options, and a travel plan for waiting for each of the other vehicles 101 is created. For example, if two vehicles A and B are found as corresponding other vehicles 101 in step S205, one of the following three actions is selected in step S206.
[Action 1-1A] Wait for vehicle A at a point where standby is possible.
[Action 1-1B] Wait for vehicle B at a point where standby is possible.
[Action 1-2] Do not wait for the other vehicle 101 (vehicle A, vehicle B).
　なお、ステップＳ２０５で該当する他車１０１が多数見つかった場合には、行動１－１の対象（自車１００が待つ対象）をそのうちの一部に限定してもよい。例えば、該当する複数の他車１０１のうち、待ち時間が比較的短いものだけを対象としたり、自車１００の目的地に比較的近い地点を目的地とするものだけを対象としたりすることが考えられる。そうすることにより、ステップＳ２０６での選択肢が減り、走行計画算出部１３としてのプロセッサ５１の計算負荷を軽減させることができる。 In addition, when many corresponding other vehicles 101 are found in step S205, the target of the action 1-1 (target that the own vehicle 100 waits) may be limited to a part of them. For example, among the corresponding other vehicles 101, only those having a relatively short waiting time may be targeted, or only those having a destination relatively close to the destination of the vehicle 100 may be targeted. Conceivable. By doing so, the choices in step S206 are reduced, and the calculation load of the processor 51 as the travel plan calculation unit 13 can be reduced.
　なお、上記のステップＳ２０５、Ｓ２０６の処理は、位置Ｌの付近に待機可能地点が存在しない場合（ステップＳ２０４でＮＯ）には行われない。 Note that the processing in steps S205 and S206 described above is not performed when there is no standby point near position L (NO in step S204).
　次に、走行計画算出部１３は、区間Ｄにおける自車１００の先導車の候補となる他車１０１を検索する。具体的には、走行計画算出部１３は、他車情報に基づいて、時刻Ｔに位置Ｌの付近にいる他車１０１のうち、区間Ｄを通り、区間Ｄで自車１００が合流可能なものを検索する（ステップＳ２０７）。ここでも、他車１０１が区間Ｄで自車１００と合流可能か否かは、自車１００が区間Ｄに入ってから予め定められた時間内に合流できるか否かによって判断する。 Next, the travel plan calculation unit 13 searches for other vehicles 101 that are candidates for the leading vehicle of the vehicle 100 in the section D. Specifically, the travel plan calculation unit 13 can pass through the section D and join the own vehicle 100 in the section D among the other cars 101 in the vicinity of the position L at the time T based on the other vehicle information. Is searched (step S207). Here again, whether or not the other vehicle 101 can join the own vehicle 100 in the section D is determined by whether or not the own vehicle 100 can join within a predetermined time after entering the section D.
　ステップＳ２０７では、ユーザが選択した優先項目に、先導車とする他車１０１に関する項目が含まれている場合には、その優先項目に適した他車１０１のみを検索対象としてもよい。例えば、優先項目として、他車１０１の運転評価値や経路確実性が選択されている場合には、それらが一定レベル以上の他車１０１のみが検索対象とされる。 In step S207, when the priority item selected by the user includes an item related to the other vehicle 101 as the leading vehicle, only the other vehicle 101 suitable for the priority item may be searched. For example, when the driving evaluation value or the route certainty of the other vehicle 101 is selected as the priority item, only the other vehicle 101 having a certain level or higher is selected as a search target.
　さらに、ステップＳ２０７では、時刻Ｔと現在時刻との差が予め定められた閾値よりも大きい場合（つまり、時刻Ｔが現在時刻から長時間経過した後の時刻を示している場合）、経路確実性の高い他車１０１のみを検索対象にすることが好ましい。長時間経過した後には、経路確実性が低い他車１０１の走行予定経路や通過予定時刻は、変更されている可能性が高いからである。また、自車１００と同等以下の車両性能を有する他車１０１のみを検索対象とすることが好ましい。自車１００を、自車１００よりも車両性能の高い他車１０１に追従させて走行させるのは困難な場合があるからである。 Further, in step S207, when the difference between the time T and the current time is larger than a predetermined threshold (that is, when the time T indicates a time after a long time has elapsed from the current time), the path certainty is obtained. It is preferable to search only the other vehicle 101 having a high speed. This is because, after a long time has elapsed, there is a high possibility that the planned travel route and the scheduled passage time of the other vehicle 101 with low route certainty have been changed. In addition, it is preferable to search only the other vehicle 101 having a vehicle performance equal to or lower than that of the own vehicle 100. This is because it may be difficult for the host vehicle 100 to travel following the other vehicle 101 having higher vehicle performance than the host vehicle 100.
　その後、走行計画算出部１３は、区間Ｄでの行動を、次の２通りから選択し、その内容を算出中走行計画Ｒに追加する（ステップＳ２０８）。
［行動２－１］自車１００を、ステップＳ２０７で見つかった他車１０１に追従させて走行させる。
［行動２－２］自車１００を手動運転する。 Thereafter, the travel plan calculation unit 13 selects an action in the section D from the following two ways, and adds the contents to the calculated travel plan R (step S208).
[Action 2-1] The host vehicle 100 is caused to travel following the other vehicle 101 found in step S207.
[Action 2-2] The own vehicle 100 is driven manually.
　行動２－１が選択された場合、区間Ｄは追従走行区間とされ、区間Ｄで先導車となる他車１０１を特定する情報（例えば、車体ナンバーや、車両情報配信システムへの登録ＩＤなど）が算出中走行計画Ｒに追加される。そして、先導車としての他車１０１の予想速度から算出した区間Ｄの走行時間を時刻Ｔに加算することによって、時刻Ｔが更新される。また、位置Ｌを次の分割地点に設定することによって、位置Ｌが更新される。さらに、位置Ｄを次の区間（更新後の位置Ｌを始点とする区間）に設定することで、区間Ｄが更新される。なお、連続する区間で同一の他車１０１が先導車として選択された場合は、それらの区間では先導車を変更しない走行計画となる。 When the action 2-1 is selected, the section D is a follow-up traveling section, and information for identifying the other vehicle 101 that is the leading vehicle in the section D (for example, a vehicle body number, a registration ID for the vehicle information distribution system, etc.) Is added to the calculated travel plan R. Then, the time T is updated by adding the travel time of the section D calculated from the predicted speed of the other vehicle 101 as the leading vehicle to the time T. Moreover, the position L is updated by setting the position L to the next division point. Furthermore, the section D is updated by setting the position D to the next section (section starting from the updated position L). In addition, when the same other vehicle 101 is selected as a leading vehicle in successive sections, the traveling plan is such that the leading vehicle is not changed in those sections.
　行動２－２が選択された場合、区間Ｄは手動運転区間とされる。その場合、自車１００の速度に基づいて算出した区間Ｄの走行時間を時刻Ｔに加算することによって、時刻Ｔが更新される。また、位置Ｌを次の分割地点に設定することによって、位置Ｌが更新される。さらに、位置Ｄを次の区間（更新後の位置Ｌを始点とする区間）に設定することで、区間Ｄが更新される。 When action 2-2 is selected, section D is a manual operation section. In this case, the time T is updated by adding the travel time of the section D calculated based on the speed of the vehicle 100 to the time T. Moreover, the position L is updated by setting the position L to the next division point. Furthermore, the section D is updated by setting the position D to the next section (section starting from the updated position L).
　ステップＳ２０８では行動２－１または行動２－２の片方が選択されるが、後述するステップＳ２１１の処理によって、最終的には、行動２－１を選択する走行計画と、行動２－２を選択する走行計画との両方が作成されることになる。ただし、ステップＳ２０７で該当する他車１０１が見つからなかった場合には、ステップＳ２０８で行動２－１が選択されることはない。 In step S208, either action 2-1 or action 2-2 is selected. However, in the process of step S211 described later, a travel plan for selecting action 2-1 and action 2-2 are finally selected. Both the travel plan to be created will be created. However, if the corresponding other vehicle 101 is not found in step S207, the action 2-1 is not selected in step S208.
　ステップＳ２０７で該当する他車１０１が複数見つかった場合には、行動２－１が更に複数の選択肢に分けられ、それぞれの他車１０１に自車１００を追従させる走行計画が作成されることになる。例えば、ステップＳ２０７で、該当する他車１０１として車両Ａ，Ｂの２台が見つかった場合は、以下の３通りの行動から１つが選択される。
［行動２－１Ａ］自車１００を車両Ａに追従させて走行させる。
［行動２－１Ｂ］自車１００を車両Ｂに追従させて走行させる。
［行動２－２］自車１００を手動運転する。 When a plurality of relevant other vehicles 101 are found in step S207, the action 2-1 is further divided into a plurality of options, and a travel plan for causing each other vehicle 101 to follow the own vehicle 100 is created. . For example, when two vehicles A and B are found as corresponding other vehicles 101 in step S207, one of the following three actions is selected.
[Action 2-1A] The host vehicle 100 is caused to travel following the vehicle A.
[Action 2-1B] The host vehicle 100 is caused to travel following the vehicle B.
[Action 2-2] The own vehicle 100 is driven manually.
　また、ステップＳ２０７で該当する他車１０１が多数見つかった場合には、優先項目に応じて、行動２－１の対象（自車１００が追従する対象）をそのうちの一部に限定してもよい。例えば、自車１００の目的地に比較的近い地点を目的地とする他車１０１だけを対象としてもよい。そうすることにより、ステップＳ２０８での選択肢が減り、走行計画算出部１３としてのプロセッサ５１の計算負荷を軽減させることができる。 Further, when many other vehicles 101 are found in step S207, the target of the action 2-1 (the target that the host vehicle 100 follows) may be limited to a part of them according to the priority items. . For example, only the other vehicle 101 whose destination is a point relatively close to the destination of the own vehicle 100 may be targeted. By doing so, the choices in step S208 are reduced, and the calculation load of the processor 51 as the travel plan calculation unit 13 can be reduced.
　次に、走行計画算出部１３は、更新された位置Ｌが目的地（分割地点ＰＮ）かどうかを確認する（ステップＳ２０９）。位置Ｌが目的地でない場合、すなわち位置Ｌが走行予定経路の途中地点である場合は（ステップＳ２０９でＮＯ）、位置Ｌから始まる区間（更新後の区間Ｄ）の走行計画を算出するために、ステップＳ２０４に戻る。 Next, the travel plan calculation unit 13 checks whether or not the updated position L is a destination (division point P N ) (step S209). If the position L is not the destination, that is, if the position L is an intermediate point on the planned travel route (NO in step S209), in order to calculate a travel plan for the section starting from the position L (updated section D), The process returns to step S204.
　位置Ｌが目的地（走行予定経路の終点）である場合は（ステップＳ２０９でＹＥＳ）、算出中走行計画Ｒに走行予定経路全体の走行計画が格納されたことになるので、それを算出済み走行計画集合ＲＦに追加する（ステップＳ２１０）。そして、ステップＳ２０６およびステップＳ２０８で選択され得る行動の組み合わせパターン（行動組み合わせパターン）が全通り選択されたか否か（各行動組み合わせパターンに対応する全ての走行計画が作成されたか否か）を判定する（ステップＳ２１１）。 When the position L is the destination (the end point of the planned travel route) (YES in step S209), the travel plan for the entire travel planned route is stored in the calculated travel plan R, and the calculated travel is calculated. It adds to the plan set RF (step S210). Then, it is determined whether or not all the action combination patterns (behavior combination patterns) that can be selected in step S206 and step S208 have been selected (whether all travel plans corresponding to each action combination pattern have been created). (Step S211).
　未選択の行動組み合わせパターンが存在する場合には（ステップＳ２１１でＮＯ）、それらの行動組み合わせパターンに対応する走行計画を作成するために、ステップ２０３に戻る。２回目以降のループでは、先に選択済みの行動組み合わせパターンと全く同じものが選択されないようにする。 If there are unselected action combination patterns (NO in step S211), the process returns to step 203 to create a travel plan corresponding to these action combination patterns. In the second and subsequent loops, the same action combination pattern as previously selected is not selected.
　全通りの行動組み合わせパターンが選択済みになると（ステップＳ２１１でＹＥＳ）、各行動組み合わせパターンに対応する全ての走行計画が、算出済み走行計画集合ＲＦに格納されたことになる。この場合、算出済み走行計画集合ＲＦから、運転者負担が小さいと判断される走行計画を抽出して出力する（ステップＳ２１２）。このとき、各走行計画の運転者負担は、優先項目を考慮して評価する。 When all the action combination patterns have been selected (YES in step S211), all the travel plans corresponding to the respective action combination patterns are stored in the calculated travel plan set RF. In this case, a travel plan that is determined to have a low driver burden is extracted from the calculated travel plan set RF and output (step S212). At this time, the driver burden of each travel plan is evaluated in consideration of priority items.
　例えば、優先項目が「追従走行距離の長さ」の場合には、走行予定経路の全長に占める追従走行区間の割合が最も大きい走行計画ほど、運転者負担が小さいと判断される。また、優先項目が「目的地への到着時刻」の場合には、目的地への到着予想時刻が最も早い走行計画ほど、運転者負担が小さいと判断される。優先項目が「追従走行時間の長さ」の場合には、全走行時間に占める追従走行区間の走行時間の割合が最も大きい走行計画ほど、運転者負担が小さいと判断される。優先項目が「先導車の変更回数」の場合には、先導車の変更回数が少ない走行計画ほど、運転者負担が小さいと判断される。 For example, when the priority item is “the length of the follow-up travel distance”, it is determined that the travel plan having the largest proportion of the follow-up travel section in the total length of the planned travel route has a smaller driver burden. When the priority item is “arrival time at destination”, it is determined that the driving plan with the earliest expected arrival time at the destination has a smaller driver burden. When the priority item is “the length of the follow-up travel time”, it is determined that the travel plan having the largest travel time ratio of the follow-up travel section in the total travel time has a smaller driver burden. When the priority item is “the number of changes of the leading vehicle”, it is determined that the driving plan with a smaller number of changes of the leading vehicle has a smaller driver burden.
　また、例えば、優先項目が「運転評価値」の場合には、先導車となる他車１０１の運転評価値の平均値が高い走行計画ほど、運転者負担が小さいと判断される。また、優先項目が「経路確実性」の場合には、先導車となる他車１０１の経路確実性の評価値の平均値が高い走行計画ほど、運転者負担が小さいと判断される。 For example, when the priority item is “driving evaluation value”, it is determined that the driving plan with a higher average driving evaluation value of the other vehicle 101 serving as the leading vehicle has a smaller driver burden. When the priority item is “route certainty”, it is determined that the driving plan with a higher average value of the route certainty evaluation value of the other vehicle 101 serving as the leading vehicle has a smaller driver burden.
　各走行計画の運転者負担の算出は、必ずしも全区間の走行計画が決定した後（例えばステップＳ２１２）に行わなくてもよく、各区間の走行計画を決定する処理（ステップＳ２０４～Ｓ２０９のループ）と並行して行われてもよい。 The calculation of the driver burden for each travel plan does not necessarily have to be performed after the travel plans for all the sections have been determined (for example, step S212), and the process for determining the travel plans for each section (a loop of steps S204 to S209). May be performed in parallel.
　図３３のステップＳ２１２で走行計画算出部１３が複数の走行計画を出力して、ユーザがそのうちの１つを選択できるようにしてもよい。例えば、走行計画算出部１３が、運転者負担が小さいものから予め定められた数の走行計画を出力したり、選択項目ごとに最も運転者負担の小さいものを出力したりする態様が考えられる。 33, the travel plan calculation unit 13 may output a plurality of travel plans so that the user can select one of them. For example, a mode in which the travel plan calculation unit 13 outputs a predetermined number of travel plans from the one with the smallest driver burden or the one with the smallest driver burden for each selection item is conceivable.
　走行計画算出部１３が出力した走行計画は、図３２のステップＳ１０５，Ｓ１０６の処理により、表示装置２４に表示される。ここでは、走行計画算出部１３が出力した走行計画の表示態様の例を示す。 The travel plan output by the travel plan calculation unit 13 is displayed on the display device 24 by the processes of steps S105 and S106 in FIG. Here, an example of the display mode of the travel plan output by the travel plan calculation unit 13 is shown.
　走行計画の表示態様としては、図３４のようにテキスト表示とすることが考えられる。走行計画の内容が文章で表示されるので、例えば第三者に走行計画を電話等で伝える場合などに有効である。 As a display mode of the travel plan, it is conceivable to display text as shown in FIG. Since the content of the travel plan is displayed in text, it is effective when, for example, the travel plan is communicated to a third party by telephone or the like.
　また、図３５のように走行計画をグラフ化して表示してもよい。図３５のように、追従走行区間と手動運転区間とを色分けすることで、走行予定経路全体に占める追従走行区間または手動運転区間の割合を把握しやすくなる。そのため、ユーザが走行計画の運転者負担を直感的に認識できるという利点が得られる。 Alternatively, the travel plan may be displayed as a graph as shown in FIG. As shown in FIG. 35, by color-coding the follow-up travel section and the manual operation section, it becomes easy to grasp the proportion of the follow-up travel section or the manual operation section in the entire planned travel route. Therefore, there is an advantage that the user can intuitively recognize the driver burden of the travel plan.
　また、図３６のように、走行計画を表す文字や図形を地図に重畳表示させてもよい。図３６の例では、自車１００（円で囲まれた三角形のアイコン）の走行予定経路を示すラインを、追従走行区間と手動運転区間とで色分けして表示させている。また、地図上に、先導車となる他車１０１の現在位置（三角形のアイコン）およびその走行予定経路も示させている。走行計画を地図に重畳表示させることで、走行計画の内容を直感的かつ具体的に表すことができる。 Further, as shown in FIG. 36, characters and figures representing the travel plan may be displayed superimposed on the map. In the example of FIG. 36, a line indicating the planned travel route of the host vehicle 100 (a triangular icon surrounded by a circle) is displayed in different colors for the following travel section and the manual operation section. Further, on the map, the current position (triangle icon) of the other vehicle 101 serving as the leading vehicle and its planned travel route are also shown. By displaying the travel plan superimposed on the map, the contents of the travel plan can be expressed intuitively and specifically.
　図３３のステップＳ２１２で走行計画算出部１３が複数の走行計画を出力して、ユーザがそのうちの１つを選択できるようにする場合、複数の走行計画を同時に表示装置２４に表示させるとよい。図３７は、複数の走行計画をそれぞれグラフ化して同時に表示する場合の表示例である。走行計画をグラフ化すると、ユーザが走行計画の運転者負担を直感的に認識できるので、グラフ化した走行計画を並べて表示すると、各走行計画の運転者負担を容易に比較することができる。例えば、ユーザが図３７の画面を見れば、ユーザは追従走行距離が最も長い走行計画は「走行計画３」であり、先導車の変更回数が最も少ない走行計画は「走行計画１」であることを一目で把握できる。 33. When the travel plan calculation unit 13 outputs a plurality of travel plans in step S212 of FIG. 33 so that the user can select one of them, the plurality of travel plans may be displayed on the display device 24 at the same time. FIG. 37 is a display example when a plurality of travel plans are respectively graphed and displayed simultaneously. When the travel plans are graphed, the user can intuitively recognize the driver burden of the travel plans. Therefore, when the travel plans that are graphed are displayed side by side, the driver burdens of the travel plans can be easily compared. For example, if the user looks at the screen of FIG. 37, the travel plan with the longest follow-up travel distance is “travel plan 3”, and the travel plan with the smallest number of changes in the leading vehicle is “travel plan 1”. Can be seen at a glance.
　図３７では、各グラフの横軸の長さは距離を表しているが、時間を表すようにしてもよい。各グラフとの横軸の長さが時間を表す表示形態は、運転者が追従走行時間の長い走行計画を選択したい場合や、目的地への到着時間が最も早い走行計画を選択したい場合に、選択が容易となって有効である。 In FIG. 37, the length of the horizontal axis of each graph represents distance, but may represent time. The display form in which the length of the horizontal axis with each graph represents time is when the driver wants to select a travel plan with a long follow-up travel time or when he wants to select a travel plan with the earliest arrival time at the destination, Selection is easy and effective.
　なお、本明細書で図示した走行計画の表示例では、図示の便宜上、先導車を示す情報を「車両X1に追従」などと簡易な表示としたが、実際にはより具体的に先導車を特定できる情報が表示される。運転者は追従走行を開始する前に目視で先導車を見つける必要があるため、外見から先導車を特定できる情報、例えば、車種、車名、車体の色、ナンバープレートの番号などを、先導車を示す情報として表示することが望ましい。また、車種、車名および車体の色については、車両の写真や画像を用いて表現してもよい。 In the travel plan display example shown in this specification, for convenience of illustration, the information indicating the leading vehicle is simply displayed as `` follow the vehicle X1 '', but actually the leading vehicle is more specifically shown. Information that can be identified is displayed. Since the driver must visually find the leading vehicle before starting follow-up, information that can identify the leading vehicle from the appearance, such as the vehicle type, vehicle name, body color, number of the license plate, etc. It is desirable to display it as information indicating. Further, the vehicle type, the vehicle name, and the color of the vehicle body may be expressed using a photograph or image of the vehicle.
　次に、走行計画の再算出について説明する。実施の形態１では、走行計画再算出指示部１７は、前回の走行計画の算出から一定時間が経過した場合と、車両情報サーバー１０２が配信する他車情報に変更があった場合とに、走行計画算出部１３に対して走行計画の再算出を指示する。 Next, the recalculation of the travel plan will be described. In the first embodiment, the travel plan recalculation instruction unit 17 travels when a certain time has elapsed since the previous travel plan calculation and when other vehicle information distributed by the vehicle information server 102 has changed. The plan calculation unit 13 is instructed to recalculate the travel plan.
　例えば、図２６に示した例において、図２７～図２９のように、自車１００を他車Ｘ１と他車Ｘ２に追従させるような走行計画が作成されていたと仮定する（追従走行区間は道路Ｒ８，Ｒ９）。その走行計画が作成された後、図３８のように、道路Ｒ４，Ｒ９，Ｒ６を走行予定の他車Ｘ３が現れた場合、道路Ｒ９で自車Ｓを他車Ｘ２ではなく他車Ｘ３に追従させるように走行計画を変更すると、図３９のように道路Ｒ６も追従走行できる。それにより、追従走行距離が長くなるため、運転者負担を小さくできる（優先項目が「追従走行距離の長さ」の場合）。走行計画再算出指示部１７は、そのような走行計画の変更を可能にするものである。 For example, in the example shown in FIG. 26, it is assumed that a travel plan that causes the vehicle 100 to follow the other vehicle X1 and the other vehicle X2 is created as shown in FIGS. R8, R9). After the travel plan is created, as shown in FIG. 38, when another vehicle X3 scheduled to travel on the roads R4, R9, and R6 appears, the vehicle S follows the other vehicle X3 on the road R9 instead of the other vehicle X2. If the travel plan is changed so that the vehicle travels, the road R6 can also follow the road as shown in FIG. As a result, the follow-up mileage becomes longer, so the driver's burden can be reduced (when the priority item is “the length of the follow-up mileage”). The travel plan recalculation instruction unit 17 makes it possible to change such a travel plan.
　再算出された走行計画が、現在の走行計画よりも運転者負担を小さくできるものであれば、走行計画を変更することが望ましい。また、再算出された走行計画が、現在の走行計画よりも運転者負担が大きくなるものであっても、現在の走行計画が利用できない状態になっていれば、走行計画を再算出されたものに変更せざるを得ない。しかしそのような場合でも、ユーザの承認なしに走行計画を変更することは好ましくない。 It is desirable to change the travel plan if the recalculated travel plan can make the driver's burden smaller than the current travel plan. In addition, even if the recalculated travel plan has a higher driver burden than the current travel plan, the travel plan is recalculated if the current travel plan is not available. I have to change it. However, even in such a case, it is not preferable to change the travel plan without user approval.
　そこで、現在の走行計画が利用可能な状態で、再算出によって現在の走行計画よりも運転者負担を小さくできる走行計画が得られた場合は、表示処理部１６が、図４０のように、どちらの走行計画を採用するか運転者に選択させる画面（走行計画選択画面）を表示装置２４に表示させる。図４０の走行計画選択画面では、再算出した走行計画と、走行計画を変更するか否かを選択させるテキストおよびアイコンとを、地図に重畳表示させている。 Therefore, when a travel plan that can reduce the driver's burden than the current travel plan is obtained by recalculation in a state where the current travel plan is available, the display processing unit 16 selects which one as shown in FIG. A screen (travel plan selection screen) that allows the driver to select whether to adopt the travel plan is displayed on the display device 24. In the travel plan selection screen of FIG. 40, the recalculated travel plan and text and icons for selecting whether to change the travel plan are superimposed on the map.
　走行計画選択画面には、図４１のように、現在の走行計画を表したテキストと、再算出した新たな走行計画を表したテキストとを並べて表示してもよい。あるいは、図４２のように、走行計画選択画面に、現在の走行計画を表したグラフと、再算出した新たな走行計画を表したグラフとを並べて表示してもよい。図４１および図４２のように、走行計画選択画面に、現在の走行計画と再算出した走行計画の両方を表示させれば、ユーザは両者を容易に比較することができる。 On the travel plan selection screen, as shown in FIG. 41, a text representing the current travel plan and a text representing the recalculated new travel plan may be displayed side by side. Alternatively, as shown in FIG. 42, a graph representing the current travel plan and a graph representing the recalculated new travel plan may be displayed side by side on the travel plan selection screen. If both the current travel plan and the recalculated travel plan are displayed on the travel plan selection screen as shown in FIGS. 41 and 42, the user can easily compare the two.
　また、現在の走行計画が利用不可能な状態で走行計画が再算出された場合には、運転者負担を小さくできるか否かに関わらず自動的に走行計画を変更し、図４３のように、その旨を運転者に通知する画面（走行計画変更通知画面）を表示させる。図４３の走行計画変更通知画面では、変更後の走行計画（再算出した走行計画）と、走行計画を変更した旨のテキストとを、地図に重畳表示させている。図示は省略するが、走行計画変更通知画面には、変更後の走行計画をテキストやグラフで表したものを表示してもよい。 Further, when the travel plan is recalculated in a state where the current travel plan is not available, the travel plan is automatically changed regardless of whether or not the driver's burden can be reduced, as shown in FIG. Then, a screen (travel plan change notification screen) for notifying the driver to that effect is displayed. In the travel plan change notification screen of FIG. 43, the travel plan after the change (recalculated travel plan) and the text indicating that the travel plan has been changed are superimposed on the map. Although illustration is omitted, on the travel plan change notification screen, the travel plan after the change may be displayed as text or a graph.
　このように、走行計画算出部１３が再算出した走行計画を出力するときに、走行計画変更通知画面または走行計画選択画面が表示装置２４に表示されることで、ユーザ（運転者）が気付かないうちに走行計画が変更されることが防止され、運転者への心理負担を軽減することができる。 As described above, when the travel plan recalculated by the travel plan calculation unit 13 is output, the travel plan change notification screen or the travel plan selection screen is displayed on the display device 24 so that the user (driver) is not aware. It is possible to prevent the travel plan from being changed and to reduce the psychological burden on the driver.
　次に、走行計画作成装置１０が走行計画を再算出するための処理（走行計画再算出処理）を説明する。図４４は、その処理を示すフローチャートである。 Next, processing for the travel plan creation device 10 to recalculate the travel plan (travel plan recalculation processing) will be described. FIG. 44 is a flowchart showing the processing.
　走行計画再算出指示部１７は、前回の走行計画作成から一定時間が経過したか否かを確認する（ステップＳ３０１）。前回の走行計画作成から一定時間が経過した場合（ステップＳ３０１でＹＥＳ）、走行計画再算出指示部１７は、走行計画算出部１３に走行計画算出処理を行わせて、走行計画を再算出させる（ステップＳ３０６）。ステップＳ３０６の走行計画算出処理は、図３３で示したものと同じでよい。 The travel plan recalculation instruction unit 17 confirms whether or not a certain time has elapsed since the previous travel plan creation (step S301). When a certain time has elapsed since the previous travel plan creation (YES in step S301), the travel plan recalculation instruction unit 17 causes the travel plan calculation unit 13 to perform a travel plan calculation process to recalculate the travel plan ( Step S306). The travel plan calculation process in step S306 may be the same as that shown in FIG.
　前回の走行計画作成から一定時間が経過していない場合には（ステップＳ３０１でＮＯ）、走行計画再算出指示部１７は、通信装置２２を介して、自車１００の先導車となる他車１０１の他車情報を取得し（ステップＳ３０２）、当該他車情報に変更があったか否かを確認する（ステップＳ３０３）。当該他車情報に変更があった場合も（ステップＳ３０３でＹＥＳ）、走行計画再算出指示部１７は、走行計画算出部１３に走行計画を再算出させる（ステップＳ３０６）。 If the predetermined time has not elapsed since the previous travel plan creation (NO in step S301), the travel plan recalculation instruction unit 17 transmits the other vehicle 101 serving as the leading vehicle of the host vehicle 100 via the communication device 22. Other vehicle information is acquired (step S302), and it is confirmed whether or not the other vehicle information has been changed (step S303). Even when the other vehicle information is changed (YES in step S303), the travel plan recalculation instruction unit 17 causes the travel plan calculation unit 13 to recalculate the travel plan (step S306).
　なお、前回の走行計画作成から一定時間が経過しておらず、且つ、他車情報の変更も無い場合には（ステップＳ３０３でＮＯ）、走行計画の再算出は行われず、現在の走行計画が維持される（ステップＳ３０４）。すなわち、走行計画保持部１５に記憶されている走行計画が維持される。 If a certain time has not elapsed since the previous travel plan was created and no other vehicle information has been changed (NO in step S303), the travel plan is not recalculated and the current travel plan is It is maintained (step S304). That is, the travel plan stored in the travel plan holding unit 15 is maintained.
　ステップＳ３０６の走行計画算出処理が完了して、再算出された走行計画が走行計画算出部１３から出力されると、走行計画再算出指示部１７は現在の走行計画が利用可能か否かを確認する（ステップＳ３０７）。現在の走行計画に寄与している他車１０１の他車情報に大きな変更（現在の走行経路を維持できない程の変更）が生じている場合には、現在の走行計画が利用不可能となる。この判断は、ステップＳ３０６の走行計画算出処理の際に、現在の走行計画と同じ走行計画が算出済み走行計画集合ＲＦに格納されたか否かを確認することによって行うことができる。 When the travel plan calculation process in step S306 is completed and the recalculated travel plan is output from the travel plan calculation unit 13, the travel plan recalculation instruction unit 17 checks whether or not the current travel plan is available. (Step S307). If there is a large change in the other vehicle information that contributes to the current travel plan 101 (a change that cannot maintain the current travel route), the current travel plan becomes unusable. This determination can be made by checking whether or not the same travel plan as the current travel plan is stored in the calculated travel plan set RF during the travel plan calculation process in step S306.
　現在の走行計画が利用可能である場合（ステップＳ３０７でＹＥＳ）、再算出された走行計画によって運転者負担を小さくできるか否かを確認する（ステップＳ３０８）。すなわち、再算出された走行計画の運転者負担の方が、現在の走行計画の運転者負担よりも小さいか否かを確認する。再算出された走行計画によって運転者負担を小さくできない場合は（ステップＳ３０８でＮＯ）、現在の走行計画が維持される（ステップＳ３０４）。 If the current travel plan is available (YES in step S307), it is confirmed whether the driver burden can be reduced by the recalculated travel plan (step S308). That is, it is confirmed whether or not the driver burden of the recalculated travel plan is smaller than the driver burden of the current travel plan. If the driver burden cannot be reduced by the recalculated travel plan (NO in step S308), the current travel plan is maintained (step S304).
　再算出された走行計画によって運転者負担を小さくできる場合は（ステップＳ３０８でＹＥＳ）、図４０のような走行計画選択画面の画像データを生成し（ステップＳ３０９）、走行計画選択画面を表示装置２４に表示する（ステップＳ３１０）。そして、ユーザから走行計画の変更指示があれば（ステップＳ３１１でＹＥＳ）、再算出された走行計画を採用する。すなわち、走行計画保持部１５に保持させる走行計画を、現在のものから再算出したものに変更する（ステップＳ３１２）。 If the driver burden can be reduced by the recalculated travel plan (YES in step S308), image data of the travel plan selection screen as shown in FIG. 40 is generated (step S309), and the travel plan selection screen is displayed on the display device 24. (Step S310). If there is a travel plan change instruction from the user (YES in step S311), the recalculated travel plan is adopted. That is, the travel plan held in the travel plan holding unit 15 is changed from the current travel plan to the recalculated one (step S312).
　なお、ユーザから走行計画の変更指示が得られなければ（ステップＳ３１１でＮＯ）、現在の走行計画が維持される（ステップＳ３０４）。 If the user does not receive a travel plan change instruction (NO in step S311), the current travel plan is maintained (step S304).
　このように、現在の走行計画が利用可能な状況で、走行計画算出部１３が再算出した走行計画を出力したときは、現在の走行計画よりも再算出された走行計画の方が運転者負担が小さいときに限り、走行計画の変更が許容される。従って、現在の走行計画が利用可能であるにもかかわらず、現在の走行計画よりも運転者負担が大きい走行計画が選択されることが防止される。 Thus, when the current travel plan is available and the travel plan recalculated by the travel plan calculation unit 13 is output, the recalculated travel plan is more burdensome to the driver than the current travel plan. The travel plan can be changed only when is small. Accordingly, it is possible to prevent a travel plan having a larger driver burden than the current travel plan from being selected even though the current travel plan is available.
　一方、現在の走行計画が利用可能でない場合には（ステップＳ３０７でＮＯ）、再算出された走行計画を自動的に採用して（ステップＳ３１３）、図４３のような走行計画変更通知画面の画像データを生成し（ステップＳ３１４）、走行計画変更通知画面を表示装置２４に表示する（ステップＳ３１５）。 On the other hand, if the current travel plan is not available (NO in step S307), the recalculated travel plan is automatically adopted (step S313), and an image of the travel plan change notification screen as shown in FIG. Data is generated (step S314), and a travel plan change notification screen is displayed on the display device 24 (step S315).
　以上の処理の後は、自車１００の走行が終了したかを確認する（ステップＳ３０５）。ユーザがその旨を入力するか、走行計画作成装置１０が自車１００の現在地が目的地であることを確認できれば、自車１００の走行が終了したと判断して（ステップＳ３０５でＹＥＳ）、走行計画再算出処理を終了する。自車１００の走行が終了していなければ、走行が終了するまで、以上の処理は繰り返し実行される。 After the above processing, it is confirmed whether or not the vehicle 100 has finished traveling (step S305). If the user inputs that fact or the travel plan creation device 10 can confirm that the current location of the host vehicle 100 is the destination, it is determined that the travel of the host vehicle 100 has ended (YES in step S305), and travel The plan recalculation process is terminated. If the traveling of the host vehicle 100 is not completed, the above processing is repeatedly executed until the traveling is completed.
　また、現在の走行計画が利用可能でない場合としては、予定した先導車の走行計画が変更になった場合や、渋滞などの交通障害により走行計画どおりの走行が不可能になった場合などが考えられる。また、車車間通信などによって、新たに有利な追従条件（優先項目に合う条件）を持つ車両を発見した場合に、その車両に追従するように追従走行計画を変更する処理（再算出およびその表示）が行われるようにしてもよい。 In addition, there are cases where the current driving plan is not available, such as when the planned driving plan of the leading vehicle has been changed, or when it is impossible to travel according to the driving plan due to traffic problems such as traffic congestion. It is done. In addition, when a vehicle with a new favorable tracking condition (condition matching the priority item) is discovered by inter-vehicle communication, etc., a process for changing the tracking plan to follow the vehicle (recalculation and display thereof) ) May be performed.
　＜実施の形態２＞
　実施の形態２では、本発明に係る走行計画提示装置２０をナビゲーション装置に適用する。図４５は、実施の形態２に係るナビゲーション装置３０の構成を示す図である。ナビゲーション装置３０は、図１の走行計画提示装置２０に、現在位置取得装置３１、経路探索装置３２および案内装置３３を追加した構成となっている。 <Embodiment 2>
In the second embodiment, the travel plan presentation device 20 according to the present invention is applied to a navigation device. FIG. 45 is a diagram illustrating a configuration of the navigation device 30 according to the second embodiment. The navigation device 30 is configured by adding a current position acquisition device 31, a route search device 32, and a guidance device 33 to the travel plan presentation device 20 of FIG.
　ナビゲーション装置３０のハードウェア構成は、基本的には図５と同様であり、現在位置取得装置３１、経路探索装置３２および案内装置３３も、走行計画作成装置１０の各要素と同様に、プロセッサ５１がメモリ５２に記憶されたプログラムを実行することにより実現される。 The hardware configuration of the navigation device 30 is basically the same as that in FIG. 5, and the current position acquisition device 31, the route search device 32, and the guidance device 33 are also processor 51, as are the elements of the travel plan creation device 10. Is realized by executing a program stored in the memory 52.
　図４６は、実施の形態２に係る車両情報配信システムの構成を示す図である。当該車両情報配信システムは、図２と実質的に同じであるが、走行計画提示装置２０を含むナビゲーション装置３０が、自車１００に搭載された構成となっている。ナビゲーション装置３０は、自車１００に常設されたものでなくてもよく、例えば、自車１００に持ち込み可能なポータブル型のナビゲーション装置でもよい。 FIG. 46 is a diagram showing a configuration of a vehicle information distribution system according to the second embodiment. The vehicle information distribution system is substantially the same as that in FIG. 2, but has a configuration in which a navigation device 30 including a travel plan presentation device 20 is mounted on the host vehicle 100. The navigation device 30 may not be permanently installed in the host vehicle 100, and may be a portable navigation device that can be brought into the host vehicle 100, for example.
　ナビゲーション装置３０の現在位置取得装置３１は、ＧＰＳ（Global Positioning System）等から取得した位置情報などから、当該ナビゲーション装置３０の現在地を算出するものである。 The current position acquisition device 31 of the navigation device 30 calculates the current location of the navigation device 30 from position information acquired from GPS (Global Positioning System) or the like.
　経路探索装置３２は、ユーザが設定した出発地から目的地までの最適な経路を検索するものである。通常は、現在位置取得装置３１が取得した現在地が自動的に出発地として設定されるため、ユーザは目的地を入力するだけで、現在地から目的地までの経路（自車１００の走行予定経路）を得ることができる。本実施の形態において、自車情報取得部１１が有する走行予定経路取得部１１ａは、経路探索装置３２が算出した自車１００の走行予定経路を取得するものとする。 The route search device 32 searches for an optimum route from the departure point to the destination set by the user. Normally, since the current location acquired by the current location acquisition device 31 is automatically set as a departure location, the user simply inputs the destination and the route from the current location to the destination (the planned travel route of the vehicle 100). Can be obtained. In the present embodiment, the planned travel route acquisition unit 11 a included in the own vehicle information acquisition unit 11 acquires the planned travel route of the host vehicle 100 calculated by the route search device 32.
　案内装置３３は、走行計画作成装置１０が作成した走行計画（走行計画保持部１５に保存されている走行計画）に従って、自車１００を走行させるように運転者に案内情報を提供するものである。案内装置３３は、従来のナビゲーション装置のように走行予定経路を案内するだけでなく、自車１００が走行計画どおりに追従走行できるように、自車１００を先導車の位置へ案内したり、先導車を待つために自車１００を待機可能地点（サービスエリア等）へ案内したりする。 The guidance device 33 provides guidance information to the driver so that the host vehicle 100 travels according to the travel plan created by the travel plan creation device 10 (travel plan stored in the travel plan holding unit 15). . The guide device 33 guides the host vehicle 100 to the position of the leading vehicle or guides the host vehicle 100 so that the host vehicle 100 can follow and follow the traveling plan as well as guide the planned travel route as in the conventional navigation device. In order to wait for the car, the vehicle 100 is guided to a waiting point (service area or the like).
　例えば、自車１００が、手動運転で追従走行区間に進入した場合、案内装置３３は、通信装置２２を用いた車車間通信により、先導車（他車１０１）の位置を取得する。そして、自車１００と先導車との位置関係から、自車１００を先導車に追従可能な位置へと案内する。例えば、表示装置２４に表示した地図上に自車１００と先導車の位置を表示し、自車１００が先導車にある程度接近すると、図４７のように、自車１００と先導車との位置関係を拡大表示するとよい。その際、自車１００が追従走行を開始することが可能なエリア（追従可能エリア）を示すと更に好ましい。 For example, when the host vehicle 100 enters the following travel section by manual driving, the guide device 33 acquires the position of the leading vehicle (other vehicle 101) by inter-vehicle communication using the communication device 22. And the own vehicle 100 is guided to the position which can follow a leading vehicle from the positional relationship of the own vehicle 100 and a leading vehicle. For example, if the positions of the host vehicle 100 and the leading vehicle are displayed on the map displayed on the display device 24 and the host vehicle 100 approaches the leading vehicle to some extent, the positional relationship between the host vehicle 100 and the leading vehicle as shown in FIG. Should be enlarged. At that time, it is more preferable to indicate an area (followable area) where the own vehicle 100 can start following traveling.
　また、図４７において、自車１００と先導車との位置関係を示す画像は、図５のプロセッサ５１に含まれるＣＰＵ（Central Processing Unit）やＧＰＵ（Graphics Processing Unit）によって作成された画像である例を示したが、それに代えて、例えば自車１００が搭載するカメラが撮影した自車１００の前方の映像を用いてもよい。その場合、自車１００の前方の映像に、追従可能エリアを示す画像を合成して表示するとよい。また、ヘッドアップディスプレイを用いて、運転者の視野に追従可能エリアを表示させてもよい。なお、ヘッドアップディスプレイとは、運転者が前方を見通せる画面（例えばフロントガラス）に画像を表示することによって、運転者の視野に画像を直接表示させる表示装置である。 47, the image showing the positional relationship between the host vehicle 100 and the leading vehicle is an example created by a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit) included in the processor 51 of FIG. However, instead of this, for example, an image in front of the host vehicle 100 captured by a camera mounted on the host vehicle 100 may be used. In that case, it is preferable to synthesize and display an image indicating the followable area on the video in front of the vehicle 100. Moreover, you may display a followable area in a driver | operator's visual field using a head-up display. The head-up display is a display device that directly displays an image in the driver's field of view by displaying an image on a screen (for example, a windshield) through which the driver can see forward.
　なお、本実施の形態においても、走行計画作成装置１０は、追従走行制御装置４０との通信を行い、追従走行制御装置４０に対し、走行計画に従った追従走行指示を送信する。追従走行制御装置４０は、追従走行指示に基づいて自車１００の走行制御系（不図示）を制御して、自車１００を追従すべき先行車両に追従させる。また、追従走行制御装置４０は、手動運転が計画されている区間（手動運転区間）を自車１００が走行しているときは、自車１００に定速走行を行わせたり、ユーザに自車１００の手動運転を行わせるように促したりする。 In this embodiment as well, the travel plan creation device 10 communicates with the follow-up travel control device 40 and transmits a follow-up travel instruction according to the travel plan to the follow-up travel control device 40. The follow-up travel control device 40 controls the travel control system (not shown) of the own vehicle 100 based on the follow-up travel instruction, and causes the own vehicle 100 to follow the preceding vehicle to be followed. Further, the follow-up travel control device 40 allows the host vehicle 100 to run at a constant speed when the host vehicle 100 is traveling in a section where manual driving is planned (manual driving section), or allows the user to run the host vehicle. Or urging them to perform 100 manual operations.
　また、案内装置３３が生成する案内情報は、表示装置２４に表示する他、自車１００内のスピーカ等から音声メッセージとして出力させてもよい。例えば、手動運転から追従走行へ移行する際や、追従走行の途中で先導車を変更する際に、例えば「自動追従可能な位置へ移動してください。」という音声メッセージを出力して、ユーザに自車１００を先導車に追従させるように促すとよい。また、図４７のような表示と共に、「追従可能エリアへ移動して下さい。追従可能エリアに入ると自動的に追従走行が始まります。」という音声メッセージを出力してもよい。 Further, the guide information generated by the guide device 33 may be displayed as a voice message from a speaker or the like in the host vehicle 100, in addition to being displayed on the display device 24. For example, when shifting from manual driving to following driving, or when changing the leading vehicle during following driving, for example, a voice message “Please move to a position where automatic tracking can be performed” is output to the user. It is good to urge the own vehicle 100 to follow the leading vehicle. In addition to the display as shown in FIG. 47, a voice message such as “Please move to a followable area. When you enter the followable area, follow-up running automatically starts” may be output.
　ここで、追従可能エリアは、追従走行制御装置４０の性能、典型的には追従可能な車間距離に左右される。追従走行制御装置４０の性能は、走行計画作成装置１０に予め記憶されていてもよいし、走行計画作成装置１０が追従走行制御装置４０との通信によって入手してもよい。後者の方法の場合は、天候や明るさ、時刻などの走行環境に応じた追従走行制御装置４０の動的な性能を反映させることができ、走行計画作成装置１０がより正確な追従可能エリアを表示装置２４に表示させることができる。 Here, the followable area depends on the performance of the follow-up traveling control device 40, typically the inter-vehicle distance that can be followed. The performance of the follow-up travel control device 40 may be stored in advance in the travel plan creation device 10, or the travel plan creation device 10 may obtain through communication with the follow-up travel control device 40. In the case of the latter method, it is possible to reflect the dynamic performance of the follow-up travel control device 40 according to the travel environment such as weather, brightness, and time, and the travel plan creation device 10 can provide a more accurate followable area. It can be displayed on the display device 24.
　また、図４７の例において、先導車の画像に特別な表示効果を与えてもよい。例えば、現在追従中の先導車の画像を青い実線の枠で囲み、先導車を変更する際に、追従中の先導車の画像の枠を黄色い破線に変更し、新たに追従すべき車両を青い破線の枠で囲み、先導車の乗り換えが完了した後は、新たな先導車を青い実線の枠で囲む、というように、現在および将来の先導車をそれぞれ識別できるように表示するとよい。また、現在の先導車への追従が困難になったにもかかわらず、乗り換える新たな追従車が見つからない場合に、現在の先導車の画像に赤い破線の枠を付加してもよい。 In the example of FIG. 47, a special display effect may be given to the image of the leading vehicle. For example, if the leading vehicle image that is currently being tracked is surrounded by a blue solid line frame and the leading vehicle is changed, the frame of the leading vehicle image that is following is changed to a yellow dashed line, and the vehicle to be newly tracked is blue. It is preferable to display so that the current and future leading vehicles can be identified, for example, by enclosing with a dashed frame and completing the transfer of the leading vehicle, such as enclosing the new leading vehicle with a blue solid frame. Further, when it is difficult to follow the current leading vehicle, when a new following vehicle to be transferred cannot be found, a red dashed frame may be added to the image of the current leading vehicle.
　このような特別な表示効果を与えるタイミングは、先導車を変更する前後の一定期間のみにしてもよい。また、そのような特別な表示効果は、カメラが撮影した自車１００の前方の映像を表示装置２４に表示させる場合や、ヘッドアップディスプレイを用いる場合にも適用してもよい。また、特別な表示効果は、枠の表示に限られず、他の図形や文字などを用いた効果でもよい。 The timing for giving such a special display effect may be only for a certain period before and after changing the leading vehicle. Further, such a special display effect may be applied to a case where an image in front of the host vehicle 100 taken by the camera is displayed on the display device 24 or a head-up display is used. In addition, the special display effect is not limited to the display of the frame, and may be an effect using other figures or characters.
　また例えば、待機可能地点で先導車を待つ場合には、「先導車を待ちます。サービスエリアに入ってください。先導車の到着はおよそ１０分後です。」という音声メッセージにより自車１００を待機可能地点へ誘導し、その後、先導車が接近してきたら「先導車が接近しています。走行を開始して下さい。」という音声メッセージで出発を促すようにするとよい。 Also, for example, when waiting for a leading vehicle at a point where you can wait, wait for your vehicle 100 with the voice message “Waiting for the leading vehicle. Enter the service area. The arrival of the leading vehicle is about 10 minutes later.” It is recommended to guide you to a possible point, and then prompt the departure with a voice message “The leading vehicle is approaching. Start driving” when the leading vehicle approaches.
　ここで、自車１００が追従走行区間を走行するときにおけるナビゲーション装置３０の案内装置３３の動作を説明する。図４８は、その動作を示すフローチャートである。なお、自車１００が手動運転区間を走行するときの案内装置３３の動作は一般的なナビゲーション装置と同じでよいためここでの説明は省略する。 Here, the operation of the guidance device 33 of the navigation device 30 when the vehicle 100 travels in the following traveling section will be described. FIG. 48 is a flowchart showing the operation. Note that the operation of the guide device 33 when the host vehicle 100 travels in the manual driving section may be the same as that of a general navigation device, and thus description thereof is omitted here.
　自車１００が追従走行区間を走行しているとき、案内装置３３は、走行計画に従って、その区間の先導車である他車１０１に追従走行可能な位置へ自車１００を案内する（ステップＳ４０１）（既に自車１００が走行計画どおりの先導車に追従しているときは、その案内は不要である）。 When the host vehicle 100 is traveling in the following travel section, the guide device 33 guides the host vehicle 100 to a position where the other vehicle 101 that is the leading vehicle in the section can travel following the travel plan (step S401). (When the vehicle 100 is already following the leading vehicle as planned, the guidance is not necessary).
　そして、案内装置３３は、走行計画に基づく先導車の変更があるか否かを確認する（ステップＳ４０２）。先導車の変更があれば（ステップＳ４０２でＹＥＳ）、案内装置３３は、案内の目標とする先導車を変更後の先導車に設定して（ステップＳ４０３）、ステップＳ４０１に戻る。 And the guidance apparatus 33 confirms whether there is a change of the leading vehicle based on a travel plan (step S402). If there is a change in the leading vehicle (YES in step S402), the guidance device 33 sets the leading vehicle targeted for guidance as the leading vehicle after the change (step S403), and returns to step S401.
　また、走行計画に基づく先導車の変更がなければ（ステップＳ４０２でＮＯ）、案内装置３３は、走行計画の変更（再作成）に伴う先導車の変更があるか否かを確認する（ステップＳ４０４）。走行計画の変更に伴う先導車の変更があれば（ステップＳ４０４でＹＥＳ）、案内装置３３は、案内の目標とする先導車を変更後の先導車に設定して（ステップＳ４０５）、ステップＳ４０１に戻る。 If there is no change in the lead vehicle based on the travel plan (NO in step S402), the guidance device 33 checks whether there is a change in the lead vehicle due to the change (re-creation) of the travel plan (step S404). ). If there is a change in the leading vehicle due to the change in the travel plan (YES in step S404), the guide device 33 sets the leading vehicle targeted for guidance to the changed leading vehicle (step S405), and the process proceeds to step S401. Return.
　また、走行計画に基づく先導車の変更も、走行計画の変更に伴う先導車の変更もなければ（ステップＳ４０４でＮＯ）、案内装置３３は、自車１００が目的地に到着した否かを確認する（ステップＳ４０６）。自車１００が目的地に到着していれば（ステップＳ４０６でＹＥＳ）、案内装置３３は案内処理を終了する。自車１００が目的地に到着していなければ（ステップＳ４０６でＮＯ）、ステップＳ４０１に戻る。 Further, if there is no change in the lead vehicle based on the travel plan and no change in the lead vehicle due to the change in the travel plan (NO in step S404), the guidance device 33 confirms whether or not the own vehicle 100 has arrived at the destination. (Step S406). If own vehicle 100 has arrived at the destination (YES in step S406), guide device 33 ends the guidance process. If the vehicle 100 has not arrived at the destination (NO in step S406), the process returns to step S401.
　以上の処理により、案内装置３３は、案内の目標とする先導車を常に把握することができる。 By the above processing, the guidance device 33 can always grasp the leading vehicle that is the target of guidance.
　次に、実施の形態２に係るナビゲーション装置３０の走行計画作成装置１０が行う走行計画再算出処理について説明する。図４９はその走行計画再算出処理のフローチャートである。図４９のフローは、図４４に示したフローと基本的に同じであるが、走行計画を再算出するための走行計画算出処理（ステップＳ３０６）を実行する条件が、図４４のフローよりも増加している。 Next, a travel plan recalculation process performed by the travel plan creation device 10 of the navigation device 30 according to the second embodiment will be described. FIG. 49 is a flowchart of the travel plan recalculation process. The flow in FIG. 49 is basically the same as the flow shown in FIG. 44, but the condition for executing the travel plan calculation process (step S306) for recalculating the travel plan is greater than the flow in FIG. is doing.
　すなわち、図４４のフローでは、前回の走行計画の作成から一定時間が経過した場合と、先導車となる他車１０１の他車情報が変更になった場合に、ステップＳ３０６が実行されるが、図４９のフローではさらに以下の場合にもステップＳ３０６が実行される。それ以外のフローは、図４４と同様であるので、ここでの説明は省略する。 That is, in the flow of FIG. 44, step S306 is executed when a certain time has elapsed since the previous travel plan was created and when other vehicle information of the other vehicle 101 serving as the leading vehicle is changed. In the flow of FIG. 49, step S306 is also executed in the following cases. Since the other flow is the same as that of FIG. 44, description thereof is omitted here.
　図４９のフローでは、走行計画再算出指示部１７が現在位置取得装置３１から自車１００の位置（自車位置）を取得して（ステップＳ３５１）、自車１００の位置またはその変化量（つまり自車１００の走行距離）が予め定められた条件を満たしていた場合も（ステップＳ３５２でＹＥＳ）、ステップＳ３０６が実行される。ステップＳ３５２における「予め定められた条件」とは、例えば、自車１００が一定距離だけ進んだ場合、自車１００が予め定められた地点（例えば、交差点やサービスエリアなど特定の属性を有する地点や、走行計画を作成する際（図３３のステップＳ２０１）に定めた分割地点など）を通過した場合、自車１００が走行計画とは異なる行動をとった場合などである。 In the flow of FIG. 49, the travel plan recalculation instructing unit 17 acquires the position of the own vehicle 100 (own vehicle position) from the current position acquisition device 31 (step S351), and the position of the own vehicle 100 or its change amount (that is, the change amount) Even when the traveling distance of the host vehicle 100 satisfies a predetermined condition (YES in step S352), step S306 is executed. The “predetermined condition” in step S352 is, for example, when the vehicle 100 has traveled a certain distance, the vehicle 100 is a predetermined point (for example, a point having a specific attribute such as an intersection or a service area, This is the case where the vehicle 100 has passed the time when the travel plan is created (such as the division point determined in step S201 in FIG. 33), or when the vehicle 100 has taken an action different from that of the travel plan.
　さらに、通信装置２２を介した車車間通信により、現在追従している先導車がその車両情報（他車情報）とは異なる行動をとっていることが検出された場合にも（ステップＳ３５３でＹＥＳ）、ステップＳ３０６の走行計画算出処理が実行される。他車情報とは異なる行動とは、例えば、走行予定経路とは異なる経路を走行することや、通過予定時刻から大きく外れた時刻に各地点を通過することなどである。 Further, when it is detected by vehicle-to-vehicle communication via the communication device 22 that the currently following leading vehicle is taking an action different from the vehicle information (other vehicle information) (YES in step S353). ), The travel plan calculation process of step S306 is executed. The action different from the other vehicle information is, for example, traveling on a route different from the planned traveling route, passing through each point at a time greatly deviating from the scheduled passing time, and the like.
　また、実施の形態２では、自車１００を手動運転によって追従可能エリアへ移動させることを前提にしてナビゲーション装置３０の動作を説明したが、例えば、追従走行制御装置４０が走行速度自動制御機能およびレーンキーピング機能（車線逸脱防止機能）を有している場合には、運転者は車線変更の運転操作のみを手動で行えばよく、運転者負担をより小さくすることができる。その場合、走行速度自動制御機能およびレーンキーピング機能を用いた走行モードに切り替える旨を、ナビゲーション装置３０が音声アナウンスや画面表示によって運転者へ通知すると、運転者の心理負担を小さくできる。 In the second embodiment, the operation of the navigation device 30 has been described on the assumption that the host vehicle 100 is moved to the followable area by manual driving. For example, the follow-up running control device 40 has an automatic running speed control function and When the vehicle has a lane keeping function (lane departure prevention function), the driver only has to manually perform the driving operation for changing the lane, and the driver's burden can be further reduced. In that case, if the navigation device 30 notifies the driver of switching to the driving mode using the driving speed automatic control function and the lane keeping function by voice announcement or screen display, the psychological burden on the driver can be reduced.
　また、自車１００が先導車に追従して走行している途中に、信号機や割り込み車両の影響によって自車１００が先導車から離れてしまうことも考えられる。その場合には、当該先導車（本来の先導車）と進行方向が同じで、且つ、本来の先導車よりも速い速度で走行している他車を仮の先導車にして自車１００を追従させ、自車１００が本来の先導車に追いついた時点で、本来の先導車を運転者が判別できるような表示や音声アナウンスを行うことで、運転者に本来の先導車への乗り換えを促すようにしてもよい。 It is also conceivable that the host vehicle 100 is separated from the leading vehicle due to the influence of a traffic light or an interrupting vehicle while the host vehicle 100 is traveling following the leading vehicle. In that case, the traveling direction is the same as that of the leading vehicle (original leading vehicle), and the other vehicle traveling at a higher speed than the original leading vehicle is used as a temporary leading vehicle to follow the own vehicle 100. When the own vehicle 100 catches up with the original leading vehicle, the driver is encouraged to change to the original leading vehicle by performing a display and voice announcement so that the driver can identify the original leading vehicle. It may be.
　なお、本発明において、走行計画を算出または再算出する方法は、上で説明したものに限られない。すなわち、本発明は、走行計画の方式や内容に関わらず、追従走行に関連した特定の条件が満たされたときに走行計画の再算出を行い、走行計画変更通知画面または走行計画選択画面を、表示装置に表示させることを特徴としている。例えば、走行計画が走行予定経路を複数の区間に分割して作成されたものでなくてもよく、より単純な走行計画（例えば「車両X1に追従」というだけのもの）であっても、本発明は適用可能である。 In the present invention, the method for calculating or recalculating the travel plan is not limited to that described above. That is, the present invention recalculates the travel plan when a specific condition related to the follow-up travel is satisfied regardless of the method and content of the travel plan, the travel plan change notification screen or the travel plan selection screen, It is characterized by being displayed on a display device. For example, the travel plan does not have to be created by dividing the planned travel route into a plurality of sections, even if it is a simpler travel plan (for example, “follow the vehicle X1”), The invention is applicable.
　また、本発明は、その発明の範囲内において、各実施の形態を自由に組み合わせたり、各実施の形態を適宜、変形、省略することが可能である。 Also, within the scope of the present invention, the present invention can be freely combined with each other or can be appropriately modified or omitted.
　本発明は詳細に説明されたが、上記した説明は、すべての態様において、例示であって、この発明がそれに限定されるものではない。例示されていない無数の変形例が、この発明の範囲から外れることなく想定され得るものと解される。 Although the present invention has been described in detail, the above description is illustrative in all aspects, and the present invention is not limited thereto. It is understood that countless variations that are not illustrated can be envisaged without departing from the scope of the present invention.
　１０　走行計画作成装置、１１　自車情報取得部、１１ａ　走行予定経路取得部、１２　他車情報取得部、１３　走行計画算出部、１４　優先項目設定部、１５　走行計画保持部、１６　表示処理部、１７　走行計画再算出指示部、２０　走行計画提示装置、２１　入力装置、２２　通信装置、２３　地図情報記憶装置、２４　表示装置、３０　ナビゲーション装置、３１　現在位置取得装置、３２　経路探索装置、３３　案内装置、５１　プロセッサ、５２　メモリ、５３　入出力インターフェイス、１００　自車、１０１　他車、１０２　車両情報サーバー、１０３　企業。 10 travel plan creation device, 11 own vehicle information acquisition unit, 11a planned travel route acquisition unit, 12 other vehicle information acquisition unit, 13 travel plan calculation unit, 14 priority item setting unit, 15 travel plan holding unit, 16 display processing unit, 17 travel plan recalculation instruction unit, 20 travel plan presentation device, 21 input device, 22 communication device, 23 map information storage device, 24 display device, 30 navigation device, 31 current position acquisition device, 32 route search device, 33 guidance device , 51 processor, 52 memory, 53 input / output interface, 100 own vehicle, 101 other vehicle, 102 vehicle information server, 103 companies.

Claims (13)

  1. 　プログラムを実行するプロセッサと、
    　前記プログラムを記憶する記憶装置とを備え、
    　前記プログラムが前記プロセッサにより実行されると、
    　自車の走行予定経路および出発予定時刻を含む自車情報を取得し、
    　複数の他車の走行予定経路および当該走行予定経路上の各地点の通過予定時刻を予測可能な情報を含む他車情報を取得し、
    　前記自車情報および前記他車情報に基づいて、前記自車を先導車に追従させて走行させる追従走行の計画を含む走行計画を算出して出力し、
    　予め定められた条件が満たされた場合に、前記走行計画を再算出して出力し、
    　再算出した走行計画を出力するとき、走行計画の変更をユーザへ通知する走行計画変更通知画面、または、走行計画の変更を許可するか否かをユーザに選択させる走行計画選択画面を、表示装置に表示させる
    ことを特徴とする走行計画作成装置。     A processor for executing the program;
    A storage device for storing the program,
    When the program is executed by the processor,
    Get your vehicle information including your vehicle's planned route and scheduled departure time,
    Other vehicle information including information that can predict the scheduled traveling time of a plurality of other vehicles and the estimated passing time of each point on the planned traveling route,
    Based on the own vehicle information and the other vehicle information, a travel plan including a follow-up travel plan that causes the host vehicle to travel following the leading vehicle is calculated and output,
    When a predetermined condition is satisfied, the travel plan is recalculated and output,
    When outputting the recalculated travel plan, a travel plan change notification screen for notifying the user of a change in the travel plan or a travel plan selection screen for allowing the user to select whether or not to allow the travel plan to be changed is displayed on the display device. A travel plan creation device characterized by being displayed on the screen.
  2. 　現在の走行計画が利用不可能な状況で再算出した走行計画を出力する場合、前記自車の走行計画を現在のものから再作成したものへ自動的に変更し、前記走行計画変更通知画面を前記表示装置に表示させる
    請求項１記載の走行計画作成装置。     When outputting a recalculated travel plan in a situation where the current travel plan is not available, the travel plan of the host vehicle is automatically changed from the current one to the recreated one, and the travel plan change notification screen is displayed. The travel plan creation device according to claim 1, wherein the travel plan creation device is displayed on the display device.
  3. 　現在の走行計画が利用可能な状況で再算出した走行計画を出力する場合、前記走行計画選択画面を前記表示装置に表示させ、ユーザの許可が得られた場合に限り、前記自車の走行計画を現在のものから再作成したものへ変更する
    請求項１記載の走行計画作成装置。     When outputting a recalculated travel plan in a situation where the current travel plan is available, the travel plan selection screen is displayed on the display device, and only when the user's permission is obtained, the travel plan of the host vehicle The travel plan creation device according to claim 1, wherein the travel plan is changed from the current one to the one recreated.
  4. 　前記走行計画を再算出するための条件は、
    　（ａ）一定時間が経過した場合、
    　（ｂ）前記自車が一定距離を走行した場合、
    　（ｃ）自車が予め定められた地点を通過した場合、
    　（ｄ）自車が走行計画とは異なる行動をとった場合、
    　（ｅ）先導車となる前記他車の前記他車情報が変更されたことを検知した場合、
    　（ｆ）先導車となる前記他車が前記他車情報とは異なる行動をしたことを検知した場合、
    のいずれかである
    請求項１記載の走行計画作成装置。     The conditions for recalculating the travel plan are:
    (A) When a certain time has passed,
    (B) When the vehicle has traveled a certain distance,
    (C) When the vehicle passes a predetermined point,
    (D) If the vehicle takes an action different from the driving plan,
    (E) When it is detected that the other vehicle information of the other vehicle that is the leading vehicle has been changed,
    (F) When it is detected that the other vehicle as the leading vehicle has acted differently from the other vehicle information,
    The travel plan creation device according to claim 1, wherein
  5. 　前記走行計画は、前記自車の走行予定経路を複数に分割した各区間を、前記自車を手動運転で走行させる手動運転区間とするか前記自車を先導車に追従させて走行させる追従走行区間とするか示す情報、および、各追従走行区間で先導車となる前記他車を示す情報を含むものである
    請求項１記載の走行計画作成装置。     In the travel plan, each section obtained by dividing the travel schedule route of the host vehicle into a plurality of sections is set as a manual operation section in which the host vehicle is traveled by manual driving or the host vehicle is allowed to travel by following the leading vehicle. The travel plan creation device according to claim 1, comprising information indicating whether it is a section, and information indicating the other vehicle that is a leading vehicle in each following travel section.
  6. 　プログラムを実行するプロセッサと、
    　前記プログラムを記憶する記憶装置とを備え、
    　前記プログラムが前記プロセッサにより実行されると、
    　自車の走行予定経路および出発予定時刻を含む自車情報を取得し、
    　複数の他車の走行予定経路および当該走行予定経路上の各地点の通過予定時刻を予測可能な情報を含む他車情報を取得し、
    　前記自車情報および前記他車情報に基づいて、前記自車を先導車に追従させて走行させる追従走行の計画を含む走行計画を算出して出力し、
    　予め定められた条件が満たされた場合に、前記走行計画を再算出して出力し、
    　１以上の優先項目に基づいて、算出または再算出した前記走行計画の運転者負担の大きさを評価し、
    　現在の走行計画が利用可能な状況で再算出した走行計画を出力する場合、現在の走行計画よりも再算出された走行計画の方が前記運転者負担が小さいときに限り、走行計画の変更をユーザへ通知する走行計画変更通知画面、または、走行計画の変更を許可するか否かをユーザに選択させる走行計画選択画面を、表示装置に表示させる
    ことを特徴とする走行計画作成装置。     A processor for executing the program;
    A storage device for storing the program,
    When the program is executed by the processor,
    Get your vehicle information including your vehicle's planned route and scheduled departure time,
    Other vehicle information including information that can predict the scheduled traveling time of a plurality of other vehicles and the estimated passing time of each point on the planned traveling route,
    Based on the own vehicle information and the other vehicle information, a travel plan including a follow-up travel plan that causes the host vehicle to travel following the leading vehicle is calculated and output,
    When a predetermined condition is satisfied, the travel plan is recalculated and output,
    Based on one or more priority items, evaluate the size of the driver burden of the calculated or recalculated travel plan,
    When outputting a recalculated travel plan in a situation where the current travel plan is available, the travel plan is changed only when the recalculated travel plan has a smaller driver burden than the current travel plan. A travel plan creation device, characterized in that a travel plan change notification screen for notifying a user or a travel plan selection screen for allowing a user to select whether or not to allow a change in travel plan is displayed on a display device.
  7. 　現在の走行計画が利用不可能な状況で再算出した走行計画を出力する場合、前記自車の走行計画を現在のものから再算出したものへ自動的に変更する
    請求項６記載の走行計画作成装置。     The travel plan creation according to claim 6, wherein when a recalculated travel plan is output in a situation where the current travel plan is unavailable, the travel plan of the vehicle is automatically changed from the current one to the recalculated one. apparatus.
  8. 　前記優先項目は、予め規定された複数の項目からユーザが選択したものである
    請求項６記載の走行計画作成装置。     The travel plan creation device according to claim 6, wherein the priority item is selected by a user from a plurality of items defined in advance.
  9. 　前記複数の項目は、追従走行距離の長さ、目的地への到着時刻、追従走行時間の長さ、先導車の変更回数、先導車の運転評価値、および先導車の経路確実性のいずれかである
    請求項８記載の走行計画作成装置。     The plurality of items are any of the following distance, the arrival time at the destination, the length of the following traveling time, the number of changes of the leading vehicle, the driving evaluation value of the leading vehicle, and the route certainty of the leading vehicle. The travel plan creation device according to claim 8.
  10. 　前記走行計画を再算出するための条件は、
    　（ａ）一定時間が経過した場合、
    　（ｂ）前記自車が一定距離を走行した場合、
    　（ｄ）自車が走行計画とは異なる行動をとった場合、
    　（ｅ）先導車となる前記他車の前記他車情報が変更されたことを検知した場合、
    　（ｆ）先導車となる前記他車が前記他車情報とは異なる行動をしたことを検知した場合、
    のいずれかである
    請求項６記載の走行計画作成装置。     The conditions for recalculating the travel plan are:
    (A) When a certain time has passed,
    (B) When the vehicle has traveled a certain distance,
    (D) If the vehicle takes an action different from the driving plan,
    (E) When it is detected that the other vehicle information of the other vehicle that is the leading vehicle has been changed,
    (F) When it is detected that the other vehicle as the leading vehicle has acted differently from the other vehicle information,
    The travel plan creation device according to claim 6.
  11. 　前記走行計画は、前記自車の走行予定経路を複数に分割した各区間を、前記自車を手動運転で走行させる手動運転区間とするか前記自車を先導車に追従させて走行させる追従走行区間とするか示す情報、および、各追従走行区間で先導車となる前記他車を示す情報を含むものである
    請求項６記載の走行計画作成装置。     In the travel plan, each section obtained by dividing the travel schedule route of the host vehicle into a plurality of sections is set as a manual operation section in which the host vehicle is traveled by manual driving or the host vehicle is allowed to travel by following the leading vehicle. The travel plan creation device according to claim 6, comprising information indicating whether it is a section and information indicating the other vehicle that is a leading vehicle in each follow-up travel section.
  12. 　自車の走行予定経路および出発予定時刻を含む自車情報を取得し、
    　複数の他車の走行予定経路および当該走行予定経路上の各地点の通過予定時刻を予測可能な情報を含む他車情報を取得し、
    　前記自車情報および前記他車情報に基づいて、前記自車を先導車に追従させて走行させる追従走行の計画を含む走行計画を算出して出力し、
    　予め定められた条件が満たされた場合に、前記走行計画を再算出して出力し、
    　再算出した走行計画を出力するとき、走行計画の変更をユーザへ通知する走行計画変更通知画面、または、走行計画の変更を許可するか否かをユーザに選択させる走行計画選択画面を、表示装置に表示させる
    ことを特徴とする走行計画変更方法。     Get your vehicle information including your vehicle's planned route and scheduled departure time,
    Other vehicle information including information that can predict the scheduled traveling time of a plurality of other vehicles and the estimated passing time of each point on the planned traveling route,
    Based on the own vehicle information and the other vehicle information, a travel plan including a follow-up travel plan that causes the host vehicle to travel following the leading vehicle is calculated and output,
    When a predetermined condition is satisfied, the travel plan is recalculated and output,
    When outputting the recalculated travel plan, a travel plan change notification screen for notifying the user of a change in the travel plan or a travel plan selection screen for allowing the user to select whether or not to allow the travel plan to be changed is displayed on the display device. A travel plan changing method characterized in that the travel plan is displayed.
  13. 　自車の走行予定経路および出発予定時刻を含む自車情報を取得し、
    　複数の他車の走行予定経路および当該走行予定経路上の各地点の通過予定時刻を予測可能な情報を含む他車情報を取得し、
    　前記自車情報および前記他車情報に基づいて、前記自車を先導車に追従させて走行させる追従走行の計画を含む走行計画を算出して出力し、
    　予め定められた条件が満たされた場合に、前記走行計画を再算出して出力し、
    　１以上の優先項目に基づいて、算出または再算出した前記走行計画の運転者負担の大きさを評価し、
    　現在の走行計画が利用可能な状況で再算出した走行計画を出力する場合、現在の走行計画よりも再算出された走行計画の方が前記運転者負担が小さいときに限り、走行計画の変更をユーザへ通知する走行計画変更通知画面、または、走行計画の変更を許可するか否かをユーザに選択させる走行計画選択画面を、表示装置に表示させる
    ことを特徴とする走行計画変更方法。     Get your vehicle information including your vehicle's planned route and scheduled departure time,
    Other vehicle information including information that can predict the scheduled traveling time of a plurality of other vehicles and the estimated passing time of each point on the planned traveling route,
    Based on the own vehicle information and the other vehicle information, a travel plan including a follow-up travel plan that causes the host vehicle to travel following the leading vehicle is calculated and output,
    When a predetermined condition is satisfied, the travel plan is recalculated and output,
    Based on one or more priority items, evaluate the size of the driver burden of the calculated or recalculated travel plan,
    When outputting a recalculated travel plan in a situation where the current travel plan is available, the travel plan is changed only when the recalculated travel plan has a smaller driver burden than the current travel plan. A travel plan change method for displaying on a display device a travel plan change notification screen for notifying a user or a travel plan selection screen for allowing a user to select whether or not to allow the travel plan to be changed.
PCT/JP2015/051011 2015-01-16 2015-01-16 Travel plan creation device and travel plan changing method WO2016113890A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2015/051011 WO2016113890A1 (en) 2015-01-16 2015-01-16 Travel plan creation device and travel plan changing method
JP2016569185A JP6257808B2 (en) 2015-01-16 2015-01-16 Travel plan creation device and travel plan change method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2015/051011 WO2016113890A1 (en) 2015-01-16 2015-01-16 Travel plan creation device and travel plan changing method

Publications (1)

Publication Number Publication Date
WO2016113890A1 true WO2016113890A1 (en) 2016-07-21

Family

ID=56405451

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2015/051011 WO2016113890A1 (en) 2015-01-16 2015-01-16 Travel plan creation device and travel plan changing method

Country Status (2)

Country Link
JP (1) JP6257808B2 (en)
WO (1) WO2016113890A1 (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017068897A1 (en) * 2015-10-19 2017-04-27 株式会社デンソー Navigation system
JP2018176935A (en) * 2017-04-10 2018-11-15 トヨタ自動車株式会社 Automatic drive apparatus
CN110087964A (en) * 2017-01-24 2019-08-02 本田技研工业株式会社 Vehicle control system, control method for vehicle and vehicle control program
CN113496604A (en) * 2020-04-02 2021-10-12 丰田自动车株式会社 Operation management device, operation management method, and traffic system
CN113525382A (en) * 2020-04-17 2021-10-22 丰田自动车株式会社 Vehicle control device and storage medium
CN113919732A (en) * 2021-10-25 2022-01-11 车主邦（北京）科技有限公司 Garden vehicle scheduling method, device, equipment and storage medium
WO2023042272A1 (en) * 2021-09-14 2023-03-23 日産自動車株式会社 Driving control method and driving control device

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008003675A (en) * 2006-06-20 2008-01-10 Toyota Motor Corp File organization device for vehicle and method for organizing vehicle file
JP2010146428A (en) * 2008-12-22 2010-07-01 Nec Corp System, method and program for retrieving vehicle to be followed

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004138538A (en) * 2002-10-18 2004-05-13 Denso Corp Navigation apparatus and navigation system

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008003675A (en) * 2006-06-20 2008-01-10 Toyota Motor Corp File organization device for vehicle and method for organizing vehicle file
JP2010146428A (en) * 2008-12-22 2010-07-01 Nec Corp System, method and program for retrieving vehicle to be followed

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017068897A1 (en) * 2015-10-19 2017-04-27 株式会社デンソー Navigation system
CN110087964A (en) * 2017-01-24 2019-08-02 本田技研工业株式会社 Vehicle control system, control method for vehicle and vehicle control program
US11307591B2 (en) 2017-01-24 2022-04-19 Honda Motor Co., Ltd. Vehicle control system, vehicle control method, and vehicle control program
JP2018176935A (en) * 2017-04-10 2018-11-15 トヨタ自動車株式会社 Automatic drive apparatus
CN113496604A (en) * 2020-04-02 2021-10-12 丰田自动车株式会社 Operation management device, operation management method, and traffic system
CN113496604B (en) * 2020-04-02 2023-03-28 丰田自动车株式会社 Operation management device, operation management method, and traffic system
CN113525382A (en) * 2020-04-17 2021-10-22 丰田自动车株式会社 Vehicle control device and storage medium
CN113525382B (en) * 2020-04-17 2023-07-25 丰田自动车株式会社 Vehicle control device and storage medium
WO2023042272A1 (en) * 2021-09-14 2023-03-23 日産自動車株式会社 Driving control method and driving control device
CN113919732A (en) * 2021-10-25 2022-01-11 车主邦（北京）科技有限公司 Garden vehicle scheduling method, device, equipment and storage medium
CN113919732B (en) * 2021-10-25 2023-10-17 车主邦（北京）科技有限公司 Park vehicle scheduling method, device, equipment and storage medium

Also Published As

Publication number Publication date
JPWO2016113890A1 (en) 2017-04-27
JP6257808B2 (en) 2018-01-10

Similar Documents

Publication Publication Date Title
JP6345274B2 (en) Travel plan creation device and travel plan creation method
JP6407416B2 (en) Leading vehicle selection support device, travel plan creation device, leading vehicle selection support method, and travel plan creation method
JP6257808B2 (en) Travel plan creation device and travel plan change method
US11087291B2 (en) Action planning and execution support device
JP6390276B2 (en) Automatic driving support system, automatic driving support method, and computer program
KR101500060B1 (en) Vehicle apparatus and system for controlling group driving, and method for selecting preceding vehicle using the same
JP7030043B2 (en) Information processing equipment, information processing device control method, communication device, communication device control method, and program for preferential traffic with consideration
JP6094543B2 (en) Origin / Destination Extraction Device, Origin / Destination Extraction Method
US20160298977A1 (en) Systems and methods for simultaneous electronic display of various modes of transportation for viewing and comparing
JP7030675B2 (en) Information processing equipment, control method of information processing equipment, and programs for preferential traffic with consideration
CN108062865B (en) Parking direction prompting method and device
JP2016050901A (en) Automatic driving support system, automatic driving support method, and computer program
US11587434B2 (en) Intelligent vehicle pass-by information sharing
JP7073244B2 (en) Information processing equipment, control method of information processing equipment, and programs for preferential traffic with consideration
US20150176996A1 (en) Systems and Methods for Unified Directions
WO2022193995A1 (en) Map updating method, and map-based driving decision-making method and apparatus
JP7010172B2 (en) Advertising control device, advertising system, advertising control method and advertising control program
US10460185B2 (en) Roadside image tracking system
KR101570827B1 (en) Apparatus and Method for providing safe-driving route information considering lane-changing behavior
JP2011113503A (en) Driving support device
JP6552952B2 (en) Navigation device and navigation method
KR20170136451A (en) Method and Apparatus for Providing Multimodal Transportation Information Based on Individual Preference
JP2018073299A (en) Information processing system, and search area designation method and program
JP2019082386A (en) System, program, device, and method for processing information
JP2021149517A (en) Information processing device for allowing preferential passage requiring compensation, control method of information processing device, vehicle, and program

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 15877842

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2016569185

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 15877842

Country of ref document: EP

Kind code of ref document: A1