Traffic control system, traffic control method, and control device

Abstract

A traffic control system includes an identification unit (234) that identifies vehicles that meet predetermined conditions, a position control unit (235) that sets a relative position between the identified vehicle and surrounding vehicles based on the relative distance between the identified vehicle and surrounding vehicles, and a control unit (230) that generates control information for controlling the movement of the vehicle according to the set relative position.

Description

Technical Field

[0001] This disclosure relates to traffic control systems, traffic control methods, and control devices. Background Technology

[0002] In recent years, various sensors have been installed on vehicles, and functions for assisted driving have been introduced. Patent document 1 discloses a technique for calculating the distance between vehicles based on the position information of the vehicle itself and other vehicles, and for correcting the distance between vehicles based on the speed information of the vehicle itself and other vehicles.

[0003] Citation List

[0004] Patent documents

[0005] Patent Document 1: JP 2014-071839 A Summary of the Invention

[0006] Technical issues

[0007] In the aforementioned prior art, it is desirable to support traffic of multiple vehicles, even when vehicles with different driving levels, autonomous vehicles, etc., are mixed together.

[0008] Therefore, this disclosure provides a traffic control system, traffic control method, and control device capable of controlling traffic of vehicles with different driving levels.

[0009] Solution to the problem

[0010] To address the aforementioned problems, a traffic control system according to an embodiment of this disclosure includes: an identification unit that identifies vehicles that meet predetermined conditions; a position control unit that sets a relative position between the identified vehicle and surrounding vehicles based on the relative distance between the identified vehicle and surrounding vehicles; and a control unit that generates control information for controlling the movement of the vehicle according to the relative position.

[0011] Furthermore, the traffic control method according to embodiments of this disclosure enables a computer to: identify vehicles that meet predetermined conditions; set a relative position between the identified vehicle and surrounding vehicles based on the relative distance between the identified vehicle and surrounding vehicles; and generate control information for controlling the movement of the vehicle according to the relative position.

[0012] Furthermore, the control device according to an embodiment of the present disclosure includes: an identification unit that identifies a vehicle that meets predetermined conditions; and a position control unit that sets a relative position between the identified vehicle and surrounding vehicles based on the relative distance between the identified vehicle and surrounding vehicles, wherein the position control unit controls the movement of the vehicle to reach the set relative position. Attached Figure Description

[0013] Figure 1 This is a diagram illustrating an example of implementing a traffic control system according to an embodiment.

[0014] Figure 2 This is a diagram illustrating an example of the configuration of a control device according to an embodiment.

[0015] Figure 3 This is a configuration diagram illustrating an example of the configuration of a vehicle according to an embodiment.

[0016] Figure 4 This is a flowchart illustrating an example of the processing procedure of the control device according to an embodiment.

[0017] Figure 5 This is a table illustrating examples of condition information according to an embodiment.

[0018] Figure 6 These are sequence diagrams illustrating examples of the operation of a traffic control system according to an embodiment.

[0019] Figure 7 This is a sequence diagram illustrating another example of the operation of a traffic control system according to an embodiment.

[0020] Figure 8 This is a sequence diagram illustrating another example of the operation of a traffic control system according to an embodiment.

[0021] Figure 9 This is a diagram illustrating an example of the configuration of a control device according to a modified example (1) of the embodiment.

[0022] Figure 10 This is a diagram illustrating an example of the configuration of a control device according to a modified example (2) of the embodiment.

[0023] Figure 11 This is a sequence diagram illustrating another example of the operation of a traffic control system according to a variation (3) of the embodiment.

[0024] Figure 12 This is a sequence diagram illustrating another example of the operation of a traffic control system according to a variation (4) of the embodiment.

[0025] Figure 13 This is a sequence diagram illustrating another example of the operation of a traffic control system according to a variation (5) of the embodiment.

[0026] Figure 14 This is a diagram illustrating an example of the function of a driving support device according to a variation (6) of the embodiment.

[0027] Figure 15 This is a flowchart illustrating an example of the processing procedure of a driving support device according to a variation (7) of the embodiment.

[0028] Figure 16 This is a diagram illustrating an example of the function of a driving support device according to a variation (8) of the embodiment.

[0029] Figure 17 This is a diagram illustrating an example of the configuration of a control device according to a modified example (9) of the embodiment.

[0030] Figure 18 This is a diagram illustrating an example of the configuration of a control device according to a modified example (10) of the embodiment.

[0031] Figure 19 This is a hardware configuration diagram illustrating an example of a computer that implements the functions of a control device. Detailed Implementation

[0032] Embodiments of this disclosure will now be described with reference to the accompanying drawings. In the following embodiments, the same parts are given the same reference numerals to omit repeated descriptions.

[0033] In recent years, various sensors have been installed on vehicles, and functions for driver assistance are being introduced. The Institute of Electrical and Electronics Engineers (IEEE) has developed a communication system for vehicle-to-vehicle communication based on 802.11p, called Dedicated Short Range Communication (DSRC). Furthermore, within the 3rd Generation Partnership Project (3GPP), version 14 created the C-V2X standard based on Long Term Evolution (LTE) Device-to-Device (D2D) communication. The introduction of Advanced Driver Assistance Systems (ADAS), a type of advanced driver safety system, is anticipated through vehicle-to-vehicle communication and sensor fusion utilizing various sensors on board vehicles. Furthermore, the evolution of ADAS also anticipates the arrival of a fully autonomous driving world. This disclosure reveals traffic control methods, among other things, for supporting safe driving.

[0034] (Example)

[0035] [Overview of the traffic control system according to the embodiment]

[0036] Figure 1This is a diagram illustrating an example of implementing a traffic control system according to an embodiment.

[0037] like Figure 1 As shown in the diagram, the traffic control system 1 includes multiple vehicles 100 and control devices 200. The vehicles 100 and control devices 200 can communicate with each other via, for example, a base station 1001, a roadside unit (RSU) 1002, etc. The vehicles 100 include automobiles, electric vehicles, motorcycles, mobile robots, and unmanned aerial vehicles (UAVs) such as drones. Figure 1 In the example shown in the diagram, the traffic control system 1 includes two vehicles, namely vehicle 100A and vehicle 100B, but may include three or more vehicles 100. In the following description, vehicle 100A and vehicle 100B may be referred to as vehicle 100 when they are not distinguished from each other.

[0038] Vehicle 100 sends Vehicle-to-Everything (V2X) messages to other vehicles 100 or RSU 1002. The other vehicles 100 or RSU 1002 receiving the V2X messages transmit the information obtained via the V2X messages to the control unit 200. Additionally, vehicle 100 transmits information related to the driving support device mounted on vehicle 100 to the control unit 200 via base station 1001. The information related to the driving support device may include, for example, information related to any sensor connected to the driving support device. Here, the V2X message can be a vehicle-to-vehicle (V2V) message, a vehicle-to-pedestrian (V2P) message, a vehicle-to-network (V2N) message, or a vehicle-to-infrastructure (V2I) message.

[0039] The control device 200, for example, is a so-called cloud server, a server device that performs information processing in conjunction with the vehicle 100. The control device 200 has the function of controlling and managing the operation of multiple vehicles 100. Furthermore, the function of controlling and managing the operation of multiple vehicles 100 can be realized by using the output obtained from inputting information related to the driving support device collected via the aforementioned V2X messages into artificial intelligence (AI). Here, AI can be an integrated function with multiple inputs and outputs, or it can be a function divided into multiple functions with different inputs and outputs for each controlled object. Furthermore, when the AI ​​function is divided into multiple functions, each function can be implemented distributed across multiple servers, either statically or dynamically according to time and location, taking into account computational load, latency characteristics, and mobile edge computing (MEC) characteristics.

[0040] [Example of the configuration of the control device according to the embodiment]

[0041] Figure 2 This is a diagram illustrating an example of the configuration of the control device 200 according to an embodiment. For example... Figure 2 As shown in the diagram, the control device 200 includes a communication unit 210, a storage unit 220, and a control unit 230. The control unit 230 is electrically connected to the communication unit 210 and the storage unit 220.

[0042] The communication unit 210 has the function of communicating with the vehicle 100, base station 1001, RSU 1002, etc. There are no particular restrictions on the communication protocols supported by the communication unit 210; it can support multiple types of communication protocols. Furthermore, the communication unit 210 can support multiple types of wireless interfaces. For example, the communication unit 210 can output information received from the vehicle 100 to the control unit 230 and send information from the control unit 230 to the vehicle 100.

[0043] Storage unit 220 is implemented, for example, by a semiconductor storage element such as random access memory (RAM) or flash memory, or a storage device such as a hard disk or optical disk. Storage unit 220 stores, for example, various types of information such as condition information D1 and vehicle information D2. Condition information D1 includes, for example, information indicating conditions for identifying the corresponding vehicle 100. Vehicle information D2 includes, for example, information enabling identification of vehicle 100.

[0044] The control unit 230 is, for example, a dedicated or general-purpose computer. The control unit 230 controls the operation of the control device 200. The control unit 230 includes a transmit / receive unit 231, an acquisition unit 232, a setting unit 233, an identification unit 234, and a position control unit 235. Each functional unit of the transmit / receive unit 231, acquisition unit 232, setting unit 233, identification unit 234, and position control unit 235 is implemented, for example, by the control unit 230 using RAM or the like as a working area to execute programs stored in the control unit 230.

[0045] The transmitting / receiving unit 231 receives information from the vehicle 100 via the communication unit 210. The transmitting / receiving unit 231 transmits information to the vehicle 100 via the communication unit 210.

[0046] The acquisition unit 232 acquires vehicle information D2, which can identify the vehicle 100, the driver support system installed in the vehicle 100, etc., via the transmission / reception unit 231. Vehicle information D2 includes, for example, information related to V2X messages issued by the driver support system, information acquired by any sensor connected to the driver support system, and information related to the location of the vehicle 100. The acquisition unit 232 stores the acquired information as vehicle information D2 for each vehicle 100 in the storage unit 220. In other words, the control device 200 maintains vehicle information D2 for each vehicle 100. Vehicle information D2 includes, for example, information related to insurance covering the vehicle 100. Insurance-related information includes, for example, information regarding whether the vehicle 100 is insured for third-party damage, property damage, personal injury, or passenger injury, and the compensation amount for each type of insurance.

[0047] The setting unit 233 sets conditions for identifying the vehicle 100. These conditions may include, for example, whether the vehicle 100 traveling ahead is insured for third-party damage, property damage, personal injury, or passenger injury. Alternatively, the setting condition may be whether the vehicle 100 is insured for third-party damage, property damage, personal injury, or passenger injury with a predetermined compensation amount or higher. Another setting condition may be whether the vehicle 100 is equipped with a driver support system. Yet another setting condition may be whether the vehicle 100 is equipped with a driver support system of a certain technological level or higher. A certain technological level may refer to, for example, the level of equipment used in the driver support system. A certain technological level may be, for example, one of the levels of autonomous driving (0-5). A third setting condition may be, for example, the legal speed limit of the road on which the vehicle is traveling. In other words, the setting unit 233 can set at least one of multiple conditions. The setting unit 233 stores the condition information D1 indicating the set conditions in the storage unit 220.

[0048] The identification unit 234 identifies a vehicle 100 that meets the conditions indicated by the condition information D1 in the storage unit 220 based on the vehicle information D2 acquired via the acquisition unit 232. The identification unit 234 identifies a vehicle 100 that meets the conditions by determining, for example, whether the vehicle 100 meets the conditions of the condition information D1 based on the identification information of the vehicle 100 indicated by the vehicle information D2 and the condition information D1 in the storage unit 220.

[0049] Based on the vehicle information D2 in the storage unit 220, the identification unit 234 identifies either a vehicle 100 that is not insured for third-party damage, property damage, personal injury, passenger injury, etc., with a predetermined compensation amount exceeding the insured amount, or a vehicle 100 that is insured with such insurance. The identification unit 234 also identifies either a vehicle 100 that is not equipped with a driver support system of a certain technical level or higher, or a vehicle 100 that is equipped with a driver support system of a certain technical level or higher. The identification unit 234 further identifies whether the vehicle 100's speed is equal to or higher than the legal speed limit for the road. The legal speed limit is, for example, a speed prescribed for the vehicle 100, and for example, 60 km / h for cars on general roads, 80 km / h for emergency vehicles, 100 km / h for cars on highways, and 80 km / h for large trucks or trailers. In other words, the identification unit 234 can identify whether the vehicle 100's speed is equal to or higher than the legal speed limit for the road based on the type of vehicle 100 and the type of road on which the vehicle 100 is traveling.

[0050] The position control unit 235 controls the relative positions of multiple vehicles 100. For example, the position control unit 235 sets a vehicle distance corresponding to the relative distance between the multiple vehicles 100 and controls the relative positions between the vehicles 100 to maintain the set vehicle distance. For example, for a vehicle 100 identified by the identification unit 234, the position control unit 235 controls the distance to a vehicle 100 traveling ahead. Relative positions include, for example, the relative positions between vehicles 100 in front and behind, and the relative positions between vehicles 100 traveling in different lanes. For example, the position control unit 235 obtains the relative distances between vehicles 100 based on position information obtained from the vehicles 100. The position control unit 235 obtains the relative distances between vehicles 100, for example, based on the distances and directions to surrounding vehicles obtained from the vehicles 100. Furthermore, for example, when the position control unit 235 controls the operation of the vehicles 100, the position control unit 235 can obtain the position of each vehicle 100 from the operation plan, thereby obtaining the relative position based on the obtained position.

[0051] When the position control unit 235 identifies that the vehicle 100 traveling in front of the identified vehicle 100 is insured with insurance exceeding a predetermined compensation amount, it sets a first vehicle distance for the identified vehicle 100. The first vehicle distance includes, for example, a distance of 22 meters. Furthermore, when the position control unit 235 identifies that the vehicle 100 traveling in front of the identified vehicle 100 is not insured with insurance exceeding a predetermined compensation amount, it sets a second vehicle distance for the identified vehicle 100. The second vehicle distance includes, for example, a distance of 27 meters.

[0052] When the identification unit 234 identifies that the vehicle 100 is equipped with a driving support system of a certain technical level or above, the position control unit 235 sets a first vehicle-to-vehicle distance for the identified vehicle 100. Furthermore, when the identification unit 234 identifies that the vehicle 100 is not equipped with a driving support system of a certain technical level or above, the position control unit 235 sets a second vehicle-to-vehicle distance for the identified vehicle 100.

[0053] When the identification unit 234 identifies that vehicle 100 is not traveling at the legal speed or a faster speed on the road, the position control unit 235 sets a first vehicle-to-vehicle distance for the identified vehicle 100. When the identification unit 234 identifies that vehicle 100 is traveling at the legal speed or a faster speed on the road, the position control unit 235 sets a third vehicle-to-vehicle distance for the identified vehicle 100. The third vehicle-to-vehicle distance may include, for example, a distance of 45 meters.

[0054] The position control unit 235 controls the relative distance between multiple vehicles 100 by controlling the inter-vehicle distance between them. For example, in controlling the inter-vehicle distance, it can control the vehicle 100 immediately in front of another vehicle 100, or it can control multiple vehicles 100 in front of it. When controlling multiple vehicles 100, for example, control can be achieved by assigning greater weight to vehicles 100 that are closer to them. The position control unit 235 sends commands regarding inter-vehicle distance, driving position, etc., to the controlled vehicle 100 via the transmit / receive unit 231.

[0055] For example, the position control unit 235 generates control information for controlling the movement of vehicle 100 according to a set relative position. The control information includes, for example, information for controlling vehicle 100 and at least one of surrounding vehicles. The control information includes, for example, information such as distance to surrounding vehicles, speed, and operating plan. In this embodiment, the position control unit 235 sends instructions including the control information to vehicle 100 via communication unit 210, thereby controlling the movement of vehicle 100 so that the relative position between vehicle 100 and surrounding vehicles becomes the set relative position.

[0056] Note that at least the generation or transmission of control information can be implemented by the control unit 230. For example, the control unit 230 can generate control information for controlling the movement of the vehicle 100 according to the relative position, and send instructions including the control information to the vehicle 100. For example, a control information generation unit can be added to the control unit 230 as a new function.

[0057] The above describes an example of the functional configuration of the control device 200 according to an embodiment. Note that reference... Figure 2The above-described configuration is merely an example, and the functional configuration of the control device 200 according to the embodiment is not limited to this example. The functional configuration of the control device 200 according to the embodiment can be flexibly modified according to specifications and applications.

[0058] [Example of vehicle configuration according to the embodiment]

[0059] Next, an example of the configuration of the vehicle 100 according to the embodiment will be described. Figure 3 This is a configuration diagram illustrating an example of the configuration of a vehicle 100 according to an embodiment.

[0060] like Figure 3 As illustrated in the diagram, vehicle 100 includes multiple electronic control units connected via a communication network 101. The communication network 101 may include, for example, an in-vehicle communication network or bus conforming to any standard, such as Controller Area Network (CAN), Local Interconnect Network (LIN), Local Area Network (LAN), or FlexRay (registered trademark). Note that the individual units of vehicle 100 may be directly connected without using the communication network 101.

[0061] exist Figure 3 In the example shown in the diagram, vehicle 100 includes a drive system control unit 110, a body system control unit 120, a mounting device 130, a communication unit 140, a storage unit 150, and a driver support device 160. In this embodiment, the case where the mounting device 130 and the driver support device 160 are connected via a communication network 501 will be described. However, for example, the mounting device 130 and the driver support device 160 may be directly connected via, for example, an interface. Here, a direct connection configuration may include a device-to-device (D2D) communication connection. In this embodiment, the case where vehicle 100 includes one mounting device 130 will be described. However, vehicle 100 may include multiple mounting devices 130.

[0062] The drive system control unit 110 controls the operation of equipment related to the drive system of the vehicle 100 according to various programs. For example, the drive system control unit 110 acts as a controller for drive force generating devices such as internal combustion engines or drive motors that generate drive force for the vehicle 100, drive force transmission mechanisms that transmit drive force to the wheels, steering mechanisms that adjust the steering angle of the vehicle 100, and braking devices that generate braking force for the vehicle 100.

[0063] The body system control unit 120 controls the operation of various devices mounted on the vehicle body according to various programs. For example, the body system control unit 120 acts as a controller for keyless entry systems, smart key systems, power windows, or various lights such as headlights, taillights, brake lights, turn signals, or fog lights. In this case, radio waves transmitted from a portable device that replaces the key, or signals from various switches, can be input to the body system control unit 120. The body system control unit 120 receives these radio wave or signal inputs and controls the door locking devices, power window devices, and lights. In addition, the body system control unit 120 can control static or dynamic information displayed on a display device installed inside the vehicle body.

[0064] The mounted device 130 detects information about the exterior of the vehicle 100. The mounted device 130 includes, for example, various sensors and imaging devices. The mounted device 130 detects the environment of its surrounding area as external information. The surrounding area of ​​the mounted device 130 refers, for example, to an area detectable by the mounted device 130. As the mounted device 130, for example, at least one of the following can be used: a camera, a distance sensor, an acoustic sensor, an accelerometer, a gyroscope sensor, a position sensor, a light detection and ranging or laser imaging detection and ranging (LiDAR), radar, a temperature sensor, a humidity sensor, or a barometric pressure sensor. Furthermore, the mounted device 130 can be mounted inside the tire to measure the tire's circumferential acceleration, internal pressure, and temperature. For example, the mounted device 130 detects road surface conditions (e.g., dry, semi-wet, wet, snow-covered, compacted snow, icy road surface, and frozen road surface). Additionally, the onboard device 130 can detect its location using methods such as Global Navigation Satellite System (GNSS) (represented by GPS), map matching, Wi-Fi positioning, magnetic positioning, Bluetooth Low Energy (BLE) positioning, and beacon positioning. The onboard device 130 provides the detected information to the driving support device 160. Furthermore, the driving support device 160 can transmit the detected information to the control device 200 via V2X communication.

[0065] Communication unit 140 communicates with various external electronic devices, control device 200, base station 1001, RSU 1002, etc. Communication unit 140 outputs data received from control device 200 or information contained within that data to driver support device 160, and transmits data from control device 200 or information contained within that data to driver support device 160. Note that there are no particular limitations on the communication protocols supported by communication unit 140; communication unit 140 can support multiple types of communication protocols. Furthermore, communication unit 140 can support multiple types of wireless interfaces.

[0066] For example, the communication unit 140 can wirelessly communicate with the driving support device 160 mounted on other vehicles 100 via wireless LAN, Bluetooth (registered trademark), near field communication (NFC), wireless USB (WUSB), etc.

[0067] For example, communication unit 140 communicates with control device 200 located on an external network (e.g., the Internet, cloud network, or company-specific network) via base station 1001 or access point. Furthermore, communication unit 140 performs V2X communication, such as vehicle-to-vehicle (V2V) communication, vehicle-to-infrastructure (V2I) communication, vehicle-to-network communication, vehicle-to-residential communication, and vehicle-to-pedestrian (V2P) communication. In other words, via V2X communication, communication unit 140 can communicate with communication units 140 mounted on other vehicles 100, RSU 1002, base station 1001 or access point, wireless communication terminals carried by pedestrians (e.g., smartphones and wearable devices), personal computers in homes, tablet terminals, etc. Additionally, communication unit 140 includes, for example, a beacon receiver for receiving radio waves or electromagnetic waves transmitted from wireless stations installed on roads to obtain information such as current location, congestion, traffic control, or estimated time.

[0068] Storage unit 150 stores various types of data and programs. Storage unit 150 may be, for example, a semiconductor storage element such as random access memory (RAM), flash memory, a hard disk, or an optical disk. Storage unit 150 stores information received via communication unit 140. Storage unit 150 may store, for example, various types of information such as vehicle information D2 associated with vehicle 100.

[0069] The driver support device 160 is, for example, a dedicated or general-purpose computer. The driver support device 160 is an example of a driver support system. The driver support device 160 is, for example, an integrated control unit that controls the vehicle 100. Based on information from the vehicle's interior and exterior detected by the mounted device 130, the driver support device 160 calculates target control values ​​for the drive force generating equipment, steering mechanism, or braking equipment, and outputs control commands to the drive system control unit 110. For example, the driver support device 160 can perform coordinated control aimed at achieving ADAS functions including collision avoidance or impact mitigation of the vehicle 100, following based on inter-vehicle distance, maintaining vehicle speed, vehicle collision warning, and lane departure warning.

[0070] The driving support device 160 controls the drive force generator, steering mechanism, braking device, etc., based on information about the surrounding area (outside world) of the vehicle 100 detected by the mounted device 130. As a result, the driving support device 160 can perform cooperative control for the purpose of assisting the driver's operation and autonomous driving without relying on the driver's operation.

[0071] The driver support device 160 can output control commands to the vehicle system control unit 120 based on information about the vehicle's exterior detected by the mounted device 130. For example, the driver support device 160 can control the headlights according to the position of the vehicle ahead or oncoming vehicle detected by the mounted device 130, and can perform coordinated control for the purpose of preventing glare, such as switching from high beams to low beams. In addition, when a possibility of collision with a vehicle traveling ahead is detected, the driver support device 160 can control the brake lights to illuminate or flash before the driver begins to brake. Furthermore, when a lane change or the initiation of a right or left turn is detected without the turn signals being activated, the driver support device 160 can control the flashing of the turn signals appropriate for the lane change or right or left turn.

[0072] The above describes an example of the configuration of vehicle 100 according to an embodiment. Note that reference... Figure 3 The above-described configuration is merely an example, and the functional configuration of the vehicle 100 according to the embodiment is not limited to this example. The configuration of the vehicle 100 according to the embodiment can be flexibly modified according to specifications and applications.

[0073] [Processing procedure of the control device according to the embodiment]

[0074] Next, refer to Figure 4 The processing procedure of the control device 200 according to the embodiment is explained. Figure 4 This is a flowchart illustrating an example of the processing procedure of the control device 200 according to an embodiment. Figure 5 This is a table illustrating an example of condition information D1 according to an embodiment.

[0075] Figure 4 The processing illustrated in the diagram is achieved by having the control unit 230 of the control device 200 execute a program. The control unit 230 executes the program repeatedly at a fixed or variable cycle. Figure 4 The processing procedure is illustrated in the diagram. Furthermore, for example, the control unit 230 can initiate operations in response to the occurrence of an event, trigger detection, etc. Figure 4 The processing procedure is illustrated in the diagram. For example, when the legal speed limit on the road has changed, the lane width has narrowed, the number of lanes has decreased, or a change in road conditions is detected, the control unit 230 executes... Figure 4 The processing procedure is illustrated in the diagram. Alternatively, the control unit 230 can execute the following when entering or leaving a pre-defined area: Figure 4 The process is illustrated in the diagram. The predefined area is, for example, a location or region with a history of frequent accidents.

[0076] like Figure 4 As shown in the diagram, the control unit 230 of the control device 200 acquires vehicle information D2 of the vehicle 100 traveling in front and the controlled vehicle 100 (step S101). The vehicle 100 traveling in front means the vehicle 100 traveling in front of the controlled vehicle 100. For example, the control unit 230 acquires vehicle information D2 including vehicle identification information of the vehicle 100, such as a unique number assigned to identify the vehicle body. Identification information includes, for example, the vehicle identification number, vehicle registration number mark, vehicle license plate, etc.

[0077] The control unit 230 checks the set conditions (step S102). The control unit 230 determines whether the acquired vehicle information D2 meets the set conditions (step S103). For example, the control unit 230 compares the vehicle information D2 with the conditions indicated by the condition information D1, and determines whether the conditions are met based on the comparison result.

[0078] For example, such as Figure 5 As shown in the diagram, multiple conditions are set in condition information D1. Condition C1 is, for example, "The vehicle 100 ahead is not insured with insurance covering a predetermined amount of compensation for third-party damage, property damage, personal injury, passenger injury, etc." Condition C2 is, for example, "The vehicle 100 ahead is not equipped with a driver support device 160 of a certain technical level or higher." Furthermore, condition C3 is, for example, "The legal speed limit on the road where the vehicle is traveling is 60 km / h or higher." One condition or multiple conditions can be set in condition information D1. In this case, when the vehicle 100 indicated by vehicle information D2 meets any one of conditions C1, C2, and C3, the control unit 230 determines that the condition is met.

[0079] return Figure 4 When the control unit 230 determines that the set condition is met ("Yes" in step S103), the process proceeds to step S104. The control unit 230 sets the first inter-vehicle distance as the inter-vehicle distance (step S104). When the processing of step S104 is completed, the control unit 230 advances the processing to step S105. The control unit 230 instructs the vehicle 100 to achieve the set inter-vehicle distance via the communication unit 210 (step S105). For example, when the first inter-vehicle distance is set as the inter-vehicle distance, the control unit 230 issues a command regarding the first inter-vehicle distance to the identified vehicle 100, causing the relative position of the vehicle 100 to change so that it travels at a distance from the first inter-vehicle distance. When the processing of step S105 is completed, the control unit 230 ends. Figure 4 The processing procedure is illustrated in the diagram.

[0080] When the control unit 230 determines that the set condition is not met (No in step S103), the process proceeds to step S106. The control unit 230 sets the second inter-vehicle distance as the inter-vehicle distance (step S106). The control unit 230 instructs the vehicle 100 to achieve the set inter-vehicle distance via the communication unit 210 (step S105). For example, when the second inter-vehicle distance is set as the inter-vehicle distance, the control unit 230 sends a command to the identified vehicle 100 to achieve the second inter-vehicle distance, causing the relative position of the vehicle 100 to change so that it travels at a distance between the second inter-vehicle distance. When the process of step S105 is completed, the control unit 230 ends. Figure 4 The processing procedure shown is as follows.

[0081] [Operational example of a traffic control system according to an embodiment]

[0082] Next, refer to Figures 6-8 The operation of the traffic control system 1 according to the embodiment is explained. Figure 6 This is a sequence diagram illustrating an example of the operation of the traffic control system 1 according to an embodiment. Figure 7 and Figure 8 These are sequence diagrams illustrating other examples of the operation of the traffic control system 1 according to an embodiment.

[0083] like Figure 6 As shown in the diagram, vehicle 100 sends vehicle information D2 to control device 200 via communication unit 140 (step S1001). For example, vehicle 100 sends vehicle information D2, including its own vehicle identification information, to control device 200. Additionally, vehicle 100 may send the vehicle registration number of the preceding vehicle, or information identifying the preceding vehicle obtained via V2X messages, to control device 200. Note that vehicle 100 may also send information related to the location of the preceding vehicle, as sent via V2X messages.

[0084] When the control device 200 receives vehicle information D2 from the vehicle 100, the control device 200 identifies the vehicle 100 based on the received vehicle information D2 (step S201). The control device 200 determines whether the identified vehicle 100 meets the conditions (step S202). The control device 200 sets the inter-vehicle distance based on the determination result (step S203). The control device 200 sends an instruction to the applicable vehicle 100 via the communication unit 210 to change to the set inter-vehicle distance (step S204). This instruction may include, for example, information such as control information including inter-vehicle distance, speed, and operating plan.

[0085] When vehicle 100 receives a command from control device 200, vehicle 100 is controlled to ensure the received inter-vehicle distance (step S1002). Vehicle 100 operates drive system control unit 110 to achieve the inter-vehicle distance commanded by control device 200. As a result, vehicle 100 can change its relative position by changing the inter-vehicle distance between itself and the vehicle 100 traveling in front of it.

[0086] Next, another example of the operation of traffic control system 1 will be described. For example... Figure 7 As shown in the diagram, vehicle 100 detects air resistance based on the detection results from the mounted device 130 (step S1011). For example, vehicle 100 detects air resistance based on driving resistance and other factors encountered during driving. Vehicle 100 sends vehicle information D2, including air resistance, to control device 200 via communication unit 140 (step S1012). For example, vehicle 100 sends vehicle information D2, including its own vehicle identification information, to control device 200.

[0087] When the control device 200 receives vehicle information D2 from the vehicle 100, the control device 200 identifies the vehicle 100 based on the received vehicle information D2 (step S211). The control device 200 determines whether the air resistance of the identified vehicle 100 meets the conditions (step S212). The air resistance-related conditions set in the condition information D1 can vary, for example, according to the type, model, etc. of the vehicle 100. As such conditions, for example, different air resistance conditions are set according to the differences between light vehicles, cars, light trucks, and heavy trucks. The control device 200 sets the inter-vehicle distance based on the determination result (step S213). The control device 200 sends a command to the applicable vehicle 100 via the communication unit 210 to change to the set inter-vehicle distance (step S214).

[0088] When vehicle 100 receives a command from control device 200, vehicle 100 is controlled to ensure the received inter-vehicle distance (step S1013). Vehicle 100 operates drive system control unit 110 to achieve the inter-vehicle distance commanded by control device 200. As a result, vehicle 100 can change its relative position by changing the inter-vehicle distance between itself and the vehicle 100 ahead, according to the inter-vehicle distance corresponding to air resistance.

[0089] This embodiment illustrates a case where the control device 200 sets a vehicle-to-vehicle distance (relative position) corresponding to a value indicating the environment of the vehicle 100 by including conditions related to the air resistance of the vehicle 100 as predetermined conditions. However, this embodiment is not limited to this. For example, the control device 200 may be configured to detect values ​​of wind speed, wind direction, humidity, air pressure, etc., through the vehicle 100, and set a vehicle-to-vehicle distance corresponding to the environment of the vehicle 100 based on the detected values.

[0090] Next, another example of the operation of traffic control system 1 will be described. For example... Figure 8 As shown in the diagram, vehicle 100 detects remaining fuel or remaining charge (step S1021). For example, vehicle 100 detects remaining fuel when the vehicle is equipped with an engine, and detects remaining charge when it is an electric vehicle. Vehicle 100 sends a request for refueling-related information to control device 200 via communication unit 140 (step S1022). The request for refueling-related information includes, for example, its own vehicle identification information and information related to refueling or charging stations.

[0091] When the control device 200 receives a request from the vehicle 100, the control device 200 identifies the vehicle 100 based on the received request (step S221). The control device 200 sends refueling-related response information to the applicable vehicle 100 via the communication unit 210 (step S222). For example, the control device 200 identifies information related to locations where refueling or charging can be performed based on the identified vehicle 100's travel route, and sends response information including this information to the vehicle 100.

[0092] For example, when vehicle 100 receives a response message from control device 200, vehicle 100 determines the necessity of low-fuel-consumption driving based on the distance to a location where refueling or charging can be performed, and the remaining fuel or charge level. When vehicle 100 determines that low-fuel-consumption driving is necessary, vehicle 100 sends a low-fuel-consumption driving request to control device 200 via communication unit 140 (step S1023). The low-fuel-consumption driving request may include, for example, its own vehicle identification information and information indicating the low-fuel-consumption driving request.

[0093] When the control device 200 receives the request from the vehicle 100, the control device 200 identifies the vehicle 100 based on the received request (step S223). The control device 200 determines whether the identified vehicle 100 meets the conditions (step S224). For example, the control device 200 may determine whether the vehicle 100 meets the conditions that enable low-fuel-consumption driving. Based on the determination result, the control device 200 sets the vehicle-to-vehicle distance corresponding to low-fuel-consumption driving (step S225). Note that if the vehicle 100 does not meet the conditions that enable low-fuel-consumption driving, the control device 200 sets the vehicle-to-vehicle distance corresponding to normal driving. The control device 200 sends a command to the applicable vehicle 100 via the communication unit 210 to change to the set vehicle-to-vehicle distance (step S226).

[0094] When vehicle 100 receives the instruction from control device 200, vehicle 100 is controlled to ensure the received inter-vehicle distance (step S1024). Vehicle 100 operates drive system control unit 110 to achieve the inter-vehicle distance indicated by control device 200. As a result, vehicle 100 can change its relative position by changing the inter-vehicle distance between itself and the vehicle 100 traveling in front to a distance corresponding to low fuel consumption driving.

[0095] When the control device 200 receives a request for resupply-related information from the vehicle 100 in step S1022, the control device 200 can perform the processing from steps S224 to S226 without sending the resupply-related response information to the vehicle 100 in step S222, and instead send a command to the applicable vehicle 100 via the communication unit 210 to change the inter-vehicle distance to the set inter-vehicle distance. In this case, the control device 200 can include the resupply-related response information in the command sent to change the inter-vehicle distance to the set inter-vehicle distance.

[0096] [Modification of the embodiment (1)]

[0097] Next, a variation of the embodiment (1) will be described. Figure 9 This is a diagram illustrating an example of the configuration of the control device 200 according to a modified example (1) of the embodiment. Figure 9As shown in the diagram, the control device 200 includes a communication unit 210, a storage unit 220, and a control unit 230. The control unit 230 includes a transmitting / receiving unit 231, an acquisition unit 232, a setting unit 233, an identification unit 234, a position control unit 235, a ratio calculation unit 236, and a route calculation unit 237. Each functional unit of the transmitting / receiving unit 231, acquisition unit 232, setting unit 233, identification unit 234, position control unit 235, ratio calculation unit 236, and route calculation unit 237 is implemented, for example, by the control unit 230 using RAM or the like as its working area, executing programs stored in the control unit 230. In other words, in this embodiment, a ratio calculation unit 236 and a route calculation unit 237 are added to the control unit 230.

[0098] The setting unit 233 further arbitrarily sets one or more regions. For example, the setting unit 233 sets a specific region for controlling the vehicle 100. The setting unit 233 stores the region information D3 indicating the set region in the storage unit 220. Note that the region can be preset.

[0099] The proportion calculation unit 236 calculates the proportion of vehicles 100 that meet the conditions in each area set by the setting unit 233. For example, the proportion calculation unit 236 calculates the proportion based on information such as the support level and performance of the driver support device 160 of each vehicle 100 identified by the identification unit 234, as well as information such as vehicle type, insurance purchase, and insurance liability coverage, the conditions set by the setting unit 233, and the area. For example, the proportion calculation unit 236 calculates the proportion of vehicles 100 that are not insured for third-party damage, property damage, personal injury, passenger injury, etc., relative to all vehicles 100 operating within the set area. For example, the proportion calculation unit 236 calculates the proportion of vehicles 100 that are not equipped with a driver support system 160 of a certain technical level or higher relative to all vehicles 100 operating within the set area. Since it is assumed that the proportion of vehicles corresponding to any condition changes over time, the calculated proportion can be an hourly value.

[0100] The route calculation unit 237 calculates the route to the destination of the vehicle 100 based on the proportion of eligible vehicles 100 in each area calculated by the proportion calculation unit 236. For example, compared to routes in areas where the proportion of vehicles 100 without insurance exceeding the predetermined compensation amount for third-party damage, property damage, personal injury, passenger injury, etc. is high, the proportion calculation unit 237 calculates routes in areas where the proportion of vehicles 100 with insurance exceeding the predetermined compensation amount for third-party damage, property damage, personal injury, passenger injury, etc. is high. In addition, for example, the route calculation unit 237 prioritizes routes in areas where the proportion of vehicles 100 equipped with driving support devices 160 of a certain level or higher is high, compared to routes in areas where the proportion of vehicles 100 without driving support devices 160 of a certain level or higher is high.

[0101] By setting a dedicated vehicle distance between the control device 200 and vehicles 100 that are not insured for a predetermined amount exceeding the insured amount, the control device 200 can improve traffic control safety when controlling the relative positions of the vehicles 100. Furthermore, by maintaining an appropriate vehicle distance between the control device 200 and vehicles 100 driven by different skill levels, the control device 200 can improve traffic control stability when controlling the relative positions of the vehicles 100.

[0102] [Modification of the embodiment (2)]

[0103] Next, a variation of the embodiment (2) will be described. Figure 10 This is a diagram illustrating an example of the configuration of the control device 200 according to a modified example (2) of the embodiment. Figure 10 As shown in the diagram, the control device 200 includes a communication unit 210, a storage unit 220, and a control unit 230. The control unit 230 includes a transmitting / receiving unit 231, an acquisition unit 232, a setting unit 233, an identification unit 234, a position control unit 235, a ratio calculation unit 236, a route acquisition unit 238, and an insurance premium calculation unit 239. Each functional unit of the transmitting / receiving unit 231, acquisition unit 232, setting unit 233, identification unit 234, position control unit 235, ratio calculation unit 236, route acquisition unit 238, and insurance premium calculation unit 239 is implemented, for example, by the control unit 230 using RAM or the like as its working area, executing programs stored within the control unit 230. In other words, in this embodiment, the ratio calculation unit 236, route acquisition unit 238, and insurance premium calculation unit 239 are added to the control unit 230.

[0104] The route acquisition unit 238 acquires information about the route the vehicle travels at a fixed or variable period from the vehicle 100 via the transmitting / receiving unit 141. The route acquisition unit 238 stores the acquired information in the storage unit 220.

[0105] The premium calculation unit 239 calculates the premium based on the proportion calculated by the proportion calculation unit 236 and the route obtained by the route acquisition unit 238. For example, if the route traveled by vehicle 100 is within a region where the proportion of vehicles 100 that are not insured for third-party damage, property damage, personal injury, passenger injury, etc., with a predetermined compensation amount or more, the premium calculation unit 239 calculates (totals) a high premium. Conversely, if the route traveled by vehicle 100 is within a region where the proportion of vehicles 100 that are insured for third-party damage, property damage, personal injury, passenger injury, etc., with a predetermined compensation amount or more, the premium calculation unit 239 calculates (totals) a low premium.

[0106] For example, if the route traveled by vehicle 100 is in an area where the proportion of vehicles 100 without a certain level of driving assistance device 160 is high, the insurance premium calculation unit 239 calculates (totals) a high insurance premium. Conversely, if the route traveled by vehicle 100 is in an area where the proportion of vehicles 100 with a certain level of driving assistance device 160 is high, the insurance premium calculation unit 239 calculates (totals) a low insurance premium. The insurance premium calculation unit 239 stores the calculated insurance premium in association with vehicle 100 in the storage unit 220 and provides the calculated insurance premium to server equipment or similar devices that manage vehicle 100.

[0107] The control device 200 can set insurance premiums based on the risk distribution in different areas according to the driving skills of the vehicle 100. Furthermore, by controlling the relative position of the vehicle 100, the control device 200 can relatively reduce risk and lower insurance premiums.

[0108] [Modification of the embodiment (3)]

[0109] Next, a variation of the embodiment (3) will be described. Figure 11 This is a sequence diagram illustrating another example of the operation of the traffic control system 1 according to a variation (3) of the embodiment.

[0110] like Figure 11As shown in the diagram, vehicle 100B sends ADAS information to control device 200 via communication unit 140 (step S1201). The ADAS information includes, for example, ADAS-related information and information for identifying vehicle 100. Vehicle 100B sends the ADAS information at a preset period or at a period indicated by control device 200.

[0111] Vehicle 100A sends ADAS information to control device 200 via communication unit 140 (step S1101). Vehicle 100A sends ADAS information to control device 200 at a preset period or at a period indicated by control device 200.

[0112] Then, vehicle 100B sends ADAS information to control device 200 via communication unit 140 (step S1202).

[0113] When the control device 200 receives ADAS information from vehicles 100A and 100B via the communication unit 210, the control device 200 stores the received ADAS information in the storage unit 220 in a time sequence. The control device 200 calculates the proportion of vehicles 100 that meet the conditions in each area (step S301). For example, the control device 200 calculates the proportion of vehicles 100 that are not equipped with a driver support device 160 of a certain level or higher. For example, the control device 200 determines that the proportion of vehicles 100 in the area where vehicle 100 is traveling that are not equipped with a driver support device 160 of a certain level or higher is equal to or greater than a threshold (e.g., 0.5) (step S302). The control device 200 issues a command to increase the transmission frequency of ADAS information via the communication unit 210 (step S303). Figure 11 In the example shown in the diagram, the control device 200 determines that the proportion of vehicles 100 in the area where vehicle 100A is traveling that are not equipped with a driver support device 160 of a certain technical level or higher is equal to or greater than a threshold. Therefore, the control device 200 instructs vehicle 100A to increase the frequency of sending ADAS information. Note that this threshold can be dynamically changed according to time periods or weather conditions.

[0114] When vehicle 100A receives an instruction from control device 200 to increase the transmission frequency of ADAS information via communication unit 140, vehicle 100A increases the transmission frequency of ADAS information (step S1102). For example, vehicle 100A changes the cycle or increases the number of transmissions to increase the transmission frequency of ADAS information. Vehicle 100A transmits ADAS information via communication unit 140 at the changed transmission frequency (steps S1103, S1104, and S1105).

[0115] When the control device 200 receives ADAS information from the vehicle 100A via the communication unit 210, the control device 200 stores the received ADAS information in the storage unit 220 in a time sequence. By acquiring ADAS information from the vehicles 100 at a high frequency in an area where many vehicles 100 with low driving skills are distributed, the control device 200 can perform appropriate traffic control, thereby reducing risks.

[0116] [Modification of the embodiment (4)]

[0117] Next, a variation of the embodiment (4) will be described. Figure 12 This is a sequence diagram illustrating another example of the operation of the traffic control system 1 according to a variation (4) of the embodiment.

[0118] like Figure 12 As shown in the diagram, vehicle 100B sends ADAS information to control device 200 via communication unit 140 (step S1211). Vehicle 100B sends ADAS information at a preset period or at a period indicated by control device 200.

[0119] Vehicle 100A sends ADAS information to control device 200 via communication unit 140 (step S1111). Vehicle 100A sends ADAS information to control device 200 at a preset period or at a period indicated by control device 200.

[0120] Then, vehicle 100B sends ADAS information to control device 200 via communication unit 140 (step S1212).

[0121] When the control device 200 receives ADAS information from vehicles 100A and 100B via the communication unit 210, the control device 200 stores the received ADAS information in the storage unit 220 in a time sequence. The control device 200 calculates the proportion of vehicles 100 that meet the criteria in each area (step S311). For example, the control device 200 calculates the proportion of vehicles 100 that are not equipped with a driver support device 160 of a certain level or higher. For example, the control device 200 determines that the proportion of vehicles 100 in the area where vehicle 100 is traveling that are not equipped with a driver support device 160 of a certain level or higher is equal to or lower than a threshold (e.g., 0.3) (step S312). The control device 200 issues a command via the communication unit 210 to reduce the frequency of ADAS information transmission (step S313). Figure 12In the example shown in the diagram, the control device 200 determines that the proportion of vehicles 100 in the area where vehicle 100A is traveling that are not equipped with driver assistance devices 160 of a certain technical level or higher is equal to or lower than a threshold. Therefore, the control device 200 instructs vehicle 100A to reduce the frequency of sending ADAS information. Note that this threshold can be dynamically changed according to time periods or weather conditions.

[0122] When vehicle 100A receives an instruction from control device 200 to reduce the transmission frequency of ADAS information via communication unit 140, vehicle 100A reduces the transmission frequency of ADAS information (step S1112). For example, vehicle 100A changes the cycle or reduces the number of transmissions to reduce the transmission frequency of ADAS information. Vehicle 100A then transmits ADAS information via communication unit 140 at the changed transmission frequency (steps S1113 and S1114).

[0123] When the control unit 200 receives ADAS information from the vehicle 100A via the communication unit 210, the control unit 200 stores the received ADAS information in the storage unit 220 in a time sequence. In areas where many vehicles 100 with high driving skills are distributed, the control unit 200 obtains ADAS information from the vehicles 100 at a low frequency, which can reduce the processing burden on the vehicle side and enable appropriate traffic control, thereby reducing risks.

[0124] [Modification of the embodiment (5)]

[0125] Next, a variation of the embodiment (5) will be described. Figure 13 This is a sequence diagram illustrating another example of the operation of the traffic control system 1 according to a variation (5) of the embodiment.

[0126] like Figure 13 As shown in the diagram, vehicle 100B sends ADAS information to control device 200 via communication unit 140 (step S1221). Vehicle 100B sends ADAS information at a preset period or at a period indicated by control device 200.

[0127] Vehicle 100A sends ADAS information to control device 200 via communication unit 140 (step S1121). Vehicle 100A sends ADAS information to control device 200 at a preset period or at a period indicated by control device 200.

[0128] Then, vehicle 100B sends ADAS information to control device 200 via communication unit 140 (step S1222).

[0129] When the control device 200 receives ADAS information from vehicles 100A and 100B via the communication unit 210, the control device 200 stores the received ADAS information in the storage unit 220 in a time sequence. The control device 200 calculates the proportion of vehicles 100 that meet the criteria in each region (step S321). For example, the control device 200 calculates the proportion of vehicles 100 that are not equipped with a driver support device 160 of a certain technical level or above.

[0130] The control device 200 determines that the proportion of vehicles 100 in the area where vehicle 100A is traveling that are not equipped with a driving support device 160 of a certain technical level or higher is equal to or greater than a threshold (e.g., 0.5) (step S322). The control device 200 instructs vehicle 100A to change the detection accuracy of the sensor via communication unit 210 (step S323). Figure 13 In the example shown in the diagram, the control device 200 determines that the proportion of vehicles 100 in the area where vehicle 100A is traveling that are not equipped with a driving support device 160 of a certain technical level or higher is equal to or greater than a threshold. Therefore, the control device 200 instructs vehicle 100A to change its settings to improve the detection accuracy of any sensor used in the driving support device 160.

[0131] When vehicle 100A receives a command from control device 200 via communication unit 140 to change the detection accuracy of a sensor, vehicle 100A changes the settings of the sensors in mounted device 130 (step S1122). For example, to change the settings to improve the detection accuracy of any sensor, a specific sensor can be specified to change its detection accuracy. For example, the settings for improving the detection accuracy of any sensor may be settings for increasing drive current, increasing transmission power, or increasing the gain of amplifier circuit. Here, the settings for increasing the gain of amplifier circuit may be, for example, settings for switching amplifier circuits with different gains. After changing the settings to improve the detection accuracy of any sensor used in driver support device 160, vehicle 100A sends ADAS information via communication unit 140 at a preset period or at a period indicated by control device 200 (steps S1123 and S1124).

[0132] Furthermore, the settings used to improve the detection accuracy of any sensor can be changed based on time of day or weather conditions. Additionally, the settings can be changed according to the brightness detected by any sensor, such as a camera, to improve the detection accuracy of that sensor. As a result, each sensor can operate with appropriate detection accuracy even in dark environments, depending on the time of day and weather conditions.

[0133] When the control unit 200 receives ADAS information from the vehicle 100A via the communication unit 210, the control unit 200 stores the received ADAS information in the storage unit 220 in a time sequence. By setting the sensitivity of the sensors of the vehicle 100 to a higher level in an area where many vehicles 100 with low driving skills are distributed, the control unit 200 can appropriately control traffic, thereby reducing risks.

[0134] [Modification of the embodiment (6)]

[0135] Next, a variation of the embodiment (6) will be described. Figure 14 This is a diagram illustrating an example of the function of the driving support device 160 according to a modified example (6) of the embodiment.

[0136] like Figure 14 As shown in the diagram, the driving support device 160 includes an input / output unit 161, an acquisition unit 162, a generation unit 163, a processing unit 164, a detection unit 165, a judgment unit 166, a setting unit 167, a decision unit 168, and an execution unit 169.

[0137] Input / output unit 161 acquires information related to driving support processing from control device 200 via communication unit 140 and sends such information to control device 200. Acquisition unit 162 acquires V2X messages sent from other vehicles 100 via input / output unit 161. When a V2X message containing information about the location of surrounding vehicles 100 is received among the received V2X messages, generation unit 163 generates a list indicating the location of the surrounding vehicles 100.

[0138] Processing unit 164 processes information acquired from any sensor connected to driving support device 160. For example, processing unit 164 uses GNSS to acquire its own vehicle's position information. Position information includes, for example, information such as latitude and longitude. Furthermore, processing unit 164 detects a vehicle 100 traveling ahead using a camera on device 130 and calculates its relative position based on the image information. By utilizing radar distance measurement information in addition to the image information detected by the camera, processing unit 164 can calculate the relative position of the vehicle 100 traveling ahead more accurately. Additionally, processing unit 164 can use position information detected by GNSS, image information detected by the camera on device 130, and three-dimensional map information called a dynamic map to acquire its own vehicle's position information and information related to its relative position with respect to surrounding objects.

[0139] The detection unit 165 detects the absolute position of the vehicle 100 ahead based on the position information of its own vehicle obtained by the processing unit 164 and the relative position of the vehicle 100 ahead. The determination unit 166 determines whether the absolute position of the vehicle 100 ahead detected by the detection unit 165 is included in a list containing information related to the positions of surrounding vehicles 100. For example, when the absolute position of the vehicle 100 ahead is included in the list containing information related to the positions of surrounding vehicles 100, the determination unit 166 determines that the vehicle 100 ahead is a vehicle 100 equipped with a driver support device 160. On the other hand, when the absolute position of the vehicle 100 ahead is not included in the list containing information related to the positions of surrounding vehicles 100, the determination unit 166 determines that the vehicle 100 ahead is a vehicle 100 without a driver support device 160.

[0140] The setting unit 167 sets the conditions indicated by the control device 200 via the input / output unit 161. For example, the setting unit 167 sets conditions to set a first vehicle distance when the vehicle 100 in front is not equipped with the driving support device 160, and to set a second vehicle distance when the vehicle 100 in front is equipped with the driving support device 160.

[0141] The decision unit 168 sets the vehicle distance relative to the vehicle 100 traveling ahead, based on the determination result of the decision unit 166 and the conditions set by the setting unit 167. For example, the setting unit 167 sets the condition that "when the vehicle 100 traveling ahead is not equipped with a driving support device 160, a first vehicle distance is set, and when the vehicle 100 traveling ahead is equipped with a driving support device 160, a second vehicle distance is set." In this case, when the determination result of the decision unit 166 is "the vehicle 100 traveling ahead is not equipped with a driving support device 160," the first vehicle distance is determined. When the determination result of the decision unit 166 is "the vehicle 100 traveling ahead is equipped with a driving support device 160," the second vehicle distance is determined. The execution unit 169 controls the power equipment, braking equipment, steering equipment, etc., of the drive system control unit 110 so that the vehicle distance relative to the vehicle 100 traveling ahead becomes the vehicle distance determined by the decision unit 168.

[0142] The above describes a functional example of the driving support device 160 according to a variation (6) of the embodiment. Note that reference... Figure 14 The functions described above are merely examples, and the functions of the driving support device 160 according to the modified example (6) of the embodiment are not limited thereto. The functions of the vehicle 100 according to the modified example (6) of the embodiment can be flexibly changed according to specifications and applications.

[0143] [Processing procedure of the driving support device according to the variation (7) of the embodiment]

[0144] Figure 15 This is a flowchart illustrating an example of the processing procedure of the driving support device 160 according to a modified example (7) of the embodiment. Figure 15 The processing illustrated in the diagram is implemented by the program executed by the driver support device 160. The driver support device 160 repeatedly executes... Figure 15 The processing procedure is illustrated in the diagram.

[0145] like Figure 15 As shown in the diagram, the driver support device 160 acquires V2X messages via the communication unit 140 (step S1031). For example, the driver support device 160 acquires V2X messages from other vehicles 100, RSU 1002, etc. The driver support device 160 adds the location information of other vehicles 100 included in the V2X to a list (step S1032). In other words, the location information of surrounding vehicles 100 equipped with V2X functionality will be added to the list. The list is created based on one or more V2X messages acquired within a set time period. When the set time period expires, the driver support device 160 can reset the contents of the list and can rebuild the list in the next time period. In the list, location information can be associated with information used to identify the vehicle corresponding to that location information. Here, as information used to identify the vehicle, for example, a vehicle identification number (VIN), vehicle registration number mark, vehicle license plate, etc., can be used.

[0146] The driving support device 160 detects the position information of the vehicle 100 traveling ahead based on sensors mounted on its own vehicle (step S1033). The driving support device 160 compares the position information of the vehicle 100 traveling ahead with a list (step S1034). Based on the comparison result of step S1034, the driving support device 160 determines whether the position information of the vehicle 100 traveling ahead is included in the list (step S1035).

[0147] When the driver support device 160 determines that the location information of the vehicle 100 traveling ahead is included in the list (Yes in step S1035), the driver support device 160 proceeds the process to step S1036. The driver support device 160 sets the vehicle 100 traveling ahead to have V2X functionality (step S1036). When the processing in step S1036 is completed, the driver support device 160 terminates. Figure 15 The processing procedure is illustrated in the diagram.

[0148] When the driving support device 160 determines that the location information of the vehicle 100 traveling ahead is not included in the list (No in step S1035), the driving support device 160 proceeds to step S1037. The driving support device 160 sets that the vehicle 100 traveling ahead is not equipped with V2X functionality (step S1037). When the processing in step S1037 is completed, the driving support device 160 terminates. Figure 15 The processing procedure is illustrated in the diagram.

[0149] When setting whether a vehicle 100 traveling ahead is equipped with V2X functionality, the driver support device 160 provides the setting result to the control device 200 in association with the vehicle 100's identification information. As a result, the traffic control system 1 does not require the control device 200 to perform processing related to whether the surrounding vehicles 100 are equipped with V2X functionality, thereby reducing the burden on the control device 200 even if the number of vehicles 100 to be controlled increases.

[0150] [Modification of the embodiment (8)]

[0151] Next, a variation of the embodiment (8) will be described. Figure 16 This is a diagram illustrating an example of the function of the driving support device 160 according to a modified example (8) of the embodiment.

[0152] like Figure 16 As shown in the diagram, the driving support device 160 includes an input / output unit 161, an acquisition unit 162, a generation unit 163, a processing unit 164, a detection unit 165, a determination unit 166, a setting unit 167, a decision unit 168, an execution unit 169, and a setting acquisition unit 170. In other words, the driving support device 160 also includes the function of the setting acquisition unit 170.

[0153] The setting acquisition unit 170 acquires the driver's desired setting via the input / output unit 161. For example, the driver's desired setting is "to increase the distance between the vehicle 100 traveling in front by 1 meter". In this case, the decision unit 168 determines the distance between the vehicle 100 traveling in front based on the determination result of the determination unit 166, the conditions set by the setting unit 167, and the desired setting acquired by the setting acquisition unit 170. For example, the driver's desired setting is "to increase the distance between the vehicle 100 traveling behind by 1 meter". In this case, the decision unit 168 determines the distance between the vehicle 100 traveling behind based on the determination result of the determination unit 166, the conditions set by the setting unit 167, and the desired setting acquired by the setting acquisition unit 170.

[0154] The execution unit 169 performs the process of instructing the vehicle 100 traveling in front or behind to change to a determined inter-vehicle distance. The execution unit 169 sends a request to the applicable vehicle 100 to change the inter-vehicle distance, for example, via the communication unit 140. As a result, the driving support device 160 can change the inter-vehicle distance between itself and the vehicle 100 traveling in front or behind. Note that the execution unit 169 can send the determined inter-vehicle distance to other vehicles 100 via, for example, the control device 200, RSU 1002, etc., instead of sending the determined inter-vehicle distance directly to other vehicles 100.

[0155] The driving support device 160 can change the relative position between the vehicle and surrounding vehicles 100 that meet the driver's desired settings. As a result, the driving support device 160 can assist the driving of the vehicle and surrounding vehicles 100 in maintaining the relative position desired by the driver.

[0156] [Modification of the embodiment (9)]

[0157] Next, a variation of the embodiment (9) will be described. Figure 17 This is a diagram illustrating an example of the configuration of the control device 200 according to a modified example (9) of the embodiment. Figure 17 As shown in the diagram, the control device 200 includes a communication unit 210, a storage unit 220, and a control unit 230. The control unit 230 includes a transmitting / receiving unit 231, an acquisition unit 232, a setting unit 233, an identification unit 234, a position control unit 235, and a second acquisition unit 240. Each functional unit of the transmitting / receiving unit 231, acquisition unit 232, setting unit 233, identification unit 234, position control unit 235, and second acquisition unit 240 is implemented, for example, by the control unit 230 using RAM or the like as a working area to execute a program stored in the control unit 230. In other words, in this embodiment, a second acquisition unit 240 is added to the control unit 230.

[0158] The second acquisition unit 240 acquires information related to the control of traffic lights via the transmitting / receiving unit 231. In other words, the control device 200 causes the second acquisition unit 240 to acquire information related to the timing of any traffic light turning green, yellow, or red.

[0159] The position control unit 235 controls the distance between the vehicle 100 identified by the identification unit 234 and the vehicle 100 traveling ahead. Furthermore, the position control unit 235 takes into account information related to the timing of traffic light changes acquired by the second acquisition unit 240, and controls the distance between itself and the vehicle 100 traveling ahead. For example, when the timing of the traffic light ahead of the vehicle 100 or the road on which the controlled vehicle is traveling is within a certain threshold, the position control unit 235 stops issuing commands to change the distance between the vehicles.

[0160] Furthermore, for the vehicle 100 identified by the identification unit 234, in addition to controlling the distance between itself and the vehicle 100 traveling ahead, the position control unit 235 can also send instructions to vehicles 100 traveling in adjacent lanes to allow or prohibit lane changes. For example, when the traffic light ahead of the vehicle 100 or the controlled vehicle 100 is about to turn red within a certain threshold, the position control unit 235 sends instructions to prohibit lane changes to vehicles 100 traveling within a certain range in adjacent lanes via the transmit / receive unit 231. Here, the position control unit 235 can send a V2X message containing the instruction to prohibit lane changes to the identified vehicle 100. In other words, by instructing the controlled vehicle 100 to send a V2X message containing the instruction to prohibit lane changes to its surroundings, the position control unit 235 can suppress vehicles traveling around its own vehicle from changing lanes.

[0161] Furthermore, the second acquisition unit 240 can acquire a wide range of road conditions. For example, the second acquisition unit 240 acquires information related to vehicles 100 stopped on the road due to malfunctions or accidents, or obstacles such as fallen objects on the road. For example, the position control unit 235 can take into account the information acquired by the second acquisition unit 240 regarding obstacles on the road ahead, and control the distance between itself and the vehicle 100 traveling ahead. For example, if the position of an obstacle on the road traveled by the vehicle 100 ahead or the controlled vehicle 100 is within a certain threshold distance, the position control unit 235 can stop issuing commands to change the distance between vehicles. Additionally, if the position of an obstacle on the road traveled by the vehicle 100 ahead or the controlled vehicle 100 is within a certain threshold distance, the position control unit 235 can send a command prohibiting lane changes to vehicles 100 traveling within a certain range in adjacent lanes via the transmit / receive unit 231.

[0162] Additionally, the second acquisition unit 240 can acquire weather-related information. For example, the second acquisition unit 240 acquires information related to areas of rainfall or snowfall. The position control unit 235 can increase the distance between vehicles 100 traveling in areas of rainfall or snowfall, for example, by setting a fourth distance between vehicles.

[0163] Furthermore, the second acquisition unit 240 can acquire information related to road conditions (e.g., dry, semi-wet, wet, snow-covered, compacted snow, icy, frozen road surface, etc.). For example, the second acquisition unit 240 acquires information related to road icing. The position control unit 235 can control the vehicle 100 traveling in an area including icy road surfaces to, for example, set a fourth vehicle-to-vehicle distance to increase the distance between vehicles.

[0164] [Modification of the embodiment (10)]

[0165] Next, a variation of the embodiment (10) will be described. Figure 18 This is a diagram illustrating an example of the configuration of the control device 200 according to a modified example (10) of the embodiment. Figure 18 As shown in the diagram, the control device 200 includes a communication unit 210, a storage unit 220, and a control unit 230. The control unit 230 includes a transmitting / receiving unit 231, an acquisition unit 232, a setting unit 233, an identification unit 234, a position control unit 235, and an evaluation unit 241. Each functional unit of the transmitting / receiving unit 231, acquisition unit 232, setting unit 233, identification unit 234, position control unit 235, and evaluation unit 241 is implemented, for example, by the control unit 230 using RAM or the like as its working area to execute a program stored in the control unit 230. In other words, in this embodiment, an evaluation unit 241 is added to the control unit 230.

[0166] Evaluation unit 241 evaluates the driving characteristics of each vehicle 100 according to the level corresponding to the driving support device 160. Driving characteristics include, for example, the characteristics and levels of driving support technology, human driver driving technology, autonomous driving technology, etc. Evaluation unit 241 can evaluate the levels of both human driving and autonomous driving. In this embodiment, an example of evaluating the driving characteristics of the evaluation unit when the control device 200 assists in driving the vehicle 100 will be described.

[0167] For example, the levels corresponding to the driving support device 160 include Level 0, Level 1, Level 2, Level 3, Level 4, and Level 5. Level 0, for example, means the driver operates everything. Level 1, for example, means the driving support device 160 supports steering or acceleration / deceleration. Level 2, for example, means the driving support device 160 supports both steering and acceleration / deceleration. Level 3, for example, means the driving support device 160 operates everything in a specific location, and the driver operates it in an emergency. Level 4, for example, means the driving support device 160 operates everything in a specific location. Level 5, for example, means the driving support device 160 operates everything, without location restrictions.

[0168] Evaluation unit 241 can evaluate the driving characteristics of each vehicle 100 by utilizing information from various sensors acquired by acquisition unit 232. For example, evaluation unit 241 counts the number of sudden braking events using information from an acceleration sensor, and lowers the evaluation of the driving characteristics as the number of sudden braking events increases. For example, evaluation unit 241 uses information from a camera to identify the vehicle 100 that caused the sudden braking and lowers the evaluation of the driving characteristics of that vehicle 100. Identification unit 234 acquires the evaluation of the driving characteristics of the vehicle 100 traveling ahead via evaluation unit 241. Position control unit 235 sets the distance between vehicles based on the evaluation of the driving characteristics of the vehicle 100 traveling ahead identified by identification unit 234.

[0169] When the control device 200 controls the relative position of the vehicles 100, it can mitigate the risk of traffic accidents by setting the distance between vehicles based on the evaluation results of the evaluation unit 241. Furthermore, by providing the evaluation results to the driving support device 160, the driver, and others, the control device 200 can contribute to the improvement of driving characteristics. In addition, the control device 200 can provide the evaluation results to the insurance premium calculation unit 239 to calculate the insurance premium corresponding to the driving skills of each vehicle 100.

[0170] Note that the variations (1) to (10) of the embodiments are applicable to traffic control system 1, control device 200 and driving support device 160 of other embodiments and variations.

[0171] [Hardware Components]

[0172] The control device 200 and driving support device 160 of this embodiment described above may, for example, be composed of a device such as Figure 19 The computer 1000 with the configuration shown in the diagram is used to implement this. The control device 200 according to an embodiment will be described below as an example. Figure 19This is a hardware configuration diagram illustrating an example of a computer 1000 that implements the functions of the control device 200. The computer 1000 includes a CPU 1100, RAM 1200, read-only memory (ROM) 1300, hard disk drive (HDD) 1400, communication interface 1500, and input / output interface 1600. The various units of the computer 1000 are connected via a bus 1050.

[0173] The CPU 1100 operates based on programs stored in ROM 1300 or HDD 1400 and controls various units. For example, the CPU 1100 expands programs stored in ROM 1300 or HDD 1400 into RAM 1200 and executes processing corresponding to various programs.

[0174] ROM 1300 stores boot programs such as the Basic Input / Output System (BIOS) executed by CPU 1100 when computer 1000 starts, programs that depend on the hardware of computer 1000, and so on.

[0175] HDD 1400 is a computer-readable recording medium that non-transitorily records a program executed by CPU 1100, and the data used by that program. Specifically, HDD 1400 is a recording medium that records an information processing program according to this disclosure, such as program data 1450.

[0176] Communication interface 1500 is an interface for computer 1000 to connect to external network 1550 (e.g., the Internet). For example, CPU 1100 receives data from other devices or sends data generated by CPU 1100 to other devices via communication interface 1500.

[0177] Input / output interface 1600 is an interface used to connect input / output device 1650 and computer 1000. For example, CPU 1100 receives data from input devices such as keyboards or mice via input / output interface 1600. Additionally, CPU 1100 sends data to output devices such as displays, speakers, or printers via input / output interface 1600. Furthermore, input / output interface 1600 can function as a media interface for reading programs recorded on a predetermined recording medium. Such media include, for example, optical recording media such as digital versatile optical discs (DVDs), magneto-optical recording media such as magneto-optical discs (MOs), magnetic tape media, magnetic recording media, semiconductor memory, etc.

[0178] For example, when the computer 1000 operates the control device 200 according to the embodiment, the CPU 1100 of the computer 1000 executes the program loaded onto the RAM 1200 to implement the functions of the control unit 230, such as the sending / receiving unit 231, the acquisition unit 232, the setting unit 233, the identification unit 234, the position control unit 235, the ratio calculation unit 236, the route calculation unit 237, the route acquisition unit 238, the insurance premium calculation unit 239, the second acquisition unit 240, and the evaluation unit 241. Additionally, the HDD 1400 stores the program and data according to this disclosure in the storage unit 220. Note that the CPU 1100 reads the program data 1450 from the HDD 1400 and executes the program data; however, as another example, these programs can be obtained from other devices via an external network 1550.

[0179] Although preferred embodiments of the present disclosure have been described in detail with reference to the accompanying drawings, the scope of the present disclosure is not limited to such examples. It is obvious that those skilled in the art will conceive of various changes or modifications within the scope of the technical concept set forth in the claims, and it should be understood that such changes or modifications also fall within the scope of the present disclosure.

[0180] Furthermore, the effects described in this specification are merely illustrative or exemplary, and not restrictive. In other words, other effects that will be apparent to those skilled in the art, in conjunction with or in lieu of the foregoing effects, can be achieved according to the technology disclosed herein, based on the description of this specification.

[0181] In addition, programs can be created to enable hardware such as CPU, ROM and RAM built into the computer to perform functions equivalent to the configuration of the control device 200, and a computer-readable recording medium in which said programs are recorded can be provided.

[0182] Furthermore, the various steps related to the processing of the traffic control system 1 described in this specification are not necessarily processed sequentially according to the order recorded in the sequence. For example, the various steps related to the processing of the traffic control system 1 may be processed in a different order than that recorded in the sequence, or they may be processed in parallel.

[0183] Furthermore, this specification relates to the case where the control device 200 in the traffic control system 1 is a cloud server. However, the traffic control system 1 is not limited to this. For example, in the traffic control system 1, the function of the control device 200 can be implemented by the driver support device 160 of the vehicle 100, an electronic control unit, or by the RSU 1002. Additionally, the traffic control system 1 can use a technology called Mobile Edge Computing (MEC) to implement the control device 200 in a dynamically approaching edge server. Furthermore, the various units of the control device 200 can be distributed and installed on different servers.

[0184] Furthermore, this specification relates to the case where the driving support device 160 is implemented by an electronic control unit of the vehicle 100. However, this disclosure is not limited thereto. The driving support device 160 may be implemented by other electronic control units, such as mounted devices, communication devices, driving system control unit 510, and body system control unit 120, all mounted on the vehicle 100.

[0185] (Effect)

[0186] The traffic control system 1 includes an identification unit 234 that identifies vehicles 100 that meet predetermined conditions, a position control unit 235 that sets the relative position between the identified vehicle 100 and surrounding vehicles based on the relative distance between the identified vehicle 100 and surrounding vehicles, and a control unit 230 that generates control information for controlling the movement of the vehicle according to the relative position.

[0187] As a result, when a vehicle 100 that meets the predetermined conditions is identified, the traffic control system 1 can set an appropriate relative position based on its relative distance to surrounding vehicles. By generating control information corresponding to the set relative distance, the traffic control system 1 can control the movement of the vehicle 100 based on the control information. As a result, even when vehicles 100 with different driving skills are mixed together, the traffic control system 1 can support driving while maintaining the relative positions of multiple vehicles 100. Therefore, safety can be improved.

[0188] In the traffic control system 1, the control unit 230 generates control information for controlling at least one of the vehicle 100 and surrounding vehicles based on the relative positions between the vehicle 100 and surrounding vehicles.

[0189] As a result, the traffic control system 1 can maintain the relative position of vehicle 100 and surrounding vehicles by controlling at least vehicle 100 or surrounding vehicles. Consequently, by controlling at least vehicle 100 or surrounding vehicles to maintain their relative positions, the traffic control system 1 can improve safety even when multiple vehicles 100 with varying driving skills are mixed together.

[0190] In the traffic control system 1, the position control unit 235 determines the characteristics of surrounding vehicles based on predetermined conditions, and sets the relative position between the vehicle and surrounding vehicles based on the determined characteristics.

[0191] As a result, the traffic control system 1 can set the relative position between the vehicle and the surrounding vehicles according to the characteristics of the surrounding vehicles around the identified vehicle. As a result, by taking into account the characteristics of the surrounding vehicles, the traffic control system 1 can improve safety even when multiple vehicles 100 with different driving skills are mixed together.

[0192] In the traffic control system 1, the position control unit 235 sets a first vehicle distance when the surrounding vehicles meet the predetermined conditions, and sets a second vehicle distance when the surrounding vehicles do not meet the predetermined conditions.

[0193] As a result, the traffic control system 1 can determine the characteristics of surrounding vehicles based on predetermined conditions, and set a first vehicle distance when the predetermined conditions are met, and a second vehicle distance when the predetermined conditions are not met. Therefore, the traffic control system 1 can set vehicle distances suitable for the characteristics of surrounding vehicles simply by determining whether the predetermined conditions are met. Thus, the relative positions of multiple vehicles 100 can be easily set.

[0194] In traffic control system 1, the distance between the first vehicles is less than the distance between the second vehicles.

[0195] As a result, the traffic control system can set a shorter distance between vehicles when the predetermined conditions are met, compared to when the predetermined conditions are not met. Consequently, by setting conditions related to the safety of the vehicles 100 as predetermined conditions, the traffic control system 1 can change the distance between vehicles according to the safety of multiple vehicles 100.

[0196] In traffic control system 1, the first vehicle-to-vehicle distance and the second vehicle-to-vehicle distance are vehicle-to-vehicle distances that increase with the legal speed limit on the road. Furthermore, the first and second vehicle-to-vehicle distances can be dynamically changed according to time of day and weather conditions. For example, at night, the first and second vehicle-to-vehicle distances are set larger than during the day, and in rainy conditions, the first and second vehicle-to-vehicle distances are set larger than in sunny conditions.

[0197] As a result, the traffic control system 1 can increase the distance between vehicle 100 and surrounding vehicles as the legal speed increases. Consequently, even when vehicle 100 is traveling in ranges with different legal speeds, the traffic control system 1 can dynamically control vehicle 100 to maintain an appropriate relative position with respect to surrounding vehicles. Therefore, safety can be improved.

[0198] In traffic control system 1, the predetermined condition is a condition used to identify vehicles that have not sent a message containing at least the vehicle's location information.

[0199] As a result, traffic control system 1 can identify vehicles 100 that have not sent messages containing location information. Consequently, traffic control system 1 can set distances between itself and surrounding vehicles that do not have specific functions. Therefore, safety can be improved.

[0200] In traffic control system 1, the predetermined conditions are used to identify vehicles that are not insured.

[0201] As a result, the traffic control system 1 can, for example, identify vehicles 100 that are not insured for a predetermined amount of compensation. Consequently, since the traffic control system 1 can set a designated distance between itself and uninsured surrounding vehicles, it can increase the likelihood of preventing accidents involving uninsured vehicles.

[0202] The traffic control system 1 also includes an evaluation unit 241 for evaluating driving characteristics. Preset conditions are conditions used to determine whether pre-defined driving characteristics are met. Based on the evaluation results of the evaluation unit 241, the identification unit 234 identifies vehicles 100 that do not meet the driving characteristics.

[0203] As a result, the traffic control system 1 can identify vehicles 100 that do not meet the driving conditions based on the evaluation results of the evaluation unit 241. Consequently, since the traffic control system 1 can set a distance between vehicles suitable for driving characteristics, safety can be improved even when vehicles 100 with different driving characteristics are mixed together.

[0204] In the traffic control system 1, the location control unit 235 sets the driving route of the vehicle 100, which does not include an area in which the proportion of vehicles 100 that meet predetermined conditions is equal to or greater than a predetermined threshold.

[0205] As a result, the traffic control system 1 can set the driving route of the vehicle 100 so as to exclude areas where many vehicles 100 with poor driving characteristics are distributed. As a result, by suppressing driving in areas where many vehicles 100 with poor driving characteristics are distributed, the traffic control system 1 can support more appropriate driving of the vehicle 100.

[0206] In the traffic control system 1, for a vehicle 100 traveling in an area where the ratio is equal to or greater than a preset threshold, the position control unit 235 instructs the vehicle 100 to increase the frequency of transmitting information related to the sensors mounted on the vehicle 100.

[0207] As a result, the traffic control system 1 can collect more sensor-related information from vehicles 100 traveling in areas where the proportion is equal to or greater than a preset threshold. Consequently, by acquiring information about numerous sensors from an area in which many low-skilled vehicles 100 are distributed, the traffic control system 1 can improve the setting of the appropriate relative positions of the vehicles 100 to reduce risk.

[0208] The traffic control system 1 also includes an insurance premium calculation unit 239, which calculates the insurance premium for vehicle 100 based on whether vehicle 100 travels within the area.

[0209] As a result, the traffic control system 1 can calculate insurance premiums based on driving results in various areas where different driving characteristics of vehicle 100 are distributed. Consequently, the traffic control system 1 can calculate insurance premiums corresponding to the risks of vehicle 100 in each area.

[0210] In the traffic control system 1, the insurance premium calculation unit 239 calculates the insurance premium for vehicles 100 traveling in the area as higher than the insurance premium for vehicles 100 not traveling in the area.

[0211] As a result, the traffic control system 1 can calculate the insurance premium for vehicles 100 traveling within the area to be higher than the insurance premium for vehicles 100 not traveling within the area. Consequently, the traffic control system 1 can support the setting of insurance premiums for vehicles 100 by calculating insurance premiums suitable for the driving outcomes of vehicles 100.

[0212] In the traffic control system 1, the predetermined conditions are used to determine the conditions for low fuel consumption driving of vehicle 100, and the position control unit 235 sets the relative position between the identified vehicle 100 and surrounding vehicles to the relative position corresponding to low fuel consumption driving.

[0213] As a result, when a vehicle 100 corresponding to low fuel consumption driving is identified, the traffic control system 1 can change the relative position between vehicle 100 and surrounding vehicles to improve the fuel consumption of vehicle 100. Consequently, the traffic control system 1 can support driving while maintaining the relative positions of multiple vehicles 100 and supports the improvement of fuel consumption of vehicle 100.

[0214] In the traffic control system 1, the predetermined condition is a condition used to determine the environment of the vehicle 100, which is equal to or greater than a predetermined threshold. The position control unit 235 changes the relative position between the identified vehicle 100 and the vehicle 100 traveling in front of it according to the environment of the vehicle 100.

[0215] As a result, when the traffic control system 1 identifies a vehicle 100 whose environmental values ​​for indicating vehicle 100 are equal to or greater than a preset threshold, it can change the relative position between the applicable vehicle 100 and the vehicle 100 traveling ahead, according to the applicable vehicle 100's environment. For example, the traffic control system 1 can change the relative position based on the vehicle 100's air resistance. As a result, the traffic control system 1 can support driving while maintaining the relative positions of multiple vehicles 100 and can support improvements in the fuel consumption of the vehicles 100.

[0216] A traffic control method includes, in a computer, identifying a vehicle 100 that meets predetermined conditions, setting a relative position between the identified vehicle 100 and surrounding vehicles based on the relative distance between the identified vehicle 100 and surrounding vehicles, and generating control information for controlling the movement of the vehicle 100 according to the relative position.

[0217] As a result, when the computer identifies a vehicle 100 that meets the predetermined conditions, the traffic control method can set an appropriate relative position based on the relative distance to surrounding vehicles. By generating control information corresponding to the set relative distance, the traffic control system 1 can control the movement of the vehicle 100 based on the control information. Consequently, even when vehicles 100 with different driving skills are mixed together, the traffic control method can support maintaining the relative positions of multiple vehicles 100 while driving. Therefore, safety can be improved.

[0218] The control device 200 includes an identification unit 234 that identifies vehicles 100 that meet predetermined conditions, and a position control unit 235 that sets the relative position between the identified vehicle 100 and surrounding vehicles based on the relative distance between the identified vehicle 100 and surrounding vehicles. The position control unit 235 controls the movement of the vehicle 100 to reach the set relative position.

[0219] As a result, when a vehicle 100 that meets the predetermined conditions is identified, the control device 200 can set an appropriate relative position based on the relative distance to surrounding vehicles. The control device 200 can control the movement of the vehicle 100 to achieve the set relative position. Consequently, even when vehicles 100 with different driving skills are mixed together, the control device 200 can control the driving to maintain the relative positions of the multiple vehicles 100. Therefore, safety can be improved.

[0220] In the control device 200, the position control unit 235 controls at least one of the vehicle 100 and the surrounding vehicles based on the relative positions between the vehicle 100 and the surrounding vehicles.

[0221] As a result, the control device 200 can maintain the relative position of vehicle 100 and at least one of the surrounding vehicles by controlling vehicle 100. Consequently, the control device 200 controls vehicle 100 and at least one of the surrounding vehicles to maintain their relative position, thereby improving safety even when multiple vehicles with varying driving skills are mixed together.

[0222] In the control device 200, the position control unit 235 determines the characteristics of surrounding vehicles based on predetermined conditions, and sets the relative position between vehicle 100 and surrounding vehicles based on the determined characteristics.

[0223] As a result, the control device 200 can set the relative position between vehicle 100 and surrounding vehicles according to the characteristics of the identified surrounding vehicles. As a result, by taking into account the characteristics of surrounding vehicles, the control device 200 can improve safety even when multiple vehicles 100 with different driving skills are mixed together.

[0224] Note that the following components also fall within the technical scope of this disclosure.

[0225] (1) A traffic control system, comprising:

[0226] An identification unit that identifies vehicles that meet predetermined set conditions;

[0227] A location control unit, which sets the relative position between the vehicle and surrounding vehicles based on the identified relative distance between the vehicle and surrounding vehicles; and

[0228] A control unit that generates control information for controlling the movement of the vehicle according to the relative position.

[0229] (2) The traffic control system according to (1), wherein

[0230] The control unit generates control information for controlling at least one of the vehicle and the surrounding vehicles based on the relative positions between the vehicle and the surrounding vehicles.

[0231] (3) The traffic control system according to (1) or (2), wherein

[0232] The location control unit determines the characteristics of the surrounding vehicles based on the predetermined conditions, and sets the relative position between the vehicle and the surrounding vehicles based on the determined characteristics.

[0233] (4) A traffic control system according to any one of (1)-(3), wherein

[0234] The location control unit sets a first vehicle distance when the surrounding vehicles meet the predetermined conditions, and sets a second vehicle distance when the surrounding vehicles do not meet the predetermined conditions.

[0235] (5) The traffic control system according to (4), wherein

[0236] The distance between the first vehicles is less than the distance between the second vehicles.

[0237] (6) The traffic control system according to (4) or (5), wherein

[0238] The first and second vehicle distances are vehicle distances that increase with the increase of the legal speed limit on the road.

[0239] (7) A traffic control system according to any one of (1)-(6), wherein

[0240] The predetermined condition is used to identify vehicles that have not sent a message containing at least the vehicle's location information.

[0241] (8) A traffic control system according to any one of (1)-(7), wherein

[0242] The predetermined conditions are used to identify vehicles that are not insured.

[0243] (9) The traffic control system according to any one of (1)-(8) further includes an evaluation unit for evaluating driving characteristics, wherein

[0244] The predetermined conditions are used to determine whether pre-set driving characteristics are met, and

[0245] The identification unit identifies vehicles that do not meet the driving characteristics based on the evaluation results of the evaluation unit.

[0246] (10) A traffic control system according to any one of (1)-(9), wherein

[0247] The location control unit sets the driving route of the vehicle, and the driving route does not include areas where the proportion of vehicles meeting the predetermined conditions is equal to or greater than a predetermined threshold.

[0248] (11) The traffic control system according to (10), wherein

[0249] The position control unit instructs vehicles traveling within the area where the proportion is equal to or greater than a preset threshold to increase the frequency of transmitting information related to sensors mounted on the vehicle.

[0250] (12) The traffic control system according to (10) or (11) further includes an insurance premium calculation unit, which calculates the insurance premium of the vehicle based on the driving result of whether the vehicle is driving in the area.

[0251] (13) The traffic control system according to (12), wherein

[0252] The insurance premium calculation unit calculates the insurance premium for the vehicle traveling within the area as higher than the insurance premium for the vehicle not traveling within the area.

[0253] (14) A traffic control system according to any one of (1)-(13), wherein

[0254] The predetermined conditions are used to determine the low fuel consumption driving conditions of the vehicle, and

[0255] The location control unit sets the relative position between the identified vehicle and the surrounding vehicles to the relative position corresponding to the low fuel consumption driving.

[0256] (15) A traffic control system according to any one of (1)-(14), wherein

[0257] The predetermined condition is a condition used to determine a vehicle that has a value indicating the vehicle's environment that is equal to or greater than a predetermined threshold.

[0258] The position control unit changes the relative position between the identified vehicle and the vehicle ahead, according to the vehicle's environment.

[0259] (16) A traffic control method, said traffic control method being implemented by a computer:

[0260] Identify vehicles that meet the predefined conditions;

[0261] Based on the identified relative distance between the vehicle and surrounding vehicles, the relative position between the vehicle and surrounding vehicles is determined; and

[0262] Based on the relative position, control information for controlling the movement of the vehicle is generated.

[0263] (17) A control device includes:

[0264] An identification unit, which identifies vehicles that meet predetermined set conditions; and

[0265] A location control unit, which sets the relative position between the vehicle and surrounding vehicles based on the identified relative distance between the vehicle and surrounding vehicles, wherein...

[0266] The position control unit controls the movement of the vehicle to achieve a set relative position.

[0267] (18) The control device according to (17), wherein

[0268] The location control unit controls at least one of the vehicle and the surrounding vehicles based on the relative positions between the vehicle and the surrounding vehicles.

[0269] (19) The control device according to (17) or (18), wherein

[0270] The location control unit determines the characteristics of the surrounding vehicles based on the predetermined conditions, and sets the relative position between the vehicle and the surrounding vehicles based on the determined characteristics.

[0271] List of reference numerals

[0272] 1. Traffic Control System

[0273] 100 vehicles

[0274] 130 equipped with equipment

[0275] 140 communication units

[0276] 150 storage units

[0277] 160 Driving Support Device

[0278] 161 Input / Output Units

[0279] 162 Acquisition Unit

[0280] 163 Generating Units

[0281] 164 processing units

[0282] 165 detection units

[0283] 166 Decision Units

[0284] 167 Setting Unit

[0285] 168 Decision Unit

[0286] 169 Execution Unit

[0287] 170 Setting Acquisition Unit

[0288] 200 control device

[0289] 210 Communication Unit

[0290] 220 storage units

[0291] 230 Control Unit

[0292] 231 Transmit / Receive Unit

[0293] 232 Acquisition Unit

[0294] 233 Setting Unit

[0295] 234 Identification Units

[0296] 235 Position Control Unit

[0297] 236 Proportional Calculation Units

[0298] 237 Route Calculation Unit

[0299] 238 Route Acquisition Unit

[0300] 239 Insurance Premium Calculation Unit

[0301] 240 Second Acquisition Unit

[0302] 241 Evaluation Unit

Claims

1. A traffic control system, comprising: An identification unit configured to identify vehicles that meet predetermined conditions; A location control unit configured to set the relative position between the identified vehicle and the surrounding vehicles based on the relative distance between the identified vehicle and the surrounding vehicles around the identified vehicle; and A control unit configured to generate control information for controlling the movement of at least one vehicle based on the relative position. The control unit further generates control information for controlling the movement of the at least one vehicle based on a determination of the proportion of vehicles meeting the predetermined conditions around the at least one vehicle relative to all vehicles traveling around the at least one vehicle. The identification unit, the position control unit, and the control unit are each implemented via at least one processor.

2. The traffic control system according to claim 1, wherein The control unit generates control information for controlling the movement of at least one of the identified vehicles or the surrounding vehicles based on the relative position between the identified vehicle and the surrounding vehicles.

3. The traffic control system according to claim 2, wherein... The location control unit determines the characteristics of the surrounding vehicles based on the predetermined conditions, and sets the relative position between the identified vehicle and the surrounding vehicles based on the determined characteristics.

4. The traffic control system according to claim 3, wherein The location control unit sets a first vehicle distance when the surrounding vehicles meet the predetermined conditions, and sets a second vehicle distance when the surrounding vehicles do not meet the predetermined conditions.

5. The traffic control system according to claim 4, wherein The distance between the first vehicles is less than the distance between the second vehicles.

6. The traffic control system according to claim 5, wherein The first and second vehicle distances are vehicle distances that increase with the legal speed limit on the road.

7. The traffic control system according to claim 1, wherein The predetermined condition is used to identify vehicles that have not sent a message containing at least the vehicle's location information.

8. The traffic control system according to claim 1, wherein The predetermined conditions are used to identify vehicles that are not insured.

9. The traffic control system according to claim 1, further comprising: An evaluation unit, configured to evaluate driving characteristics, wherein The predetermined conditions are used to determine whether the pre-set driving characteristics are met. Based on the evaluation results of the evaluation unit, the identification unit identifies vehicles that do not meet the driving characteristics, and The evaluation unit is implemented via at least one processor.

10. The traffic control system according to claim 1, wherein The location control unit is also configured to set the driving route of the vehicle, and The driving route does not include areas where the proportion of vehicles meeting the predetermined conditions relative to all vehicles traveling in that area is equal to or greater than a predetermined threshold.

11. The traffic control system according to claim 10, wherein The position control unit instructs vehicles traveling within the area where the proportion is equal to or greater than a preset threshold to increase the frequency of transmitting information related to the sensors mounted on the vehicle.

12. The traffic control system according to claim 10, further comprising: An insurance premium calculation unit is configured to calculate the insurance premium for each vehicle based on its driving record, including whether or not it has driven within the designated area. The insurance premium calculation unit is implemented via at least one processor.

13. The traffic control system according to claim 12, wherein The insurance premium calculation unit calculates that the insurance premium for the vehicle traveling within the area is higher than the insurance premium for the vehicle not traveling within the area.

14. The traffic control system according to claim 1, wherein The predetermined conditions are used to determine the low-fuel-consumption driving conditions of the identified vehicle, and The location control unit sets the relative position between the identified vehicle and the surrounding vehicles to a position corresponding to the low fuel consumption driving.

15. The traffic control system according to claim 1, wherein The predetermined condition is a condition used to determine the identified vehicle having an environmental value equal to or greater than a predetermined threshold, indicating that the identified vehicle has such a value. The position control unit changes the relative position between the identified vehicle and at least one vehicle traveling ahead, based on the environment of the identified vehicle.

16. A traffic control method, implemented via a computer, the method comprising: Identify vehicles that meet the predefined conditions; Based on the relative distance between the identified vehicle and surrounding vehicles, the relative position between the identified vehicle and the surrounding vehicles is set; and Based on the relative positions, control information is generated for controlling the movement of at least one vehicle. Furthermore, based on the determination of the proportion of vehicles meeting the predetermined conditions around the at least one vehicle relative to all vehicles traveling around the at least one vehicle, control information for controlling the movement of the at least one vehicle is generated.

17. A control device, comprising: An identification unit configured to identify vehicles that meet predetermined conditions; and Position control unit, the position control unit being configured to: Based on the relative distance between the identified vehicle and surrounding vehicles, the relative position between the identified vehicle and the surrounding vehicles is set. Control the movement of at least one vehicle to achieve a predetermined relative position. The position control unit further controls the movement of the at least one vehicle based on a determination of the proportion of vehicles meeting the predetermined conditions around the at least one vehicle relative to all vehicles traveling around the at least one vehicle.

18. The control device according to claim 17, wherein The location control unit controls the movement of at least one of the identified vehicles or the surrounding vehicles based on the relative position between the identified vehicle and the surrounding vehicles.

19. The control device according to claim 18, wherein The location control unit determines the characteristics of the surrounding vehicles based on the predetermined conditions, and sets the relative position between the identified vehicle and the surrounding vehicles based on the determined characteristics.

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