Mobile body control device, mobile body control method, and storage medium

Abstract

The invention relates to a mobile body control apparatus, a mobile body control method, and a storage medium. A moving body control apparatus includes: a moving body detector configured to acquire a position of a first moving body and a position of a second moving body; a regular body detector configured to detect a position of the regular body; a distance calculator configured to acquire a first distance from the first moving body to the second moving body and a second distance from the first moving body to an end portion of the regular body; and a movement controller configured to perform movement control of at least one of the first moving body and the second moving body. The movement controller is configured to perform movement control in a case where the first distance is equal to or greater than the second distance, and not perform movement control in a case where the first distance is less than the second distance.

Description

Technical Field

[0001] The present invention relates to a mobile body control device, a mobile body control method, and a non-transitory computer-readable storage medium. Background Art

[0002] In recent years, increasing efforts have been made to provide a sustainable transportation system that takes into account vulnerable road users. To achieve this goal, research and development of driving assistance technologies and autonomous driving technologies have been carried out to further improve traffic safety and convenience.

[0003] Japanese Patent No. 6096750 discloses a driving assistance device that controls the travel of a first mobile body or a second mobile body so that the first mobile body traveling on a main lane and the second mobile body traveling on a sub-lane do not interfere with each other in a merging area where the sub-lane merges with the main lane.

[0004] A plurality of regulation bodies such as rubber poles may be arranged between the main lane and the sub-lane. The regulation bodies regulate lane changes of mobile bodies from the sub-lane to the main lane, and thereby limit the area where mobile bodies can enter the main lane. If the travel of the first mobile body is restricted by the second mobile body in an area where these regulation bodies exist, the occupants of the first mobile body may feel uncomfortable. Summary of the Invention

[0005] In view of the above background, an object of the present invention is to provide a mobile body control device, a mobile body control method, and a non-transitory computer-readable storage medium that can perform appropriate movement control in an area with regulation bodies in a merging area. Therefore, an object of the present invention is to contribute to the development of a sustainable transportation system.

[0006] To achieve this object, an aspect of the present invention provides a mobile body control device (1) configured to perform movement control of at least one of a first mobile body (3A) moving along a first travel route (101) and a second mobile body (3B) moving along a second travel route (102) in a merging area (100). The merging area includes the first travel route, a second travel route that merges with the first travel route, and a regulation body (107) arranged on the boundary between the first travel route and the second travel route and configured to regulate movement from the second travel route to the first travel route. The mobile body control device includes: a mobile body detector (42) configured to acquire the positions of the first mobile body and the second mobile body; a regulation body detector (43) configured to detect the position of the regulation body; a distance calculator (44) configured to acquire a first distance (D1) from the first mobile body to the second mobile body and a second distance (D2) from the first mobile body to the end (107A) of the regulation body, which is the end of the regulation body along the travel direction of the first travel route; and a movement controller (46) configured to perform movement control of at least one of the first mobile body and the second mobile body in the merging area to avoid interference between the first mobile body and the second mobile body. Wherein, the movement controller is configured to perform movement control of at least one of the first mobile body and the second mobile body when the first distance is equal to or greater than the second distance, and not perform movement control of the first mobile body or the second mobile body when the first distance is less than the second distance.

[0007] According to this aspect, in an area where there is a regulation body that regulates lane changes (i.e., movement) from the second travel route to the first travel route, movement control of the first mobile body caused by the second mobile body is not performed. Therefore, a mobile body control device capable of performing appropriate movement control in an area with a regulation body in the merging area can be provided.

[0008] In the above aspect, preferably, the movement controller is configured to accelerate at least one of the first mobile body and the second mobile body through movement control when the first distance is equal to or greater than the second distance.

[0009] According to this aspect, by accelerating at least one of the first mobile body and the second mobile body, interference between the first mobile body and the second mobile body is avoided.

[0010] In the above aspect, preferably, the mobile body control device further includes a traffic congestion degree acquirer (45) configured to acquire the traffic congestion degree of the first travel route. Wherein, the mobile controller is configured to perform the movement control of at least one of the first mobile body and the second mobile body when the first distance is equal to or greater than the second distance and the traffic congestion degree is equal to or less than a specified traffic congestion determination value, and not perform the movement control of the first mobile body or the second mobile body when the first distance is less than the second distance or the traffic congestion degree is greater than the traffic congestion determination value.

[0011] According to this aspect, when the traffic congestion degree is high, the mobile controller does not perform unnecessary movement control.

[0012] In the above aspect, preferably, the mobile controller is configured to perform the movement control of at least one of the first mobile body and the second mobile body when the first distance is equal to or greater than the second distance and the second mobile body and the regular body end are arranged in front of the first mobile body, and not perform the movement control of the first mobile body or the second mobile body when the first distance is less than the second distance or the second mobile body or the regular body end is not arranged in front of the first mobile body.

[0013] According to this aspect, when the second mobile body is arranged behind the first mobile body, the mobile controller does not perform unnecessary movement control.

[0014] In the above aspect, preferably, the distance calculator is configured to acquire the distance from the center of the front end of the first mobile body to the center of the rear end of the second mobile body as the first distance, and acquire the distance from the center of the front end of the first mobile body to the regular body end as the second distance.

[0015] In the above aspect, preferably, when changing the acceleration of at least one of the first mobile body and the second mobile body through movement control, the mobile controller is configured to control a notifier (19) of at least one of the first mobile body and the second mobile body whose acceleration is changed, and thereby issue a notification to the occupant.

[0016] According to this aspect, the occupant can recognize that the movement control has been performed, and thereby understand the behavior of the mobile body.

[0017] Another aspect of the present invention provides a mobile body control device (4) provided in a first mobile body (3A). The first mobile body moves along a first travel route (101) in a confluence area (100). The confluence area includes the first travel route, a second travel route (102) that converges with the first travel route, and a regulation body (107). The regulation body is arranged on the boundary between the first travel route and the second travel route and is configured to regulate the movement from the second travel route to the first travel route. The mobile body control device includes: an external environment detector (34) configured to detect the position of a second mobile body (3B) moving along the second travel route and the position of the regulation body; a self-mobile body position detector (35) configured to detect the position of the first mobile body; and a motion planner (36) configured to perform movement control of the first mobile body in the confluence area to avoid interference between the first mobile body and the second mobile body. The motion planner is configured to: calculate a first distance (D1) from the first mobile body to the second mobile body and a second distance (D2) from the first mobile body to the end (107A) of the regulation body, where the end of the regulation body is the end along the travel direction of the first travel route; perform movement control of the first mobile body when the first distance is equal to or greater than the second distance; and not perform movement control of the first mobile body when the first distance is less than the second distance.

[0018] Another aspect of the present invention provides a mobile body control method for a computer to perform movement control of at least one of a first mobile body (3A) moving along a first travel route (101) and a second mobile body (3B) moving along a second travel route (102) in a confluence area (100). The confluence area includes the first travel route, a second travel route that converges with the first travel route, and a regulation body (107). The regulation body is arranged on the boundary between the first travel route and the second travel route and is configured to regulate the movement from the second travel route to the first travel route. The mobile body control method includes: obtaining the position of the first mobile body and the position of the second mobile body; detecting the position of the regulation body; obtaining a first distance (D1) from the first mobile body to the second mobile body and a second distance (D2) from the first mobile body to the end (107A) of the regulation body, where the end of the regulation body is the end along the travel direction of the first travel route; performing movement control of at least one of the first mobile body and the second mobile body in the confluence area to avoid interference between the first mobile body and the second mobile body; performing movement control of at least one of the first mobile body and the second mobile body when the first distance is equal to or greater than the second distance; and not performing movement control of the first mobile body or the second mobile body when the first distance is less than the second distance.

[0019] Another aspect of the present invention provides a non - transitory computer - readable storage medium including a program for performing movement control of at least one of a first moving body (3A) moving along a first travel route (101) and a second moving body (3B) moving along a second travel route (102) in a confluence area (100). The confluence area includes a first travel route, a second travel route that converges with the first travel route, and a regulation body (107). The regulation body is arranged on the boundary between the first travel route and the second travel route and is configured to regulate movement from the second travel route to the first travel route. Wherein, when the program is executed by a computer, it performs a moving - body control method, and the moving - body control method includes: obtaining the positions of the first moving body and the second moving body; detecting the position of the regulation body; obtaining a first distance (D1) from the first moving body to the second moving body and a second distance (D2) from the first moving body to the end (107A) of the regulation body, where the end of the regulation body is the end along the travel direction of the first travel route; performing movement control of at least one of the first moving body and the second moving body in the confluence area to avoid interference between the first moving body and the second moving body; performing movement control of at least one of the first moving body and the second moving body when the first distance is equal to or greater than the second distance; and not performing movement control of the first moving body or the second moving body when the first distance is less than the second distance.

[0020] Therefore, according to the above - mentioned aspect, it is possible to provide a moving - body control device, a moving - body control method, and a non - transitory computer - readable storage medium capable of performing appropriate movement control in an area where a regulation body exists in a confluence area. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a block diagram of a server;

[0022] Figure 2 is an explanatory diagram showing a confluence area;

[0023] Figure 3 is a block diagram of a vehicle;

[0024] Figure 4 is a flowchart of control executed by a movement controller; and

[0025] Figure 5 is a flowchart of control executed by an action planner. DETAILED DESCRIPTION OF THE INVENTION

[0026] Hereinafter, embodiments of a mobile body control device, a mobile body control method, and a non-transitory computer-readable storage medium according to the present invention will be described with reference to the accompanying drawings. The mobile body includes vehicles such as automobiles, trucks, and motorcycles, electric scooters, and the like. In the present embodiment, an example in which the mobile body is a vehicle will be described.

[0027] As Figure 1 shown, a server 1 as a mobile body control device communicates with vehicle control devices 4 of a plurality of vehicles 3 via a communication network 2. The server 1 controls the plurality of vehicles 3 in a confluence area 100, thereby preventing the plurality of vehicles 3 from interfering with each other.

[0028] (Confluence area 100)

[0029] As Figure 2 shown, the confluence area 100 includes a first travel route 101 and a second travel route 102 that converges with the first travel route 101. The first travel route 101 extends straight. The first travel route 101 may be an end lane of a main lane 104 including a plurality of lanes. In addition, the main lane 104 may be composed only of the first travel route 101. The second travel route 102 may also be referred to as a "confluence lane". In the first travel route 101 and the second travel route 102, the traveling direction of each vehicle 3 is set to the forward direction.

[0030] The second travel route 102 includes a first portion 102A, a second portion 102B, and a third portion 102C in order from the rear to the front. The first portion 102A is separated from the first travel route 101 by a hard nose 105. The first portion 102A may be arranged to be away from the first travel route 101. In addition, the first portion 102A may be inclined with respect to the first travel route 101. The side portion of the front end of the first portion 102A is connected to the side portion of the first travel route 101. The hard nose 105 may be formed of a structure such as a wall or a guardrail.

[0031] The second part 102B extends along the first driving route 101. The road surface of the second part 102B can be connected to the road surface of the first driving route 101 with respect to the lateral direction. At least one regular body 107 is arranged on the boundary between the second part 102B of the second driving route 102 and the first driving route 101. The regular body 107 regulates the movement of the vehicle 3 from the second driving route 102 to the first driving route 101. The regular body 107 can be arranged continuously or intermittently along the boundary between the first driving route 101 and the second driving route 102. The regular body 107 can be composed of structures such as multiple rods, poles, road studs, curbs, etc. A protective rope can be stretched between the multiple rods. The regular body 107 can also be referred to as a "soft nose". The front end of the regular body 107 is called the "regular body end 107A".

[0032] The third part 102C extends along the first driving route 101. The third part 102C forms the end of the second driving route 102. The vehicle 3 can change lanes (i.e., move) from the second driving route 102 to the first driving route 101 in the third part 102C. The third part 102C can also be referred to as a "merge point". The side edge of the third part 102C opposite to one side of the first driving route 101 slopes forward towards one side of the first driving route 101.

[0033] The regular body 107 is arranged for the purpose of restricting the merge point of the second driving route 102 to the third part 102C. The regular body 107 is arranged lower and more dispersedly than the hard nose 105. Therefore, sensors such as the radar 14A, lidar 14B, and camera 14C can detect an object such as the vehicle 3 through the regular body 107.

[0034] The area of the first driving route 101 arranged on the lateral side of the second part 102B and the third part 102C of the second driving route 102 is defined as the first area 111. The second part 102B and the third part 102C of the second driving route 102 are defined as the second area 112.

[0035] (Vehicle 3)

[0036] As Figure 3 shown, each vehicle 3 (mobile body) includes a propulsion device 11, a braking device 12, a steering device 13, an external environment sensor 14, a vehicle sensor 15, a communication device 16, a navigation device 17, a driving operation device 18, a human-machine interface 19 (HMI), and the above-mentioned vehicle control device 4.

[0037] The propulsion device 11 is a device that applies a driving force to the vehicle 3 and includes, for example, a power source and a transmission. The power source includes at least one of internal combustion engines such as gasoline engines and diesel engines and electric motors. The braking device 12 is a device that applies a braking force to the vehicle 3 and includes, for example, a brake caliper that presses a brake pad against a brake disc and an electric cylinder that supplies hydraulic pressure to the brake caliper. The braking device 12 may further include a parking braking device that restricts the rotation of the wheels by a steel cable. The steering device 13 is a device that changes the steering angle of the wheels and includes, for example, a rack and pinion mechanism that steers the wheels and an electric motor that drives the rack and pinion mechanism. The propulsion device 11, the braking device 12, and the steering device 13 are controlled by the vehicle control device 4.

[0038] The external environment sensor 14 is a sensor that captures electromagnetic waves or light from the periphery of the vehicle 3 and detects objects outside the vehicle 3, etc. The external environment sensor 14 includes, for example, a radar 14A, a lidar 14B (LiDAR), and a camera 14C (external camera). The external environment sensor 14 outputs the detection result to the vehicle control device 4.

[0039] The radar 14A detects the position (distance and direction) of each object by transmitting radio waves such as millimeter waves toward the periphery of the vehicle 3 and capturing the reflected waves. At least one radar 14A is attached to any part of the vehicle 3. Preferably, the radar 14A includes at least a front radar that transmits radio waves toward the front of the vehicle 3, a rear radar that transmits radio waves toward the rear of the vehicle 3, and a pair of left and right side radars that transmit radio waves toward the lateral sides of the vehicle 3.

[0040] The lidar 14B detects the position (distance and direction) of each object by transmitting light such as infrared rays toward the periphery of the vehicle 3 and capturing the reflected light. At least one lidar 14B is provided at any part of the vehicle 3.

[0041] The camera 14C captures images of the periphery of the vehicle 3, such as objects existing in the periphery of the vehicle 3 (e.g., surrounding vehicles and pedestrians), guardrails, curbs, walls, median strips, and the shape of the road, as well as road markings drawn on the road. The camera 14C can be, for example, a digital camera using a solid-state image sensing device such as a CCD or CMOS. At least one camera 14C is provided at any part of the vehicle 3. The camera 14C includes at least a front camera that captures an image of the front of the vehicle 3. The camera 14C may further include a rear camera that captures an image of the rear of the vehicle 3 and a pair of side cameras that capture images of the lateral sides of the vehicle 3. The camera 14C can be, for example, a stereo camera.

[0042] The vehicle sensor 15 includes a speed sensor 15A that detects the speed (vehicle speed) of the vehicle 3 and an acceleration sensor 15B that detects the acceleration of the vehicle 3. The vehicle sensor 15 may further include a yaw rate sensor and a steering angle sensor that detects the steering angle of the front wheels, which are the steering wheels.

[0043] The communication device 16 mediates communication between devices provided inside the vehicle 3 (the vehicle control device 4 and the navigation device 17) and devices provided outside the vehicle 3 (other vehicles 3 and the server 1). The vehicle control device 4 can perform wireless communication with other vehicles 3 via the communication device 16. Further, the communication device 16 communicates wirelessly with a base station connected to the communication network 2 and communicates with the server 1 via the communication network 2. The base station may be provided near the confluence area 100 (see Figure 2 ).

[0044] The navigation device 17 is a device that acquires the current position of the vehicle 3 and provides route guidance to a destination and the like. The navigation device 17 includes a GNSS receiving unit 17A, a map storage unit 17B, a navigation interface 17C, and a route determination unit 17D. The GNSS receiving unit 17A identifies the position (latitude and longitude) of the vehicle 3 based on signals received from artificial satellites (positioning satellites). The map storage unit 17B is constituted by a known storage device such as a flash memory or a hard disk and stores map information.

[0045] The map information includes road information, which includes: road types such as highways, toll roads, national roads, and prefectural roads; the number of lanes of each road; the central position of each lane (three-dimensional coordinates including longitude, latitude, and altitude); the shape of road markings such as road dividers and lane boundaries; the presence or absence of sidewalks, curbs, fences, etc.; the positions of intersections; the positions of lane confluence points and lane bifurcation points; the area of emergency stopping areas; the width of each lane; road markings, etc. The map information may also include traffic rule information, address information (address and postal code), facility information, telephone number information, etc. The route determination unit 17D determines a route to the destination based on the position of the vehicle 3 identified by the GNSS receiving unit 17A, the destination input from the navigation interface 17C, and the map information. Further, when determining the route, the route determination unit 17D may also determine the target lane in which the vehicle 3 should travel by referring to the positions of lane confluence points and lane bifurcation points in the map information.

[0046] The driving operation device 18 receives an input operation for controlling the vehicle 3 performed by the driver. The driving operation device 18 includes, for example, a steering wheel, an accelerator pedal, and a brake pedal. The driving operation device 18 may also include a shift lever, a parking brake lever, and the like. Sensors for detecting the operation amount of the input operation are attached to respective components of the driving operation device 18. The driving operation device 18 outputs a signal indicating the operation amount to the vehicle control device 4.

[0047] The HMI 19 serves as a notifier for notifying various information to the occupants (e.g., the driver) through display and sound, and also serves as an input device for receiving an input operation from the occupants.

[0048] The vehicle control device 4 is an electronic control unit (ECU) composed of an MPU (microprocessor), a ROM, a RAM, etc., that is, a computer. The vehicle control device 4 performs various vehicle controls as the MPU executes a calculation process according to a program. The vehicle control device 4 may be configured as a single hardware or may be configured as a unit composed of multiple hardwares. Moreover, at least a part of each functional unit of the vehicle control device 4 may be implemented by hardware such as an LSI, an ASIC, and an FPGA, or may be implemented by a combination of software and hardware. The program may be stored in a non-volatile storage device such as an HDD and a flash memory of the vehicle control device 4. Alternatively, the program may be stored in a removable storage medium such as a DVD or a CD-ROM, and installed in the storage device of the vehicle control device 4 as the storage medium is read by a reading device. Alternatively, the program may be downloaded to the storage device of the vehicle control device 4 via a communication line such as the Internet and installed in its storage device. The vehicle control device 4, which is a computer, executes a driving control method (described later) for performing the driving control of the vehicle 3. This program causes the vehicle control device 4 to perform the driving control of the vehicle 3 (the moving body). As Figure 3 shown, the vehicle control device 4 includes a non-transitory computer-readable storage medium 4A, and the non-transitory computer-readable storage medium 4A includes a program 4B for performing the driving control of the vehicle 3. The program 4B executes a vehicle control method (a moving body control method) described later when executed by the vehicle control device 4 which is a computer.

[0049] The vehicle control device 4 includes an autonomous driving control unit 31 and a driving control unit 32. The autonomous driving control unit 31 includes an external environment detector 34, a host vehicle position detector 35, and a motion planner 36.

[0050] The external environment detector 34 detects obstacles present in the vicinity of the vehicle 3, the shape of the road, the presence or absence of a sidewalk, and road markings based on signals from the external environment sensors 14. Obstacles include, for example, guardrails, utility poles, surrounding moving objects, and people such as pedestrians. The surrounding moving objects include other vehicles 3. The external environment detector 34 can detect the position and distance of obstacles, other vehicles 3 (surrounding vehicles), etc. relative to the vehicle 3 based on signals from at least one of the radar 14A, lidar 14B, and camera 14C. In addition, the external environment detector 34 can detect the speed of other vehicles 3 present around the vehicle 3.

[0051] The external environment detector 34 detects the position of the regular body 107 in the merging area 100. In particular, the external environment detector 34 acquires the position of the regular body end 107A. In addition, the external environment detector 34 of the vehicle 3 traveling along the first driving route 101 detects the position and speed of the vehicle 3 traveling along the second part 102B and the third part 102C of the second driving route 102. In addition, the external environment detector 34 of the vehicle 3 traveling along the second driving route 102 detects the position and speed of the vehicle 3 traveling along the first driving route 101.

[0052] The own vehicle position detector 35 calculates the own vehicle position based on the signal (GNSS signal) received by the GNSS receiving unit 17A. In addition, the own vehicle position detector 35 identifies the driving lane that is the lane in which the vehicle 3 is traveling, and the relative position and angle of the vehicle 3 with respect to the driving lane. The own vehicle position detector 35 can, for example, identify the driving lane based on the map information stored in the map storage unit 17B and the position of the vehicle 3 acquired (identified) by the GNSS receiving unit 17A. In addition, the own vehicle position detector 35 can identify the relative position and angle of the vehicle 3 with respect to the driving lane by extracting the dividing lines around the vehicle 3 drawn on the road surface from the map information and comparing the shape of the extracted dividing lines with the shape of the dividing lines captured by the camera 14C.

[0053] The motion planner 36 sequentially generates a motion plan for the vehicle 3 to travel along the route. More specifically, first, the motion planner 36 determines an event in which the vehicle 3 travels within the target lane determined by the route determination unit 17D without contacting any obstacles. The motion planner 36 generates a target trajectory that the vehicle 3 should travel in the future based on the determined event. The target trajectory is a sequence of trajectory points that are the points that the vehicle 3 should reach each time. The motion planner 36 can generate the target trajectory based on the target speed (target vehicle speed) and target acceleration set for each event.

[0054] The motion planner 36 generates a confluence event when receiving a confluence control instruction related to a confluence event from the server 1. The motion planner 36 can set the target speed and target acceleration of the confluence event based on the confluence control instruction, and generate a target trajectory based on the target speed and target acceleration.

[0055] The travel control unit 32 controls the propulsion device 11, the braking device 12, and the steering device 13 so that the vehicle 3 passes through the target trajectory generated by the motion planner 36 within a planned time.

[0056] (Server 1)

[0057] The server 1 is a computer composed of an MPU (microprocessor), ROM, RAM, etc. The server 1 executes various vehicle controls as the MPU executes a calculation process according to a program. The server 1 can be configured as a single piece of hardware or can be configured as a unit composed of multiple pieces of hardware. Moreover, at least a part of each functional unit of the server 1 can be implemented by hardware such as LSI, ASIC, and FPGA, or can be implemented by a combination of software and hardware. The program can be stored in a non-volatile storage device such as an HDD and a flash memory of the server 1. Alternatively, the program can be stored in a removable storage medium such as a DVD or a CD-ROM, and installed in the storage device of the server 1 as the storage medium is read by a reading device. Alternatively, the program can be downloaded to the storage device of the server 1 via a communication line such as the Internet and installed in its storage device. The server 1, as a computer, executes a travel control method (described later) for executing the travel control of the vehicle 3. This program causes the server 1 to execute the travel control of the vehicle 3 (mobile body). As Figure 1 shown, the server 1 includes a non-transitory computer-readable storage medium 1A, which includes a program 1B for executing the travel control of the vehicle 3. When the program 1B is executed by the server 1 as a computer, it executes a vehicle control method (mobile body control method) described later.

[0058] As Figure 1 shown, the server 1 includes a communicator 41, a vehicle detector 42 (mobile body detector), a rule body detector 43, a distance calculator 44, a traffic congestion degree acquirer 45, a mobile controller 46, and a map information database 47. The communicator 41 communicates with the vehicle control devices 4 of each vehicle 3 via the communication network 2. The map information database 47 stores map information. The map information includes information about the shapes and positions of the first travel route 101 and the second travel route 102 in the confluence area 100 and the position of the rule body 107.

[0059] The vehicle detector 42 acquires the positions of the first vehicle 3A (first moving body) traveling along the first travel route 101 and the second vehicle 3B (second moving body) traveling along the second travel route 102. In addition to acquiring the positions of the first vehicle 3A and the second vehicle 3B, the vehicle detector 42 can also acquire the speeds of the first vehicle 3A and the second vehicle 3B. The vehicle detector 42 can communicate with the first vehicle 3A to acquire the position and speed of the first vehicle 3A from the first vehicle 3A. In addition, the vehicle detector 42 can communicate with the second vehicle 3B to acquire the position and speed of the second vehicle 3B from the second vehicle 3B. The vehicle detector 42 can communicate with the first vehicle 3A to acquire the position and speed of the first vehicle 3A and the position and speed of the second vehicle 3B from the first vehicle 3A. In addition, the vehicle detector 42 can communicate with the second vehicle 3B to acquire the position and speed of the first vehicle 3A and the position and speed of the second vehicle 3B from the second vehicle 3B. In addition, the vehicle detector 42 can communicate with the vehicle monitoring sensor 117 arranged in the merging area 100 to acquire the position and speed of the first vehicle 3A and the position and speed of the second vehicle 3B detected by the vehicle monitoring sensor 117. The vehicle monitoring sensor 117 is composed of sensors such as radar, lidar, and cameras, and detects the positions and speeds of the vehicles 3A and 3B traveling along the first travel route 101 and the second travel route 102.

[0060] The position of each of the vehicles 3A and 3B can be the position of its representative point. The representative point can be the center of gravity of each vehicle 3, the center in the longitudinal direction and the lateral direction of each vehicle 3, the center in the lateral direction of the front end or the rear end of each vehicle 3, the corner position of each vehicle 3, and the like.

[0061] The regular body detector 43 detects the position of the regular body 107 arranged on the boundary between the first travel route 101 and the second travel route 102. The regular body detector 43 can communicate with the first vehicle 3A or the second vehicle 3B to acquire the position of the regular body 107 including the position of the regular body end 107A from the first vehicle 3A or the second vehicle 3B. In addition, the regular body detector 43 can acquire the position of the regular body end 107A based on the map information stored in the map information database 47.

[0062] The distance calculator 44 obtains a first distance D1 from the first vehicle 3A to the second vehicle 3B and a second distance D2 from the first vehicle 3A to the end 107A of the regulation body. The end 107A of the regulation body is the end of the regulation body 107 in the traveling direction along the first traveling route 101. The distance calculator 44 calculates the first distance D1 and the second distance D2 based on the position of the first vehicle 3A and the position of the second vehicle 3B obtained by the vehicle detector 42 and the position of the end 107A of the regulation body obtained by the regulation body detector 43. The distance calculator 44 may obtain, as the first distance D1, the distance from the center of the front end of the first vehicle 3A to the center of the rear end of the second vehicle 3B. In addition, the distance calculator 44 may obtain, as the second distance D2, the distance from the center of the front end of the first vehicle 3A to the end 107A of the regulation body.

[0063] The traffic congestion degree acquirer 45 acquires the traffic congestion degree of the first traveling route 101. The traffic congestion degree is an index indicating the degree of congestion and may have multiple levels. The multiple levels may be two levels, zero (not congested) and one (congested), or may be three or more levels. The value of the traffic congestion degree may increase as the congestion degree becomes higher. The traffic congestion degree acquirer 45 may acquire traffic congestion information via the communication network 2 and set the traffic congestion degree based on the traffic congestion information. In addition, the traffic congestion degree acquirer 45 may set the traffic congestion degree based on the speed of the first vehicle 3A obtained by the vehicle detector 42. In addition, the traffic congestion degree acquirer 45 may set the traffic congestion degree based on the inter-vehicle distance between the first vehicle 3A and the vehicle 3 traveling in front of the first vehicle 3A. In this case, the external environment detector 34 of the first vehicle 3A detects the inter-vehicle distance between the first vehicle 3A and the vehicle 3 traveling in front of the first vehicle 3A based on a signal from the external environment sensor 14 and transmits the detected inter-vehicle distance to the traffic congestion degree acquirer 45 via the communication network 2.

[0064] The movement controller 46 performs movement control of at least one of the first vehicle 3A and the second vehicle 3B in the merging area 100 to avoid interference between the first vehicle 3A traveling along the first traveling route 101 and the second vehicle 3B traveling along the second traveling route 102.

[0065] The movement controller 46 is based on Figure 4 the vehicle control process shown to perform movement control of at least one of the first vehicle 3A or the second vehicle 3B. The movement controller 46 may repeat, for example, at time intervals of several microseconds Figure 4 the vehicle control shown.

[0066] First, the movement controller 46 determines whether there is a vehicle 3 (first vehicle 3A) in the first area 111 of the first driving route 101 (S1). The movement controller 46 makes the determination based on the position of the first vehicle 3A traveling along the first driving route 101 detected by the vehicle detector 42.

[0067] When the vehicle 3 (first vehicle 3A) is present in the first area 111 (the determination result of S1 is yes), the movement controller 46 determines whether a vehicle 3 (second vehicle 3B) is present in the second area 112 of the second driving route 102 (S2). The movement controller 46 makes the determination based on the position of the second vehicle 3B traveling along the second driving route 102 detected by the vehicle detector 42.

[0068] When the vehicle 3 (second vehicle 3B) is present in the second area 112 (the determination result of S2 is yes), the movement controller 46 determines whether the traffic congestion level of the first driving route 101 is equal to or less than a specified traffic congestion determination value (S3). The traffic congestion level is obtained by the traffic congestion level acquirer 45. The traffic congestion determination value is set to a value that enables determination that the first driving route 101 is not congested. For example, the traffic congestion determination value can be set to a value that enables traveling at 50 km / h along the first driving route 101.

[0069] When the traffic congestion level is equal to or less than the traffic congestion determination value (the determination result of S3 is yes), the movement controller 46 determines whether the second vehicle 3B on the second driving route 102 and the rule body end 107A are arranged in front of the first vehicle 3A on the first driving route 101 (S4).

[0070] When the second vehicle 3B and the rule body end 107A are arranged in front of the first vehicle 3A (the determination result of S4 is yes), the movement controller 46 determines whether the first distance D1 from the first vehicle 3A to the second vehicle 3B is equal to or greater than the second distance D2 from the first vehicle 3A to the rule body end 107A (S5). The first distance D1 and the second distance D2 are calculated by the distance calculator 44.

[0071] When the first distance D1 is equal to or greater than the second distance D2 (the determination result in S5 is YES), the movement controller 46 performs movement control of at least one of the first vehicle 3A (the first moving body) and the second vehicle 3B (the second moving body) (S6). When the second vehicle 3B moves toward the first travel route 101, the inter-vehicle distance between the first vehicle 3A and the second vehicle 3B is maintained at a specified value or more by the movement control to avoid interference between the first vehicle 3A and the second vehicle 3B. Therefore, at least one of the first vehicle 3A and the second vehicle 3B accelerates or decelerates by the movement control. In the movement control, the movement controller 46 sets a target acceleration or a target speed of at least one of the first vehicle 3A and the second vehicle 3B to accelerate or decelerate at least one of the first vehicle 3A and the second vehicle 3B.

[0072] As an example, in the movement control, the movement controller 46 estimates an entry start time, which is the time when the second vehicle 3B starts to enter the first travel route 101, the position and speed of the first vehicle 3A at the entry start time, and the position and speed of the second vehicle 3B at the entry start time, based on the position and speed of the first vehicle 3A and the position and speed of the second vehicle 3B. Then, when the inter-vehicle distance between the first vehicle 3A and the second vehicle 3B becomes less than the specified value at the entry start time, the movement controller 46 sets a target acceleration or a target speed of at least one of the first vehicle 3A and the second vehicle 3B to perform the first control, the second control, or both the first control and the second control. The first control is a control for accelerating the one of the first vehicle 3A and the second vehicle 3B that is arranged in front of the other at the entry start time. The second control is a control for decelerating the one of the first vehicle 3A and the second vehicle 3B that is arranged behind the other at the entry start time.

[0073] For the case where the target acceleration or the target speed of the first vehicle 3A is set in the movement control, the movement controller 46 transmits a travel command including the set target acceleration or the set target speed to the vehicle control device 4 of the first vehicle 3A via the communication network 2. In addition, for the case where the target acceleration or the target speed of the second vehicle 3B is set in the movement control, the movement controller 46 transmits a travel command including the set target acceleration or the set target speed to the vehicle control device 4 of the second vehicle 3B via the communication network 2.

[0074] The travel command may include a notification command for controlling the HMI 19 of each vehicle 3 and thereby notifying the occupants.

[0075] When a driving instruction is received from the server 1, the motion planners 36 of the first vehicle 3A and the second vehicle 3B generate a confluence event including a target trajectory for achieving the target acceleration or target speed included in the driving instruction. The driving control unit 32 controls the propulsion device 11, the braking device 12, and the steering device 13 so that each vehicle 3 passes through the target trajectory of the confluence event generated by the motion planner 36 at a planned time. In this way, the driving mode of each vehicle 3 is controlled based on the target acceleration or target speed of each vehicle 3 set by the movement controller 46 of the server 1.

[0076] In addition, the vehicle control device 4 of each vehicle 3 can control the HMI 19 based on the notification instruction included in the driving instruction. The HMI 19 can notify that each vehicle 3 is being controlled based on the driving instruction through images, videos, or audio.

[0077] When there is no vehicle 3 (the first vehicle 3A) in the first area 111 of the first driving route 101 (the determination result of S1 is no), when there is no vehicle 3 (the second vehicle 3B) in the second area 112 of the second driving route 102 (the determination result of S2 is no), when the traffic congestion level is greater than the traffic congestion determination value (the determination result of S3 is no), when the second vehicle 3B or the regular body end 107A is not arranged in front of the first vehicle 3A (the determination result of S4 is no), and when the first distance D1 is less than the second distance D2 (the determination result of S5 is no), the driving control unit 32 does not perform the movement control of the first vehicle 3A or the second vehicle 3B.

[0078] The server 1 in the above-described embodiment controls at least one of the first vehicle 3A and the second vehicle 3B in the merging area 100 to prevent interference between the first vehicle 3A and the second vehicle 3B. The movement controller 46 performs movement control of at least one of the first vehicle 3A and the second vehicle 3B when the first distance D1 is equal to or greater than the second distance D2, and does not perform movement control of the first vehicle 3A or the second vehicle 3B when the first distance D1 is less than the second distance D2. Therefore, in an area where there is a regulation body 107 that regulates lane changes (i.e., movements) from the second driving route 102 to the first driving route 101, movement control of the first vehicle 3A (the first moving body) caused by the second vehicle 3B (the second moving body) is not performed. In the second part 102B of the second driving route 102 where the regulation body 107 exists, the second vehicle 3B cannot change lanes to the first driving route 101. Therefore, it is not necessary to maintain the inter-vehicle distance between the first vehicle 3A and the second vehicle 3B, and the first vehicle 3A does not need to decelerate or accelerate with respect to the second vehicle 3B. Therefore, the server 1 can perform appropriate movement control in the area where the regulation body 107 exists in the merging area 100. In addition, when the first driving route 101 is congested or when the second vehicle 3B is arranged behind the first vehicle 3A, the movement controller 46 does not perform unnecessary movement control.

[0079] When movement control is performed on the first vehicle 3A and the second vehicle 3B, a warning is issued through the HMI 19 so that the occupants can recognize that movement control is being performed and can understand the behavior of the first vehicle 3A and the second vehicle 3B (the moving bodies).

[0080] In another embodiment, instead of the server 1, the vehicle control device 4 of the first vehicle 3A traveling along the first driving route 101 serves as the moving body control device. The vehicle control device 4 further includes a traffic congestion degree acquirer 38. The configuration of the traffic congestion degree acquirer 38 can be the same as the configuration of the traffic congestion degree acquirer 45 of the server 1.

[0081] The external environment detector 34 detects the position of the second vehicle 3B traveling along the second driving route 102 and the position of the regulation body 107. In addition, the external environment detector 34 can also acquire the speed of the second vehicle 3B based on the change in the position of the second vehicle 3B. The own vehicle position detector 35 (the own moving body position detector) acquires the position of the own vehicle 3A (the first vehicle 3A). In addition, the own vehicle position detector 35 can also acquire the speed of the own vehicle 3A based on the change in the position of the own vehicle 3A.

[0082] The action planner 36 generates an action plan for the first vehicle 3A based on Figure 5 the vehicle control process shown.

[0083] First, the motion planner 36 determines whether the host vehicle 3A exists in the first area 111 of the first driving route 101 (S11). The motion planner 36 makes the determination based on the position of the host vehicle detected by the host vehicle position detector 35.

[0084] When the host vehicle 3A exists in the first area 111 (the determination result of S11 is yes), the motion planner 36 determines whether the vehicle 3 (the second vehicle 3B) exists in the second area 112 of the second driving route 102 (S12). The motion planner 36 makes the determination based on the position of the second vehicle 3B detected by the external environment detector 34.

[0085] When the vehicle 3 (the second vehicle 3B) exists in the second area 112 (the determination result of S12 is yes), the motion planner 36 determines whether the traffic congestion level of the first driving route 101 is greater than or less than the traffic congestion determination value (S13). The traffic congestion level is obtained by the traffic congestion level acquirer 38.

[0086] When the traffic congestion level is equal to or less than the traffic congestion determination value (the determination result of S13 is yes), the motion planner 36 determines whether the second vehicle 3B on the second driving route 102 and the rule body end 107A are arranged in front of the host vehicle 3A on the first driving route 101 (S14).

[0087] When the second vehicle 3B and the rule body end 107A are arranged in front of the host vehicle 3A (the determination result of S14 is yes), the motion planner 36 determines whether the first distance D1 from the host vehicle 3A to the second vehicle 3B is equal to or greater than the second distance D2 from the host vehicle 3A to the rule body end 107A (S15). The motion planner 36 can calculate the first distance D1 and the second distance D2 based on the position of the host vehicle 3A, the position of the second vehicle 3B, and the position of the rule body end 107A.

[0088] When the first distance D1 is equal to or greater than the second distance D2 (the determination result in S15 is Yes), the motion planner 36 performs the movement control of the host vehicle 3A (the first moving body) (S16). In the movement control, the motion planner 36 generates a merging event to prevent interference between the host vehicle 3A and the second vehicle 3B when the second vehicle 3B moves toward the first driving route 101. In the merging event, the motion planner 36 sets the target acceleration or target speed of the host vehicle 3A and generates a target trajectory for achieving its target acceleration or target speed so that the inter-vehicle distance between the host vehicle 3A and the second vehicle 3B is maintained at a specified value or more. The driving control unit 32 controls the propulsion device 11, the braking device 12, and the steering device 13 so that each vehicle 3 passes through the target trajectory of the merging event generated by the motion planner 36 at a planned time. In this way, the driving mode of the host vehicle 3A is controlled based on the target acceleration or target speed of the host vehicle 3A set by the motion planner 36.

[0089] When the host vehicle 3A is not present in the first area 111 of the first driving route 101 (the determination result in S11 is No), when there is no vehicle 3 (the second vehicle 3B) in the second area 112 of the second driving route 102 (the determination result in S12 is No), when the traffic congestion level is greater than the traffic congestion determination value (the determination result in S13 is No), when the second vehicle 3B or the regular body end 107A is not arranged in front of the host vehicle 3A (the determination result in S14 is No), and when the first distance D1 is less than the second distance D2 (the determination result in S15 is No), the motion planner 36 does not generate a merging event.

[0090] The vehicle control device 4 can control the HMI 19 during the execution of the merging event. The HMI 19 can notify that each vehicle 3 is being controlled based on the driving instruction through an image, video, or audio.

[0091] According to the present embodiment, the vehicle control device 4 can independently perform the movement control of the host vehicle 3A without communicating with the server 1.

[0092] The description of the specific embodiment ends here, but the present invention is not limited to the above embodiment and can be widely modified. For example, the second distance D2 can be the distance between the first vehicle 3A and a point that is shifted forward or backward by a specified distance from the regular body end 107A.

Claims

1. A moving body control device, the moving body control device being configured to perform movement control of at least one of a first moving body moving along a first driving route and a second moving body moving along a second driving route in a confluence area, the confluence area including the first driving route, the second driving route converging with the first driving route, and a rule body, the rule body being arranged on a boundary between the first driving route and the second driving route and being configured to regulate movement from the second driving route to the first driving route, the moving body control device comprising: a moving object detector configured to obtain a position of the first moving object and a position of the second moving object; a regular body detector configured to detect a position of the regular body; a distance calculator configured to obtain a first distance from the first moving body to the second moving body and a second distance from the first moving body to an end of a regular body, the end of the regular body being an end of the regular body along a travel direction of the first travel route; as well as a movement controller configured to perform the movement control of the at least one of the first moving body and the second moving body in the confluence area to avoid interference between the first moving body and the second moving body, Wherein, the mobile controller is configured as: in a case where the first distance is equal to or greater than the second distance, performing the movement control of the at least one of the first moving body and the second moving body, and When the first distance is smaller than the second distance, the movement control of the first moving body or the second moving body is not performed.

2. The mobile body control device according to claim 1, wherein: The movement controller is configured to accelerate the at least one of the first moving body and the second moving body through the movement control if the first distance is equal to or greater than the second distance.

3. The mobile body control device according to claim 1, further comprising a traffic congestion degree acquirer, wherein the traffic congestion degree acquirer is configured to acquire the traffic congestion degree of the first driving route, in, The mobile controller is configured to: in a case where the first distance is equal to or greater than the second distance and the traffic congestion degree is equal to or less than a prescribed traffic congestion determination value, performing the movement control of the at least one of the first moving body and the second moving body, and In a case where the first distance is smaller than the second distance or the traffic congestion degree is larger than the traffic congestion determination value, the movement control of the first moving body or the second moving body is not performed.

4. The mobile body control device according to claim 1, wherein: The mobile controller is configured to: in a case where the first distance is equal to or greater than the second distance and the second moving body and the regular body end are arranged in front of the first moving body, performing the movement control of the at least one of the first moving body and the second moving body, and In a case where the first distance is smaller than the second distance or the second moving body or the regular body end is not arranged in front of the first moving body, the movement control of the first moving body or the second moving body is not performed.

5. The mobile body control device according to claim 1, wherein: The distance calculator is configured to: acquiring a distance from a center of a front end of the first moving body to a center of a rear end of the second moving body as the first distance, and The distance from the center of the front end of the first moving body to the end of the regular body is acquired as the second distance.

6. The mobile body control device according to claim 1, wherein: When the acceleration of at least one of the first moving body and the second moving body is changed by the movement control, the movement controller is configured to control the notifier of at least one of the first moving body and the second moving body whose acceleration is changed, thereby notifying the occupant.

7. A moving body control device provided in a first moving body, the first moving body moving along a first driving route in a confluence area, the confluence area including the first driving route, a second driving route converging with the first driving route, and a rule body, the rule body being arranged on a boundary between the first driving route and the second driving route and configured to regulate movement from the second driving route to the first driving route, the moving body control device comprising: an external environment detector configured to detect a position of a second moving body moving along the second driving route and a position of the regular body; The present moving body position detector is configured to detect the position of the first moving body; as well as a motion planner configured to perform movement control of the first moving body in the confluence area to avoid interference between the first moving body and the second moving body, Wherein, the action planner is configured as follows: calculating a first distance from the first moving body to the second moving body and a second distance from the first moving body to an end of a regular body, the end of the regular body being an end of the regular body along a travel direction of the first travel route, In a case where the first distance is equal to or greater than the second distance, the movement control of the first moving body is performed, and When the first distance is smaller than the second distance, the movement control of the first moving body is not performed.

8. A mobile body control method for a computer to perform movement control of at least one of a first mobile body moving along a first driving route and a second mobile body moving along a second driving route in a confluence area, the confluence area including the first driving route, the second driving route converging with the first driving route, and a rule body, the rule body being arranged on a boundary between the first driving route and the second driving route and configured to regulate movement from the second driving route to the first driving route, the mobile body control method comprising the following steps: Acquire the position of the first moving object and the position of the second moving object; detecting the position of the regular body; Acquire a first distance from the first moving body to the second moving body, and a second distance from the first moving body to an end of a regular body, the end of the regular body being an end of the regular body along a travel direction of the first travel route; performing the movement control of the at least one of the first moving body and the second moving body in the confluence area to avoid interference between the first moving body and the second moving body; When the first distance is equal to or greater than the second distance, performing the movement control of the at least one of the first moving body and the second moving body; as well as When the first distance is smaller than the second distance, the movement control of the first moving body or the second moving body is not performed.

9. A non-transitory computer-readable storage medium including a program for executing movement control of at least one of a first moving body moving along a first driving route and a second moving body moving along a second driving route in a confluence area, the confluence area including the first driving route, the second driving route converging with the first driving route, and a rule body arranged on a boundary between the first driving route and the second driving route and configured to regulate movement from the second driving route to the first driving route, in, When the program is executed by a computer, a moving object control method is performed, and the moving object control method includes the following steps: Acquire the position of the first moving object and the position of the second moving object; detecting the position of the regular body; Acquire a first distance from the first moving body to the second moving body, and a second distance from the first moving body to an end of a regular body, the end of the regular body being an end of the regular body along a travel direction of the first travel route; performing the movement control of the at least one of the first moving body and the second moving body in the confluence area to avoid interference between the first moving body and the second moving body; in a case where the first distance is equal to or greater than the second distance, performing the movement control of the at least one of the first moving body and the second moving body; and When the first distance is smaller than the second distance, the movement control of the first moving body or the second moving body is not performed.

Images