Access control device and access control method

Abstract

This invention relates to an entry permission control device and an entry permission control method. A novel method for controlling the entry of a vehicle into an intersection is provided. In the entry permission control device, a storage unit stores inter-route conflict data, which specifies whether the routes of vehicles entering the intersection and exiting the intersection, as combinations of entry directions and exit directions, conflict with each other. The device includes: a driving information acquisition unit that acquires driving information from a vehicle, the driving information including the vehicle's position information and route information; a priority setting unit that sets a priority for a vehicle scheduled to enter based on the driving information; a determination unit that determines, based on the inter-route conflict data, whether there is a conflict between the route of a target vehicle and a vehicle scheduled to enter with a higher priority, thereby determining whether to allow the target vehicle to enter the intersection; and a determination information notification control unit that notifies the target vehicle of the determination information.

Description

Technical Field

[0001] This invention relates to an entry control device for controlling whether a vehicle can enter an intersection. Background Technology

[0002] Traffic signal control at intersections involves the operation of traffic lights to ensure smooth traffic flow. As a type of traffic signal control, priority control is known, which modifies signal control parameters to allow specific vehicles, such as dedicated bus lines or public transport vehicles, to pass with priority (see, for example, Patent Document 1).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2016-115123 Summary of the Invention

[0006] The problem the invention aims to solve

[0007] In recent years, the development of autonomous driving technology for cars capable of driving independently has been underway. Autonomous driving is characterized by the ability to control driving direction, speed, and other parameters without human intervention. Therefore, if all cars passing through an intersection are autonomous, implementing entry control for smoother and more efficient passage through the intersection would be extremely convenient and significantly contribute to the widespread adoption of autonomous vehicles. Furthermore, this applies not only to autonomous driving but also to driver-driven vehicles; being able to inform drivers whether they are permitted to enter the intersection, thus ensuring smooth and efficient passage, would be highly beneficial.

[0008] The problem to be solved by the present invention is to provide a new method for entry control or entry-related notification control of vehicles entering intersections.

[0009] Solution for solving the problem

[0010] The first invention for solving the above-mentioned problem is an access control device that controls whether a vehicle is allowed to enter a designated intersection, wherein...

[0011] The vehicle includes: a communication control device that communicates with the entry permission control device; and an entry control device that performs entry control or entry-related notification control of the intersection based on given determination information received from the entry permission control device.

[0012] The access control device includes:

[0013] The storage unit stores inter-route conflict data that specifies whether the routes conflict with each other, for a combination of an entry direction into the intersection and an exit direction out of the intersection.

[0014] A driving information acquisition unit acquires driving information from the vehicle, the driving information including the vehicle's location information and information indicating the vehicle's travel route;

[0015] The priority setting unit sets a priority for vehicles that are scheduled to enter the intersection based on the driving information.

[0016] The adjudication unit, based on the inter-route conflict data, determines whether there is a conflict between the route of the target vehicle among the vehicles scheduled to enter and the route of the other vehicle with a higher priority than the target vehicle, and thereby decides whether to allow the target vehicle to enter the intersection; and

[0017] The decision information notification control unit then controls the target vehicle by notifying the decision information, which represents the decision result of the decision unit, of the decision information.

[0018] According to the first invention, a novel method is available for implementing entry control or related notification control for vehicles entering an intersection. Specifically, an entry permission control device pre-stores conflict data between travel routes at the intersection, specifying whether their routes conflict with each other. Then, priorities are assigned to vehicles intending to enter the intersection, and based on the conflict data, it is determined whether the travel route of a target vehicle among the intended entry vehicles conflicts with the travel route of another intended entry vehicle with a higher priority. This allows a decision on whether to allow the target vehicle to enter the intersection. The decision result is then communicated to the target vehicle. Therefore, an autonomous vehicle can perform entry control at the intersection based on the communicated decision result. Furthermore, a driver-driven vehicle can perform related notification control at the intersection based on the communicated decision result.

[0019] The access control device of the second invention is, in the above invention,

[0020] The conflict data between the travel routes is data that uses 1 bit to indicate the presence or absence of a conflict for each combination of the travel routes.

[0021] The decision unit performs logical operations on the 1-bit value related to each of the predetermined entry vehicles with a higher priority than the target vehicle's travel route, thereby determining whether to allow the target vehicle to enter the intersection.

[0022] According to the second invention, data indicating the presence or absence of a conflict for each combination of travel routes is stored as travel route conflict data. Furthermore, by performing logical operations on the value of the 1 bit indicating the presence or absence of the conflict, it is determined whether there is a conflict with the travel route of a predetermined vehicle with a higher priority bit, and it is possible to decide whether to allow entry into the intersection.

[0023] The access control device of the third invention is, in the above-mentioned invention,

[0024] The storage unit stores conflict data between the travel routes for each of the multiple intersections.

[0025] The priority setting unit sets a priority for each of the intersections.

[0026] The decision-making unit makes a decision on whether to allow the target vehicle associated with that intersection to enter each intersection.

[0027] According to the third invention, an entry permission control device is available that can control entry at multiple intersections. Specifically, it stores inter-route conflict data for each intersection. Furthermore, it can set a priority for each intersection and use the corresponding inter-route conflict data to determine whether entry is permitted.

[0028] The fourth invention is an access control method that controls whether a vehicle is allowed to enter a designated intersection, wherein...

[0029] The vehicle is equipped with an entry control device that performs entry control or entry-related notification control based on given ruling information.

[0030] The access control method includes:

[0031] For a combination of an entry direction into the intersection and an exit direction out of the intersection, the storage specifies the inter-route conflict data, which defines whether the routes conflict with each other.

[0032] Driving information is obtained from the vehicle, the driving information including the vehicle's location information and information indicating the vehicle's travel route;

[0033] Based on the driving information, a priority is set for vehicles that are scheduled to enter the intersection.

[0034] Based on the conflict data between travel routes, it is determined whether there is a conflict between the travel route of the target vehicle among the vehicles scheduled to enter and the travel route of the vehicle scheduled to enter with a higher priority than the target vehicle, thereby deciding whether to allow the target vehicle to enter the intersection; and

[0035] The control of the target vehicle is then performed, which notifies the target vehicle of the ruling information representing the result of the ruling.

[0036] According to the fourth invention, an access control method can achieve the same effect as the first invention. Attached Figure Description

[0037] Figure 1 This is a diagram illustrating an application example of an access control device.

[0038] Figure 2 This is a diagram illustrating a setting example for conflict data between travel routes.

[0039] Figure 3 This is a diagram used to illustrate the settings for conflict data between travel routes.

[0040] Figure 4 This is another diagram used to illustrate the settings for conflict data between travel routes.

[0041] Figure 5 This is another diagram used to illustrate the settings for conflict data between travel routes.

[0042] Figure 6 This is another diagram used to illustrate the settings for conflict data between travel routes.

[0043] Figure 7 This is a diagram illustrating another example of conflict data between travel routes.

[0044] Figure 8 This is another diagram used to illustrate the settings for conflict data between travel routes.

[0045] Figure 9 This is another diagram used to illustrate the settings for conflict data between travel routes.

[0046] Figure 10 This is another diagram used to illustrate the settings for conflict data between travel routes.

[0047] Figure 11 This diagram illustrates the process for determining when a vehicle is scheduled to enter.

[0048] Figure 12 This is a diagram used to illustrate the priority setting process.

[0049] Figure 13 This is a diagram used to illustrate the adjudication process.

[0050] Figure 14 This is a block diagram illustrating an example of the functional structure of the access control device.

[0051] Figure 15This is a flowchart illustrating the process of entering the control device for processing. Detailed Implementation

[0052] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described below, nor are the ways in which the present invention can be applied limited to the embodiments described below. Furthermore, in the accompanying drawings, the same reference numerals are used to denote the same parts.

[0053] Figure 1 This diagram illustrates an application example of the access control device 1 in this embodiment. Figure 1 The diagram shows an example of an intersection (crossroads) IA with four directions, namely E, W, S, and N. The entry permission control device 1 of this embodiment controls entry permission for each intersection in the road network through which the autonomous vehicle 10 travels.

[0054] When performing access control, the access control device 1 communicates with vehicles 10 traveling on the road via wireless base stations 3 installed at various locations to include the entire road network under control. Specifically, the access control device 1 receives driving information 32 from each vehicle 10. The driving information 32 is information related to the driving of the vehicle 10. The driving information 32 includes the vehicle ID of the vehicle 10, location information indicating the driving position, speed information indicating the driving speed, distance to the nearest intersection (e.g., distance to the stop line of the intersection), and route information indicating the route at the intersection. Each vehicle 10 generates the latest driving information 32 at predetermined time intervals and sends the driving information 32 to the access control device 1 at any time.

[0055] The travel route information includes information on the direction of entry into the next intersection and the direction of exit from the current intersection. For example, suppose... Figure 1 The predetermined travel path of car 10a traveling in the direction W is the path to turn right at intersection IA. In this case, the travel information 32 generated by car 10a includes the entry direction W of entering intersection IA and the exit direction S of exiting intersection IA in the travel route information, and is sent to the entry permission control device 1.

[0056] Then, based on the received driving information 32 of each vehicle 10, the access control device 1 determines whether a vehicle 10 intended to enter the intersection is a intended entry vehicle and decides whether to allow the intended entry vehicle to enter the intersection. Afterwards, the access control device 1 notifies the corresponding vehicle 10 of the decision result, a decision information 34. The decision information 34 includes the vehicle ID of the vehicle 10, the intersection ID, and the decision result of whether to allow entry into the intersection. In this embodiment, the decision result is set to "Allow entry" or "Pending decision".

[0057] The vehicle 10 is equipped with a communication control device 12 that wirelessly communicates with the access control device 1 via a wireless base station 3, and a driving control device 14 with driving control functions based on autonomous driving. In the driving control device 14, a predetermined driving path is pre-set by the occupants or by the access control device 1. Along this predetermined driving path, the driving control device 14 continuously generates driving information 32 of the vehicle (vehicle 10) and sends it to the access control device 1, receiving decision information 34 from the access control device 1 to control automatic driving. The driving control functions of the driving control device 14 include known functions such as image recognition of other vehicles based on images captured by an onboard camera, and automatic operation of the accelerator, brakes, and steering wheel to achieve various driving control functions such as collision prevention or maintaining a safe distance.

[0058] Furthermore, the driving control function of the driving control device 14 in this embodiment includes the function of controlling entry into an intersection based on the decision information 34 from the entry permission control device 1. Specifically, when the decision information 34 indicates "entry permitted", the driving control device 14 controls the driving in a manner that enters the corresponding intersection from the entering direction and proceeds in the exit direction. On the other hand, when the decision information 34 indicates "waiting for decision", the driving control device 14 controls the driving in a manner that stops at a predetermined position (e.g., the stop line of the intersection) without entering the intersection.

[0059] [Details]

[0060] In this embodiment, for each intersection in the road network that is the object of control, conflict data 171 between travel routes is prepared in advance (see reference). Figure 14 The data is stored in the storage unit 170. The access control device 1 uses the inter-intersection collision data 171 for each intersection related to the controlled object to perform access control. This access control is repeated every predetermined control cycle. This is because the vehicle 10's driving position and speed are constantly changing.

[0061] Specifically, in each control cycle, the access permission control device 1 performs each of the processes (1) to (4) on all intersections related to the controlled object. That is, the access permission control device 1 performs the following processes: (1) a predetermined vehicle determination process for determining a predetermined vehicle to enter the intersection; (2) a priority setting process for setting a priority for the predetermined vehicle; (3) a determination process for deciding whether to allow a target vehicle among the predetermined vehicles to enter the intersection according to the priority; and (4) a determination information notification control process for notifying the target vehicle of the determination information 34 set with the determination result for the target vehicle. Hereinafter, focusing on an intersection (for example, Figure 1 The intersection IA is used to explain each process.

[0062] 1. Data on conflicts between routes

[0063] Figure 2 This is a diagram illustrating a setting example of inter-route conflict data 171 related to the intersection of interest IA. Figures 3-6 This diagram illustrates the settings for route conflict data 171 when the intersection is a crossroads. Additionally, Figure 7 This is a diagram illustrating another example of a scenario involving conflict data 171 between travel routes. Figures 8-10 It is used for explanation Figure 7 The diagram shows the setting of travel route conflict data 171 in the case of intersections. Travel route conflict data 171 is data that specifies whether travel routes, which are combinations of entering directions into the corresponding intersection and exit directions from the intersection, conflict with each other.

[0064] For example, such as Figure 3 As shown, in the case of a crossroads such as the intersection of interest IA, there are four possible routes for entering from direction S: a left turn (W), a straight ahead (N), a right turn (E), and a U-turn (S). Since a crossroads has four directions (E, W, S, N), there are a total of 16 possible routes. The route conflict data 171 is prepared as a table specifying whether any combination of these 16 possible routes conflicts with each other.

[0065] More specifically, such as Figure 2 As shown, conflicting data is set to "0" and conflict-free data to "1", using one bit to represent the presence or absence of conflict. The data obtained by filling the combined table with "1" or "0" will be used as the conflict data 171 between travel routes. Figure 2In this context, the travel route is marked by separating the entry direction and the exit direction with a comma. For example, a travel route with the entry direction being direction E and the exit direction being direction N is marked as E,N.

[0066] In this embodiment, if vehicles 10 traveling along the two routes involved in the combination are allowed to enter the intersection simultaneously, these two routes are designated as "non-conflicting". Conversely, routes that are not allowed to enter simultaneously are designated as "conflicting". Basically, as Figure 4 The shown routes W and E, and combinations of routes E and W, do not conflict with each other in their opposite directions. Figure 5 The routes shown intersect with each other, such as routes W and E, and routes S and N. Additionally, although not shown, routes with the same entry direction but different exit directions do not conflict with each other. On the other hand, routes with the same exit direction but different entry direction conflict with each other.

[0067] Furthermore, for certain combinations of travel routes, it's also possible to individually set whether there's a conflict at each intersection. For example, regarding... Figure 6 The combination of travel routes W, S and N, E shown is used as a non-conflicting travel route conflict data 171 for intersections where the road width allows vehicles 10 traveling along each route to enter simultaneously. This data is set to "1". In cases where intersection IA is a large (wide) intersection, such travel routes are considered to allow simultaneous entry. Figure 2 In the diagram, the data related to the combination of routes N, E and routes W, S are indicated by shading, with examples shown where each is set to "1".

[0068] However, even for the same type of intersection (in this case, a cross intersection), there are intersections where it is desirable to prohibit simultaneous entry of the same type of road, such as narrow road intersections. In the travel route conflict data 171 for such intersections, the data related to this combination is set to "0".

[0069] Furthermore, the setting of the inter-route conflict data 171 has been explained here using a crossroads as an example. However, the same principle applies to setting the inter-route conflict data 171 for intersections with three, four, five, or more than five branches. That is, for all combinations of routes passing through the intersection, inter-route conflict data 171 is prepared, which contains data indicating whether the routes conflict with each other (for example, a 1-bit data indicating whether the routes conflict with each other).

[0070] For example, in Figure 7The example shown illustrates a configuration for route conflict data 171 when the intersection is a three-way intersection (Y-shaped). Basically, as... Figure 8 The routes shown, A and B, and B and C, are combinations that do not intersect or conflict with each other. Figure 9 The routes shown, such as B and A, and combinations of A and C, intersect and conflict with each other. Additionally, as... Figure 10 As shown in the combination of routes A and B and routes C and B, routes traveling in the same direction also conflict with each other.

[0071] 2. Regarding the handling of pre-booked vehicle entry determination

[0072] Figure 11 This diagram illustrates the predetermined vehicle entry determination process. In the predetermined vehicle entry determination process, the entry permission control device 1 determines entry based on driving information 32 received from each vehicle 10 (vehicle management information 173 updated and managed based on driving information 32; see reference). Figure 14 Vehicles that are within a specified distance of the intersection IA (the target intersection) are considered to be destined to enter the intersection IA. Figure 11 In this context, the distance to be considered a predetermined entry into intersection IA is represented as a circular area centered on intersection IA by a dashed line. The entry / exit control device 1 identifies vehicles 10 whose driving positions are within this area and which are traveling in the entry direction that serves as their route as predetermined entry into intersection IA, and designates the corresponding vehicle 10 as a predetermined entry vehicle for intersection IA. Alternatively, the distance to the next intersection from the received driving information 32 can also be used to determine whether to predetermined enter intersection IA. Figure 11 In this case, five cars 10a~10e are determined to be scheduled to enter and are designated as scheduled entry cars.

[0073] Furthermore, the size of the object range can be set to a common size for all intersections, or the size can be changed for each intersection. For example, the size of the object range applied to each intersection can be appropriately set based on the width of the intersection, traffic volume, etc.

[0074] 3. Management of reserved vehicles

[0075] In this embodiment, a list of 175 pre-arranged vehicles is prepared for each intersection (see reference). Figure 14 The access control device 1 can register and sort reserved vehicles to the reserved vehicle list 175 at any time, and manage reserved vehicles for each intersection.

[0076] First, the registration of a reserved vehicle to the reserved vehicle list 175 is based on the result of the reserved vehicle determination process described above. In the reserved vehicle list 175, the vehicle ID of the vehicle 10 designated as a reserved vehicle in the reserved vehicle determination process, the route of that reserved vehicle at intersection IA, and the determination result from subsequent processing (e.g., referring to...) are correspondingly set. Figure 12 (b) If a new vehicle 10 is designated as a scheduled entry vehicle for intersection IA during the scheduled entry vehicle determination process, the entry permission control device 1 registers its vehicle ID in the scheduled entry vehicle list 175 associated with intersection IA. At this time, the travel route is set to the travel route information shown in the travel information 32 received from the corresponding vehicle 10. In addition, "waiting for determination" is set as the initial value for the determination result. At the time when the decision to allow the scheduled entry vehicle to enter intersection IA is made in the subsequent decision process, the decision result is rewritten as "entry permitted".

[0077] Next, based on the results of the priority setting process described later, the cars scheduled to enter are sorted.

[0078] Furthermore, the deregistration of a scheduled-entry vehicle from the scheduled-entry vehicle list 175 is performed after the corresponding vehicle 10 has passed through the intersection. For example, the entry / exit control device 1 monitors the driving position of the scheduled-entry vehicle. Then, when the scheduled-entry vehicle passes through the target intersection IA and moves from the entry direction to the exit direction, the entry / exit control device 1 removes the record of the scheduled-entry vehicle from the scheduled-entry vehicle list 175 of intersection IA, thereby deregistering it.

[0079] 4. Regarding priority setting and processing

[0080] In the priority setting process, the entry permission control device 1 sets a priority for each predetermined entry vehicle determined in the predetermined entry vehicle determination process. Figure 12 This is a diagram used to illustrate the priority setting process. Figure 12 The following are examples of vehicles 10a-10e that are identified as intended entry vehicles in the preceding intended entry vehicle determination process. Figure 12 (a) and an example of the sorting of scheduled vehicles in the scheduled entry vehicle list 175 prepared for intersection IA ( Figure 12 (b)

[0081] The entry permission control device 1 first sets the priority of the vehicles scheduled to enter that have been granted "entry permission" as, for example, number 1. This applies to vehicles scheduled to enter that have been granted entry permission in the previous decision process and have not yet passed through intersection IA.

[0082] Next, the access control device 1 calculates the estimated arrival time at intersection IA for the scheduled vehicles whose decision result is "waiting for judgment". For example, the access control device 1 calculates the estimated arrival time of the vehicle 10 at intersection IA based on the driving information 32 from the corresponding vehicle 10, according to its driving position and driving speed. Then, the access control device 1 sorts the scheduled vehicles that are "waiting for judgment" according to the order of their estimated arrival times and sets a priority of second place or lower.

[0083] 5. Regarding the ruling

[0084] Figure 13 This diagram illustrates the adjudication process and shows an example of the list 175 of vehicles scheduled to enter after the adjudication process. In the adjudication process, the entry permission control device 1 sequentially designates vehicles scheduled to enter with an adjudication result of "awaiting judgment" as target vehicles and decides whether to allow the target vehicles to enter the intersection IA.

[0085] Here, can the control device 1 be accessed according to... Figure 12 The priority setting process shown in (b) determines the reserved entry vehicle list 175, which identifies vehicles with a higher priority than the target vehicle. Next, the entry permission control device 1 determines whether there is a conflict between the target vehicle's route and the determined routes of the reserved entry vehicles, based on the route conflict data 171. In this example, the entry permission control device 1 sequentially designates the three reserved entry vehicles with a priority of 2nd place and below as target vehicles and decides whether to allow them to enter intersection IA.

[0086] For example, when considering the case where the second-position scheduled vehicle (vehicle 10c) is set as the target vehicle, there are two scheduled vehicles at the higher position. Therefore, it is determined whether there is a conflict between the route of the target vehicle and the respective routes of the two scheduled vehicles.

[0087] Specifically, first, the data corresponding to each combination between the travel routes S and N of the target vehicle and the travel routes E and W of the two pre-entering vehicles in the higher-order data 171 is read. Then, a logical operation is performed on the read data (the 1-bit value indicating whether there is a conflict). If the logical product (AND) is "1", a decision is made to allow the target vehicle to enter intersection IA. This is because if all the read data are "1", the target vehicle's travel route does not conflict with any of the travel routes of the two pre-entering vehicles in the higher-order data. The decision result in this case is "allow entry". On the other hand, if the calculated logical product is "0", that is, if some or all of the read data are "0", no decision is made to allow the target vehicle to enter intersection IA. The decision result in this case is "waiting for judgment". In this example, in Figure 2 The conflict data between the routes in 171 matches the latter, therefore, as in Figure 13 As indicated by the dashed line enclosing the vehicle, the decision for vehicle 10c remains "pending judgment".

[0088] In addition, when considering the case where the third scheduled vehicle (vehicle 10e) is set as the target vehicle, there are three scheduled vehicles at the higher positions. Therefore, it is determined whether there is a conflict between the route of the target vehicle and the respective routes of these three scheduled vehicles.

[0089] Specifically, first, the data corresponding to each combination of the travel routes E and S of the same vehicle and the travel routes E, W, W, N, and S, N of the three vehicles scheduled to enter the intersection are read from the inter-route conflict data 171. Then, the decision on whether to allow entry to the intersection is made by setting the logical product of the read data to "1" if entry is allowed, and keeping it pending if the logical product is "0". In this example, in Figure 2 In the data 171 of the conflict between the travel routes, all the data for each combination is "1", therefore, as Figure 13 As indicated by the double-dotted line enclosing the information, the decision for vehicle 10e is updated to "entry permitted". According to the processing here, vehicle 10e's estimated arrival time at intersection IA is later than that of vehicle 10c, and its initial priority is lower, but it does not conflict with the travel routes of any pre-arranged vehicle with a higher priority, so it is granted entry permission before vehicle 10c.

[0090] The same determination is made for the fourth vehicle scheduled to enter, deciding whether it is allowed to enter intersection IA.

[0091] 6. Adjudication Information Notification and Control Processing

[0092] In the ruling information notification control process, the permission control device 1 controls the notification of ruling information 34 indicating the ruling result for the target vehicle to the target vehicle. Through this process, a ruling information 34 set to "allow entry" is sent as a ruling result to the vehicle 10 that is allowed to enter the intersection IA. For vehicles 10 that are determined to be vehicles that are scheduled to enter and become the target of the ruling process, but are kept in the pending judgment and are not allowed to enter, a ruling information 34 set to "pending judgment" is sent as the ruling result.

[0093] [Functional Structure]

[0094] Figure 14 This is a block diagram illustrating an example of the functional structure of the access control device 1. For example... Figure 14 As shown, the access control device 1 includes an operation input unit 110, a display unit 120, a communication unit 130, a processing unit 150, and a storage unit 170, and is configured as a computer system.

[0095] The operation input unit 110 is implemented by an input device such as a push-button switch or a touch panel, and outputs an operation signal corresponding to the operation input to the processing unit 150. The display unit 120 is implemented by a display device such as an LCD (Liquid Crystal Display) or a touch panel, and performs various displays corresponding to the display signals from the processing unit 150. The communication unit 130 is implemented by a wired or wireless communication device, and performs communication with a given external device.

[0096] The processing unit 150 is implemented, for example, by an arithmetic circuit such as a CPU (Central Processing Unit) and a control board including the arithmetic circuit. It performs various arithmetic operations based on programs and data stored in the storage unit 170 and controls the operation of the access control device 1. In this embodiment, the processing unit 150 includes a driving information acquisition unit 151, a predetermined vehicle entry determination unit 153, a priority setting unit 155, a decision unit 157, and a decision information notification control unit 159. These functional units can be arithmetic processing modules implemented as software by executing a program, or they can be circuit modules implemented as signal processing circuits. In this embodiment, the processing unit 150 will be described as an arithmetic processing module implemented as software by executing a predetermined program.

[0097] The driving information acquisition unit 151 acquires driving information from vehicles 10 traveling on the road network that are the controlled entities. Here, the driving information acquisition unit 151 receives driving information 32 from the vehicles 10 via communication unit 130. Then, the driving information acquisition unit 151 updates and manages vehicle management information 173 based on the received driving information 32. For each corresponding vehicle 10, the vehicle management information 173 stores information such as driving position, driving speed, and route obtained from the driving information 32, corresponding to the vehicle ID of that vehicle 10.

[0098] The planned entry vehicle determination unit 153 is a functional unit that performs planned entry vehicle determination processing, and determines the planned entry vehicles for each intersection.

[0099] The priority setting unit 155 is a functional unit that performs priority setting processing. For each intersection, it sets a priority for each vehicle that is determined by the vehicle determination unit 153 for that intersection.

[0100] The adjudication unit 157 is a functional unit that performs adjudication processing. For each intersection, it makes a decision on whether a vehicle (object vehicle) scheduled to enter the intersection with an adjudication result of "waiting for judgment" is allowed to enter the intersection.

[0101] The adjudication information notification control unit 159 is a functional unit that performs adjudication information notification control processing, and controls the notification of adjudication information 34, which is set by the adjudication unit 157, to the target vehicle.

[0102] The storage unit 170 is implemented using a storage medium such as an IC memory or a hard disk. The storage unit 170 pre-stores programs used to activate the access control device 1 and perform various functions of the access control device 1, as well as data used during program execution, or temporarily stores them during each processing step. In this embodiment, the storage unit 170 stores inter-route conflict data 171 (see reference 170). Figure 2 , Figure 7 ), vehicle management information 173 and the list of vehicles scheduled to enter 175 (see reference) Figure 12 (etc.). As mentioned above, the inter-route conflict data 171 and the list of vehicles scheduled to enter 175 are prepared for each intersection.

[0103] [Processing flow]

[0104] Figure 15 This is a flowchart illustrating the process of entering the control device 1. Furthermore, in Figure 15 The diagram illustrates the processing flow focusing on a single intersection and performed within a single control cycle. In actual processing, each control cycle performs processing on all intersections related to the controlled object. Figure 15 The processing.

[0105] First, the planned entry vehicle determination unit 153 determines the planned entry vehicles that are scheduled to enter the intersection (step S1). Here, the planned entry vehicle determination unit 153 refers to the vehicle management information 173, which is updated and managed based on the driving information 32 from each vehicle 10, and determines the vehicles 10 located in the entry direction of the travel route within the target area of ​​the intersection as planned entry vehicles. At this time, if there is a newly determined planned entry vehicle 10, it is registered in the planned entry vehicle list 175 related to the target intersection.

[0106] Next, the priority setting unit 155 sets priorities for the vehicles scheduled to enter, as determined in step S1, based on the list of vehicles scheduled to enter 175. First, the priority setting unit 155 sets the priority of vehicles scheduled to enter that have already been allowed to enter in the previous decision process to the first priority (step S3). Next, for the remaining vehicles awaiting decision, the priority setting unit 155 calculates their estimated arrival time at the target intersection based on their driving position and speed (step S5). Then, for the vehicles awaiting decision, the priority setting unit 155 sets a priority of second priority or lower, according to the order of the estimated arrival times calculated in step S5 (step S7). Afterward, the vehicles awaiting decision are sequentially designated as target vehicles, and the loop L process is executed (steps S9 to S17).

[0107] That is, in loop L, firstly, the decision unit 157 reads data from the route conflict data 171 to determine whether the routes associated with the target vehicle conflict with each other for each combination of the target vehicle's route and the routes of each predetermined entering vehicle with a priority higher than the target vehicle's route (step S11).

[0108] Then, the decision unit 157 determines whether there is a conflict between the travel route of the target vehicle and the travel routes of the predetermined vehicles entering at higher positions based on the data read in step S11, and thereby decides whether to allow the target vehicle to enter the corresponding intersection (step S13). Here, if the logical product of the data read by the decision unit 157 in step S11 (the 1-bit value indicating whether the travel routes of each combination conflict with each other) is "1", the decision to allow entry is made. If the calculated logical product is "0", it is set to wait for judgment.

[0109] Then, the decision information notification control unit 159 notifies the target vehicle of the decision information 34 indicating the result of the decision made in step S13 (step S15).

[0110] If loop L has been executed for all scheduled vehicles awaiting judgment, then the processing of the intersection as the object in the current control cycle ends.

[0111] As explained above, according to this embodiment, for each intersection, inter-route conflict data 171 is set, which specifies whether the routes of all combinations of routes passing through the intersection conflict with each other. Then, a priority is set for the vehicles scheduled to enter the intersection. Using the inter-route conflict data 171 associated with the intersection, it is determined whether there is a conflict between the route of the target vehicle and the route of the scheduled vehicle with a higher priority than the target vehicle. In this way, it is possible to determine whether each vehicle 10 is allowed to enter the intersection. In the vehicle 10, entry control for entering the intersection can be performed according to the determination result, which is notified at any time as determination information 34.

[0112] [Variation Example]

[0113] Furthermore, in the above embodiment, an example of entry permission control for each intersection of the road network in which the autonomous vehicle 10 travels was described. That is, the autonomous vehicle is notified of the decision information 34 (decision result), and on the vehicle side, the entry control device (driving control device 14) uses the decision information 34 to perform entry control for the intersection. In contrast, it can also be applied to the following situation: providing notification control related to entering each intersection of the road network in which a driver-driven vehicle travels. In this case, the structure of the entry permission control device 1 can be implemented with the same structure as in the above embodiment. On the other hand, the vehicle's entry control device (driving control device 14) performs so-called navigation by having the occupants pre-set the destination and predetermined driving route, and generates the vehicle's driving information 32 at any time and sends it to the entry permission control device 1. Then, notification control related to entering the intersection is performed by displaying and audibly outputting the decision information 34 received from the entry permission control device 1. For example, if the vehicle's entry control device (driving control device 14) receives a decision that "entry is permitted," it will instruct the display device to indicate that the vehicle will proceed directly to the next intersection and head in the exit direction. If the decision is "waiting for judgment," it will instruct the display device to indicate that the vehicle will stop and will not enter the intersection.

[0114] Explanation of reference numerals in the attached figures

[0115] 1. Can the device be accessed?

[0116] 150··· Processing Department

[0117] 151··· Driving Information Acquisition Department

[0118] 153... scheduled to enter the vehicle determination department

[0119] 155 Priority Setting Department

[0120] 157···Adjudication Department

[0121] 159···Ruling Information Notification Control Department

[0122] 170··· Storage Department

[0123] 171... Conflict data between routes

[0124] 173···Automotive Management Information

[0125] 175... Reserved for inclusion in the car list

[0126] 10. Cars

[0127] 12··· Communication Control Device

[0128] 14. Driving control device

[0129] 3. Wireless base station

[0130] 32··· Driving Information

[0131] 34···Ruling Information

Claims

1. An access control device for controlling whether a vehicle is allowed to enter a designated intersection, wherein, The vehicle includes: a communication control device that communicates with the entry permission control device; and an entry control device that performs entry control or entry-related notification control of the intersection based on given determination information received from the entry permission control device. The access control device includes: The storage unit stores inter-route conflict data that specifies whether the routes conflict with each other, for a combination of an entry direction into the intersection and an exit direction out of the intersection. A driving information acquisition unit acquires driving information from the vehicle, the driving information including the vehicle's location information and information indicating the vehicle's travel route; The priority setting unit sets a priority for vehicles that are scheduled to enter the intersection based on the driving information. The adjudication unit determines, based on the conflict data between the travel routes, whether there is a conflict between the travel route of the target vehicle among the vehicles scheduled to enter and the travel route of the vehicle scheduled to enter with a higher priority than the target vehicle, and thereby decides whether to allow the target vehicle to enter the intersection. as well as The decision information notification control unit then controls the target vehicle by notifying the decision information, which represents the decision result of the decision unit, of the decision information.

2. The access control device according to claim 1, wherein, The conflict data between the travel routes is data that uses 1 bit to indicate the presence or absence of a conflict for each combination of the travel routes. The decision unit performs logical operations on the 1-bit value related to each of the predetermined entry vehicles with a higher priority than the target vehicle's travel route, thereby determining whether to allow the target vehicle to enter the intersection.

3. The access control device according to claim 1 or 2, wherein, The storage unit stores conflict data between the travel routes for each of the multiple intersections. The priority setting unit sets a priority for each of the intersections. The decision-making unit makes a decision on whether to allow the target vehicle associated with that intersection to enter each intersection.

4. An entry permission control method for controlling whether a vehicle is allowed to enter a designated intersection, wherein, The vehicle is equipped with an entry control device that performs entry control or entry-related notification control based on given ruling information. The access control method includes: For a combination of an entry direction into the intersection and an exit direction out of the intersection, the storage specifies the inter-route conflict data, which defines whether the routes conflict with each other. Driving information is obtained from the vehicle, the driving information including the vehicle's location information and information indicating the vehicle's travel route; Based on the driving information, a priority is set for vehicles that are scheduled to enter the intersection. Based on the conflict data between travel routes, it is determined whether there is a conflict between the travel route of the target vehicle among the vehicles scheduled to enter and the travel route of the vehicle scheduled to enter with a higher priority than the target vehicle, thereby deciding whether to allow the target vehicle to enter the intersection; and The control of the target vehicle is then performed, which notifies the target vehicle of the ruling information representing the result of the ruling.

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