Mobile body control device, vehicle control method, and vehicle

Abstract

To keep a smooth traffic environment of a mobile body including a vehicle 15 even under a situation with difficulty in acquiring information in a control object area 13.SOLUTION: A vehicle control device 11 is located in a predetermined control object area 13 and has a periphery monitoring function, a wireless communication function, and an operation control function for performing an automatic operation. The device includes: an information acquisition section 17 for acquiring intrinsic information Vinfo including an environment state or a communication state on a vehicle 15; and a controlling section 19 for controlling a movement of the vehicle 15 based on the intrinsic information Vinfo acquired by the information acquisition section 17. The control object area 13 is managed by division into a plurality of unit areas 31 having a predetermined largeness. The controlling section 19 controls the movement of each one of the vehicles 15 by setting an exclusive area 33 consisting of an aggregation of the unit areas 31 to respectively have an intrinsic largeness for each one of the vehicle 15 based on the intrinsic information Vinfo.SELECTED DRAWING: Figure 1A

Description

Technical Field

[0001] The present invention relates to a mobile body control device, a vehicle control method, and a vehicle.

Background Art

[0002] Patent Document 1 discloses an invention of a vehicle control system including a vehicle control device mounted on each of a plurality of vehicles, a control device that performs block control for assigning non-overlapping driving permission sections to each of the plurality of vehicles, and a communication means for communicating between the control device and the vehicle control device. In the vehicle control system according to Patent Document 1, each of the plurality of vehicle control devices determines the driving permission request start distance as a distance longer than the distance that the vehicle can stop from the current speed of the own vehicle, and when the length of the remaining section of the driving permission section in the traveling direction of the own vehicle becomes equal to or less than the driving permission request start distance, until the next driving permission is obtained, the request for driving permission and the current position information of the own vehicle are repeatedly transmitted to the control device.

[0003] According to the vehicle control system according to Patent Document 1, it is possible to realize a smooth traffic environment in which the vehicle-to-vehicle distance is ensured without interference between vehicles.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Disclosure of the Invention

Problems to be Solved by the Invention

[0005] In the vehicle control system according to Patent Document 1, acquisition of environmental condition information in the control target area and vehicle control based on the acquired environmental condition information are performed via wireless communication between the control device and the vehicle control device using the communication means provided in the system. However, in wireless communication, it is assumed that communication errors frequently occur due to poor communication conditions, and cases where communication malfunctions such as communication delays and communication interruptions occur accordingly. Then, it becomes difficult to obtain environmental condition information in the controlled area. Also, cases where it becomes difficult to obtain environmental condition information in the controlled area due to environmental conditions such as bad weather in the controlled area are also assumed.

[0006] In this way, in a situation where it is difficult to obtain environmental condition information in the controlled area, there is a risk of impairing a smooth traffic environment. The present invention has been made in view of the above circumstances, and an object thereof is to provide a mobile body control device capable of maintaining a smooth traffic environment for a mobile body even in a situation where it is difficult to obtain information in a controlled area. Also, an object of the present invention is to provide a vehicle control method capable of maintaining a smooth traffic environment for a vehicle even in a situation where it is difficult to obtain information in a controlled area. Also, an object of the present invention is to provide a vehicle capable of performing smooth automatic driving according to a recommended movement plan instructed by a mobile body control device.

Means for Solving the Problems

[0007] In order to solve the above problems, a mobile body control device according to the present invention is a mobile body control device that controls the movement of a mobile body including a vehicle having a peripheral monitoring function, a wireless communication function, and a driving control function for performing automatic driving in a predetermined controlled area, an information acquisition unit that acquires unique information including the environmental state or communication state of the mobile body, and a control control unit that controls the movement of the mobile body based on the unique information acquired by the information acquisition unit, the controlled area is divided and managed into a plurality of unit areas having a predetermined size, The most main feature is that the control control unit controls the movement of each mobile body by setting a dedicated area composed of the set of the unit areas to have a unique size for each individual mobile body based on the unique information.

Effects of the Invention

[0008] According to the present invention, even in a situation where it is difficult to acquire information in a controlled area, a smooth traffic environment for the moving body can be maintained. Other problems, configurations, and effects will be described in detail in the following embodiments.

Brief Description of the Drawings

[0009]

Figure 1A

Figure 1B

Figure 1C

Figure 2

Figure 3A

Figure 3B

Figure 4A

Figure 4B

Modes for Carrying Out the Invention

[0010] The mobile body control device, vehicle control method, and vehicle according to the present invention will be described in detail with reference to appropriate drawings as needed. In the description of the mobile body control device according to the embodiment of the present invention, components having common functions are denoted by common reference numerals, and redundant descriptions thereof are omitted.

[0011] 〔Concept of the mobile body control device according to the embodiment of the present invention〕 First, the concept of the mobile body control device according to the embodiment of the present invention will be described. The mobile body control device according to the embodiment of the present invention has a function of controlling (managing and restricting) the movement of mobile bodies including a vehicle 15 existing in a predetermined control target area 13 and having a peripheral monitoring function, an autonomous driving function, and a wireless communication function. As the "mobile body" of the present invention, for example, all movable objects including vehicles 15 such as large vehicles, ordinary vehicles, motorcycles, bicycles, and pedestrians are assumed. Hereinafter, the vehicle 15 will be exemplified as the "mobile body", and the vehicle control device 11 will be exemplified as the "mobile body control device" to proceed with the description.

[0012] 〔Schematic configuration of the vehicle control device 11 according to the embodiment of the present invention〕 The schematic configuration of the vehicle control device 11 according to the embodiment of the present invention will be described with reference to FIGS. 1A, 1B, and 1C. FIG. 1A is a functional block diagram showing the schematic configuration of the vehicle control device 11 according to the embodiment of the present invention. FIG. 1B is a block diagram showing the hardware configuration of the vehicle control device 11 shown in FIG. 1A. FIG. 1C is an explanatory diagram exemplarily showing a state in which the vehicle control device 11 shown in FIG. 1A is applied to a vehicle 15 to be a control target. The vehicle control device 11 according to the embodiment of the present invention has a function of controlling the movement of a vehicle 15 as a mobile body existing in a predetermined control target area 13 and having a peripheral monitoring function, an autonomous driving function, and a wireless communication function.

[0013] In order to realize the function of controlling the movement of the vehicle 15, the vehicle control device 11 according to the embodiment of the present invention, as shown in FIG. 1A, includes an information acquisition unit 17 that acquires unique information Vinfo including the environmental state, communication state, and movement plan related to the vehicle 15, a control unit 19 that controls the movement of the vehicle (mobile body) 15 based on the unique information Vinfo acquired by the information acquisition unit 17, an infrastructure sensor 21 that detects information on the surrounding environment of the vehicle 15, a map database (map DB) 22 that stores map information, a prediction unit 23 that predicts the state of the vehicle 15, and a control communication unit 25 that communicates with the vehicle 15. The controlled area 13 is divided and managed into a plurality of unit areas 31 (see FIGS. 3A, 3B, etc.) having a predetermined size.

[0014] The vehicle control device 11 is not particularly limited, and is configured by combining one or more computers 980 shown in FIG. 1B, for example. In FIG. 1B, the computer 980 includes a CPU (Central Processing Unit) 981, a storage unit 982, a communication I / F (interface) 983, an input / output I / F 984, and a media I / F 985. The storage unit 982 includes a RAM 982a, a ROM 982b, and an HDD 982c. The communication I / F 983 is connected to a communication circuit 986. The input / output I / F 984 is connected to an input / output device 987. The media I / F 985 reads and writes data from / to a recording medium 988.

[0015] The ROM 982b stores an IPL (Initial Program Loader) and the like executed by the CPU. The HDD 982c stores a control program, various data, and the like. The CPU 981 realizes various functions according to the present invention by executing the control program read from the HDD 982c into the RAM 982a.

[0016] The control unit 19 sets a dedicated area 33 (see FIGS. 3A, 3B, etc.) composed of a plurality of connected unit areas 31 to have a unique planned route 16 and size for each individual vehicle 15 based on unique information Vinfo including the environmental state, communication state, and movement plan related to the vehicle 15 to be controlled. At the time of this setting, the control unit 19 appropriately corrects the movement plan including the planned route 16 transmitted from the vehicle 15 with reference to the map information related to the map DB 22 as necessary, and formulates a recommended movement plan after correction. The recommended movement plan thus formulated is returned to the vehicle 15. Thereby, the control unit 19 controls the movement of each individual vehicle (moving body) 15 existing in the controlled area 13.

[0017] The control unit 19 is connected to a reception unit 27 that receives unique information Vinfo including the environmental state, communication state, and movement plan related to the vehicle 15, and an instruction unit 29 that instructs a recommended movement plan based on a dedicated area 33 (see FIGS. 3A, 3B, etc.) set for the vehicle 15. The setting of the dedicated area 33, which is the core concept of the present invention, will be described in detail later.

[0018] The information acquisition unit 17 acquires information on the surrounding environment of the vehicle 15 via the infrastructure sensor 21, and acquires prediction information on the environmental state and communication state related to the vehicle 15 via the prediction unit 23. Further, the information acquisition unit 17 acquires map information stored in the map DB 22.

[0019] Here, the environmental state related to the vehicle 15 is a concept including, for example, the weather and the state of ground objects in the control target area 13. For example, in a case where a dead angle area is generated due to an influence of a foreground object or the like in the traveling direction of the vehicle 15, or in a case where the detection accuracy of the infrastructure sensor 21 decreases due to insufficient light quantity, the environmental state is determined to be poor. On the other hand, the communication state related to the vehicle 15 is the communication state in the control target area 13. When the radio wave intensity is strong, the communication state is good, and when the radio wave intensity is weak (when it is below a predetermined threshold value), the communication state is determined to be poor. The environmental state may affect the communication state.

[0020] Note that the information acquisition unit 17 may estimate the surrounding environment of the vehicle 15 based on the information on the surrounding environment of the vehicle 15 acquired via the infrastructure sensor 21. Information on the surrounding environment of the vehicle 15 acquired by such estimation is also included in the concept of "information on the surrounding environment of the vehicle 15". Various information acquired by the information acquisition unit 17 is sent to the control unit 19.

[0021] As shown in FIG. 1C, a plurality of infrastructure sensors 21 are provided on the roadside in the control target area 13 at appropriate intervals. The infrastructure sensors 21 are composed of, for example, a group of sensors (not shown) including cameras, laser sensors, temperature sensors, and sunlight sensors, and play a role of detecting information on the surrounding environment including the position information of the vehicle (moving body) 15. When detecting the position information of the vehicle (moving body) 15, for example, the absolute position information by GPS (Global Positioning System) may be referred to.

[0022] The information on the surrounding environment including the position information of the vehicle 15 detected by the infrastructure sensor 21 is acquired by the information acquisition unit 17 provided in the vehicle control device 11 via a wired communication medium or a wireless communication medium, and is sent to the vehicle 15 via the control communication unit 25 provided in the vehicle control device 11. As a result, in the vehicle 15, the field of view can be indirectly expanded to reduce the blind spot, and the presence of a moving body that cannot be detected only by the surrounding monitoring unit 53 mounted on the vehicle itself can be known. For example, there is an advantage that it becomes easier to take an emergency response to a moving body jumping out from a blind spot.

[0023] The prediction unit 23 includes an environmental state prediction unit 24 that predicts the environmental state related to the vehicle 15 and a communication state prediction unit 26 that predicts the communication state related to the vehicle 15.

[0024] The environmental state prediction unit 24 predicts the environmental state related to the vehicle 15 including, for example, a case where a blind spot area is generated due to the influence of foreground objects or the like in the traveling direction of the vehicle 15 in the control target area 13, and a case where the detection accuracy of the infrastructure sensor 21 decreases due to insufficient light amount. In short, the environmental state prediction unit 24 has a function of predicting a defective area 35 where it is difficult to detect the following of the vehicle 15.

[0025] However, when a plurality of infrastructure sensors 21 are installed in the control target area 13 (four in the example shown in FIG. 1C), the environmental condition prediction unit 24 may predict a defective area 35 where it is difficult to detect following of the vehicle 15 by integrating the monitoring results of the plurality of infrastructure sensors 21. Specifically, for example, an operation may be performed in which an area where all of the monitoring results by the plurality of infrastructure sensors 21 are recognized as the defective area 35 is treated as the final defective area 35.

[0026] The communication state prediction unit 26 has a function of predicting the wireless communication state in the control target area 13. The prediction of such a communication state is not particularly limited. For example, it is performed by simulating the radio wave propagation mode in a virtual space in consideration of the position of the communication base station and the three-dimensional shape presented by a shielding object (not shown) such as a building existing in the control target area 13. Thereby, a distribution map related to the radio wave intensity can be created.

[0027] The communication state prediction unit 26 performs estimation of the current communication state and prediction of the future communication state for a plurality of communication methods including, for example, 4G communication and Wi-Fi communication (registered trademark). In each of the above communication methods, generally, due to differences in the position of the base station, the frequency of the radio wave used, etc., cases where the prediction results related to the communication state are different from each other are assumed even in a common location. Therefore, the vehicle control device 11 appropriately determines, for example, whether the communication method used by the vehicle 15 is pre-registered or which communication method the control communication unit 25 communicated with the vehicle 15, and may create the distribution map related to the radio wave intensity with reference to the communication method used by the vehicle 15.

[0028] 〔Schematic Configuration of Vehicle 15 Controlled by Vehicle Control Device 11〕 Next, the schematic configuration of the vehicle 15 controlled by the mobile body control device 11 according to the embodiment of the present invention will be described with reference to FIGS. 1A and 1C. The vehicle 15 controlled by the vehicle control device 11 has a peripheral monitoring function, an autonomous driving function, a wireless communication function, a driving control function for automatically driving according to a preset movement plan, and a movement restriction function that permits movement only within a dedicated area 33 assigned to itself.

[0029] In order to realize the above functions, the vehicle 15 is equipped with a vehicle control device 41 and a driving device 43. The vehicle control device 41 includes an in-vehicle communication unit 51, a peripheral monitoring unit 53, a navigation device 55, and a driving control unit 57.

[0030] The in-vehicle communication unit 51 transmits unique information Vinfo including the movement plan related to the vehicle 15 to the vehicle control device 11, while receiving the instruction content (recommended movement plan) sent via the instruction unit 29 provided in the control communication unit 25 of the vehicle control device 11. In addition, the in-vehicle communication unit 51 receives the environmental state prediction information related to the vehicle 15 (such as the position information of other vehicles in the dead angle area related to the vehicle 15, which is useful for the smooth running of the vehicle 15) sent via the instruction unit 29. The various types of information received by the in-vehicle communication unit 51 are provided to the driving control unit 57.

[0031] The peripheral monitoring unit 53 is configured to include, for example, a camera, a radar, and a lidar, and has a function of monitoring peripheral information regarding objects and signs including the surroundings of the vehicle 15. The peripheral information obtained by the peripheral monitoring unit 53 is provided to the driving control unit 57.

[0032] The navigation device 55 has a function of mapping the current position of the vehicle 15 on a map and deriving a route to the destination. The navigation device 55, for example, determines the current position of the vehicle 15 by means of a GNSS (Global Navigation Satellite System) receiver and assists in formulating a movement plan including a route from the current position to the destination set by the user. The current position of the vehicle 15 determined by the navigation device 55 and the information on the route to the destination derived by the navigation device 55 are provided to the driving control unit 57.

[0033] Basically, the driving control unit 57 performs driving control (autonomous driving control) of the vehicle 15 including driving force control, steering control, and braking force control based on driving operations including acceleration / deceleration, steering, and braking by the driver and a pre-established movement plan. In addition, the driving control unit 57 has a self-position estimation function, a route planning function to the destination, a route following function to autonomously drive the vehicle 15 along the planned route 16, a movement restriction function to restrict the movement range of the vehicle 15 to a dedicated area 33 set for itself, and the like. Furthermore, the driving control unit 57 performs automatic driving control of the vehicle 15 according to the instruction content (recommended movement plan) sent via the instruction unit 29 provided in the control communication unit 25 of the vehicle control device 11.

[0034] The driving device 43 is configured to include a driving device, a steering device, and a braking device (none of which are shown). The driving device operates to apply a driving force to the vehicle 15 according to a control command of the driving control unit 57 provided in the vehicle control device 41. The steering device operates to change the traveling direction of the vehicle 15 according to a control command of the driving control unit 57 provided in the vehicle control device 41. The braking device operates to apply a braking force to the vehicle 15 according to a control command of the driving control unit 57 provided in the vehicle control device 41.

[0035] 〔Operation of the vehicle control device 11 according to the embodiment of the present invention〕 Next, the operation of the vehicle control device 11 according to the embodiment of the present invention (the processing flow of the vehicle control method) will be described with appropriate reference to FIGS. 2, 3A, 3B, 4A, and 4B. FIG. 2 is a flowchart conceptually showing the processing flow of the vehicle control method according to an embodiment of the present invention. FIG. 3A is an explanatory diagram exemplarily showing a dedicated area 33 set for a vehicle 15 to be controlled. FIG. 3B is an explanatory diagram exemplarily showing dedicated areas 33 respectively set for a plurality of vehicles 15 to be controlled. FIG. 4A is an explanatory diagram exemplarily showing a mode in which the dedicated area 33 set for the vehicle 15 to be controlled is corrected in relation to a defective area 35. FIG. 4B is an explanatory diagram exemplarily showing a mode in which the dedicated area 33 set for the vehicle 15 to be controlled is corrected in relation to the defective area 35. As a premise, it is assumed that in a vehicle control device 41 provided in a vehicle 15 to be controlled, a movement plan including a route to a destination set by a user has been previously formulated.

[0036] In step S11 shown in FIG. 2, a vehicle control device 41 provided in a vehicle 15 to be controlled executes automatic driving according to a movement plan including a route to a destination set by a user.

[0037] In step S12, an in-vehicle communication unit 51 provided in the vehicle control device 41 transmits unique information Vinfo including the movement plan related to the vehicle 15 to the vehicle control device 11.

[0038] In step S13, a reception unit 27 provided in the vehicle control device 11 receives the unique information Vinfo related to the vehicle 15 transmitted from the vehicle control device 41 side.

[0039] In step S14, a control unit 19 provided in the vehicle control device 11 temporarily sets a dedicated area 33 for the vehicle 15 based on the unique information Vinfo including the movement plan related to the vehicle 15. Here, as shown in FIGS. 3A and 3B, the dedicated area 33 for the vehicle 15 is a dedicated area assigned to each individual vehicle 15 existing in the control target area 13.

[0040] As shown in FIGS. 3A and 3B, the dedicated area 33 is composed of an aggregate in which a plurality of unit areas 31 having a predetermined size are connected in series. The dedicated area 33 extends in the direction along the planned route 16 of the vehicle 15 and extends with a predetermined margin in the vehicle width direction. Each of the plurality of unit areas 31 is not particularly limited, but preferably has a square shape. The size of the unit area 31 may be appropriately set in consideration of the size of the controlled area 13, the size and quantity of moving objects such as the vehicle 15 to be controlled, and the like.

[0041] If the size of each individual unit area 31 is made finer, while precise control can be achieved, the processing load related to the control increases. On the other hand, if the size of each individual unit area 31 is made larger, while the processing load related to the control can be suppressed, precise control becomes difficult (the intervals between the plurality of vehicles 15 become unnecessarily large). Therefore, the predetermined size presented by each individual unit area 31 may be appropriately set in consideration of the above circumstances.

[0042] In step S14, the vehicle control device 11 allocates to the vehicle 15 an aggregate of a plurality of unit areas 31 connected along the planned route 16 based on the movement plan, based on the unique information Vinfo including the movement plan related to the vehicle 15 (see FIGS. 3A and 3B). Thereby, the vehicle control device 11 temporarily sets the dedicated area 33 of the vehicle 15. The width (length) of the dedicated area 33 along the planned route 16 of the vehicle 15 is appropriately set, for example, in consideration of the assumed vehicle speed of the vehicle 15 (such as the speed limit related to the road). However, the size of the dedicated area 33 of the vehicle 15 may be set taking into account the requests of the user of the vehicle 15.

[0043] Here, the important point is that in the case where a plurality of vehicles 15a and 15b exist in the controlled area 13 (see FIG. 3B), the dedicated areas 33a and 33b respectively allocated to the individual vehicles 15a and 15b are set (including temporary setting) exclusively so as not to overlap each other.

[0044] Specifically, assume that a conflict case (see Fig. 3B) occurs where a dedicated area 33a based on the planned route 16a of one vehicle 15a and a dedicated area 33b based on the planned route 16b of the other vehicle 15b may overlap with each other. In such a conflict case, for example, in accordance with a predetermined rule such as the Road Traffic Law (including traffic signals), the width of the dedicated area 33a of one vehicle 15a is reduced compared to the original width, while the dedicated area 33b of the other vehicle 15b is set to maintain the original width. This eliminates the conflict between the dedicated areas 33a and 33b set for each of the plurality of vehicles 15a and 15b. With such a configuration, it is possible to prevent collisions between the plurality of vehicles 15a and 15b, and as a result, it is possible to contribute to the creation of a smooth traffic environment.

[0045] However, at the time of step S14, the vehicle control device 11 has not yet considered the prediction information on the environmental state and communication state related to the vehicle 15 regarding the set range related to the dedicated area 33 of the vehicle 15.

[0046] Here, refer to the rule for assigning reference numerals used in the components shown in Fig. 3B. When separate descriptions of the plurality of vehicles 15a and 15b are not required, they are simply collectively referred to as the vehicle 15. Also, when separate descriptions of the planned routes 16a and 16b for each of the plurality of vehicles 15a and 15b are not required, they are simply collectively referred to as the planned route 16. Similarly, when separate descriptions of the dedicated areas 33a and 33b set for each of the plurality of vehicles 15a and 15b are not required, they are simply collectively referred to as the dedicated area 33.

[0047] In step S15, the information acquisition unit 17 provided in the vehicle control device 11 acquires prediction information on the environmental state and communication state related to the vehicle 15 via the prediction unit 23.

[0048] In step S16, the control unit 19 provided in the vehicle control device 11 determines the quality of the environmental state and communication state related to the vehicle 15 based on the prediction information on the environmental state and communication state related to the vehicle 15 acquired by the information acquisition unit 17.

[0049] Based on the prediction result of the environmental state of the vehicle 15 by the environmental state prediction unit 24, the control unit 19 determines whether the environmental state of the vehicle 15 is good or bad. Specifically, for example, as described above, in the control target area 13, in the case where a dead angle area is generated due to the influence of foreground objects or the like in the traveling direction of the vehicle 15, or in the case where the detection accuracy of the infrared sensor 21 decreases due to insufficient light quantity, when it is considered that there is a bad area in the control target area 13 where it is difficult to detect the following of the vehicle 15, the control unit 19 determines that the environmental state of the vehicle 15 is bad.

[0050] In addition, based on the prediction result of the communication state of the vehicle 15 by the communication state prediction unit 26, the control unit 19 determines whether the communication state of the vehicle 15 is good or bad. Specifically, for example, when referring to the distribution map of the radio wave intensity in the control target area 13 and there is a communication bad area 34 (see FIG. 4A) where the radio wave intensity is less than a predetermined threshold value in the control target area 13, the control unit 19 determines that the communication state of the vehicle 15 is bad.

[0051] In step S17, when it is determined that at least one of the environmental state and the communication state of the vehicle 15 is bad based on the determination result of whether the environmental state and the communication state of the vehicle 15 are good or bad, the control unit 19 provided in the vehicle control device 11 identifies the bad area 35 in the control target area 13 related to the environmental state or the communication state for which the bad determination is made. Here, when identifying the bad area 35 related to the communication state, a collection of unit areas 31 that are partially or entirely in contact with the communication bad area 34-1 shown in FIG. 4A is identified as the bad area 35-1 in the control target area 13. In addition, when identifying the bad area 35 related to the environmental state, a collection of unit areas 31 that are partially or entirely in contact with the environmental bad area 34-2 shown in FIG. 4B is identified as the bad area 35-2 in the control target area 13.

[0052] In step S18, when setting the dedicated area 33 provided in the vehicle control device 11 to adopt the planned route 16 and size unique to the vehicle 15, the control unit 19 excludes the identified defective area 35 from the dedicated area 33. That is, the control unit 19 sets the corrected dedicated area 33 related to the vehicle 15 by excluding the identified defective area 35 from the dedicated area 33 related to the vehicle 15 temporarily set in step S14.

[0053] Next, the control unit 19 appropriately corrects the movement plan including the planned route 16 transmitted from the vehicle 15 based on the corrected dedicated area 33 related to the vehicle 15 and the map information in the map DB 22, thereby formulating a recommended movement plan including the planned route 16-1 (see FIG. 4A) or 16-2 (see FIG. 4B) that avoids passing through the defective area 35.

[0054] Here, the symbol assignment rules used in the components shown in FIGS. 4A and 4B are mentioned. For each of the vehicles 15-1 and 15-2 (see FIGS. 4A and 4B), when a separate description of them is not required, they are simply collectively referred to as the vehicle 15. Also, for each of the planned routes 16-1 and 16-2 (see FIGS. 4A and 4B) for each of the vehicles 15-1 and 15-2, when a separate description of them is not required, they are simply collectively referred to as the planned route 16. Similarly, for each of the dedicated areas 33-1 and 33-2 (see FIGS. 4A and 4B) set for each of the vehicles 15-1 and 15-2, when a separate description of them is not required, they are simply collectively referred to as the dedicated area 33. Also, for each of the communication defective area 34-1 and defective area 35-1 (see FIG. 4A) set for the vehicle 15-1, when a separate description of them is not required, they are simply collectively referred to as the communication defective area 34 and defective area 35, respectively. Furthermore, for each of the environmental defective area 34-2 and defective area 35-2 (see FIG. 4B) set for the vehicle 15-2, when a separate description of them is not required, they are simply collectively referred to as the environmental defective area 34 and defective area 35, respectively.

[0055] In the example shown in FIG. 4A, the dedicated area 33-1 related to the vehicle 15-1 is changed to an area along a detour lane that avoids the defective area 35-1 (see the shaded portion in FIG. 4A) by changing the lane that the vehicle has been traveling on closer to the center line 36. At this time, in the traffic control unit 19, after avoiding passing through the defective area 35-1 by changing lanes, a recommended movement plan including a planned route 16-1 to return to the original lane is formulated.

[0056] Also, in the example shown in FIG. 4B, similarly to the above, the dedicated area 33-2 related to the vehicle 15-2 is changed to an area along a detour lane that avoids the defective area 35-2 (see the shaded portion in FIG. 4A) by changing the lane that the vehicle has been traveling on closer to the center line 36. At this time, in the traffic control unit 19, in order to avoid passing through the defective area 35-2 that spreads so as to block the planned route 16, a recommended movement plan including a planned route 16-2 passing through a detour by making a right turn at an intersection different from the original planned route 16 is formulated.

[0057] Now, returning to the flow shown in FIG. 3, the description will be continued. In step S19, the traffic control communication unit 25 provided in the vehicle control device 11 instructs the vehicle 15 side of the formulated recommended movement plan.

[0058] In step S20, the vehicle control device 41 provided in the vehicle 15 continues the automatic driving according to the instructed recommended movement plan. Actually, the vehicle control device 41 provided in the vehicle 15 transmits its own position information and the latest movement plan including the planned route 16 to the vehicle control device 11 at a predetermined cycle, while receiving the recommended movement plan sequentially updated by the vehicle control device 11, and performs automatic driving control (autonomous driving control) while sequentially updating the movement route related to the vehicle 15 according to the received recommended movement plan. Here, the recommended movement plan sequentially updated by the vehicle control device 11 is formulated by excluding the defective area 35 that may prevent the smooth movement of the vehicle 15 from the dedicated area 33 related to the vehicle 15. With such a configuration, since the automatic driving of the vehicle 15 can be performed according to the recommended movement plan that is sequentially updated, even if some obstacle occurs in the movement route of the vehicle 15, it is possible to obtain a vehicle 15 capable of realizing smooth movement. Further, according to the vehicle control device 41 provided in the vehicle 15, even when a driving operation that does not conform to the recommended movement plan instructed by the vehicle control device 11 occurs, without causing the vehicle 15 to move according to the driving operation, the automatic driving according to the recommended movement plan is continued, so that it is possible to provide a vehicle 15 that can accurately realize smooth movement.

[0059] 〔Operation of the vehicle control device 11 according to an embodiment of the present invention〕 Next, the operation of the vehicle control device 11 according to an embodiment of the present invention will be described. The vehicle control device 11 according to an embodiment of the present invention is premised on a vehicle control device 11 that exists in a predetermined control target area 13 and controls the movement of a vehicle 15 having a peripheral monitoring function, a wireless communication function, and a driving control function for performing automatic driving. The vehicle control device 11 according to an embodiment of the present invention includes an information acquisition unit 17 that acquires unique information Vinfo including the environmental state or communication state related to the vehicle 15, and a control control unit 19 that controls the movement of the vehicle 15 based on the unique information Vinfo acquired by the information acquisition unit 17. The control target area 13 is divided and managed into a plurality of unit areas 31 having a predetermined size, and the control control unit 19 sets a dedicated area 33 composed of a set of unit areas 31 to have a unique size for each individual vehicle 15 based on the unique information Vinfo, thereby adopting a configuration for controlling the movement of each individual vehicle 15.

[0060] According to the vehicle control device 11 according to an embodiment of the present invention, the control control unit 19 sets a dedicated area 33 composed of a set of unit areas 31 to have a unique size for each individual vehicle 15 (mobile body) based on the unique information Vinfo, thereby controlling the movement of each individual vehicle 15. Therefore, even in a situation where it is difficult to acquire information in the control target area 13, it is possible to maintain a smooth traffic environment for the vehicle 15.

[0061] Further, in the vehicle control device 11 according to the embodiment of the present invention, the dedicated area 33 is composed of an aggregate of a plurality of unit areas 31 connected in series. The vehicle 15 has a driving control function for performing automatic driving according to a preset movement plan. The control control unit 19 may adopt a configuration in which the dedicated area 33 is set for each individual vehicle 15 to have a unique route and width based on the unique information Vinfo including the movement plan.

[0062] According to the vehicle control device 11 according to the embodiment of the present invention, since the control control unit 19 sets the dedicated area 33 for each individual vehicle 15 to have a unique route and width based on the unique information Vinfo including the movement plan, in addition to the effect of maintaining a smooth traffic environment for the vehicle 15, it is possible to realize a planned control based on the movement plan of the vehicle 15.

[0063] Further, the vehicle control device 11 according to the embodiment of the present invention further includes a reception unit 27 that receives the unique information Vinfo of the vehicle 15, and an instruction unit 29 that instructs the movement based on the dedicated area 33 set for the vehicle 15. The control control unit 19 sets a dedicated area 33 having a unique route and width for the vehicle 15 based on the unique information Vinfo of the vehicle 15 received by the reception unit 27, and instructs the vehicle 15 via the instruction unit 29 a recommended movement plan based on the set dedicated area 33. A configuration may be adopted.

[0064] According to the vehicle control device 11 according to the embodiment of the present invention, the control control unit 19 sets a dedicated area 33 having a unique route and width for the vehicle 15 based on the unique information Vinfo of the vehicle 15 received by the reception unit 27, and based on the set dedicated area 33. Since the recommended movement plan is instructed to the vehicle 15 via the instruction unit 29, in addition to the effect of maintaining a smooth traffic environment for the vehicle 15, it is possible to realize a planned control based on the recommended movement plan that can ensure the smooth movement of the vehicle 15.

[0065] In addition, the vehicle control device 11 according to the embodiment of the present invention further includes a prediction unit 23 that predicts the environmental state and communication state of the vehicle 15. The information acquisition unit 17 acquires prediction information regarding the environmental state and communication state of the vehicle 15 via the prediction unit 23. The control unit 19 may adopt a configuration in which, based on the prediction information regarding the environmental state and communication state of the vehicle 15 acquired by the information acquisition unit 17, the dedicated area 33 related to the vehicle 15 is set to have a path and width unique to the vehicle 15.

[0066] According to the vehicle control device 11 according to the embodiment of the present invention, the control unit 19 sets the dedicated area 33 related to the vehicle 15 to have a path and width unique to the vehicle 15 based on the prediction information regarding the environmental state and communication state of the vehicle 15. Therefore, in addition to maintaining a smooth traffic environment for the vehicle 15 and realizing planned control based on the movement plan of the vehicle 15, it is possible to ensure smooth movement of the vehicle 15 based on the prediction information regarding the environmental state and communication state of the vehicle 15.

[0067] In addition, in the vehicle control device 11 according to the embodiment of the present invention, the control unit 19 determines the quality of the environmental state and communication state related to the vehicle 15 based on the prediction information regarding the environmental state and communication state of the vehicle 15 acquired by the information acquisition unit 17. As a result of the quality determination, when it is determined that at least one of the environmental state or communication state related to the vehicle 15 is poor, among the control target areas 13, a poor area 35 related to the environmental state or communication state for which the poor determination is made is identified. When setting the dedicated area 33 related to the vehicle 15 to have a path and width unique to the vehicle 15, a configuration may be adopted in which the identified poor area 35 is excluded from the dedicated area 33.

[0068] According to the vehicle control device 11 according to the embodiment of the present invention, when setting the dedicated area 33 related to the vehicle 15 to have a path and width unique to the vehicle 15, in order to exclude the identified defective area 35 from the dedicated area 33, it is possible to maintain a smooth traffic environment for the vehicle 15 and further enhance the effect of realizing planned control based on the movement plan of the vehicle 15.

[0069] On the other hand, the vehicle control method according to the present invention is premised on a vehicle control method used when controlling the movement of a vehicle 15 having a peripheral monitoring function, a wireless communication function, and a driving control function for performing automatic driving in a predetermined control target area 13. The vehicle control method according to the present invention includes an acquisition step of acquiring unique information Vinfo including the environmental state or communication state related to the vehicle 15, and a control step of controlling the movement of the vehicle 15 based on the acquired unique information Vinfo. The control target area 13 is divided and managed into a plurality of unit areas 31 having a predetermined size. In the control step, a dedicated area 33 composed of an aggregate of unit areas 31 is set for each individual vehicle 15 to have a unique width based on the unique information Vinfo, thereby adopting a configuration for controlling the movement of each individual vehicle 15.

[0070] According to the vehicle control method according to the embodiment of the present invention, in the control step, since the dedicated area 33 composed of an aggregate of unit areas 31 is set for each individual vehicle 15 to have a unique width based on the unique information Vinfo, thereby controlling the movement of each individual vehicle 15, it is possible to maintain a smooth traffic environment for the vehicle 15 even in a situation where it is difficult to acquire information in the control target area 13.

[0071] Further, in the vehicle control method according to the embodiment of the present invention, the dedicated area 33 is composed of an aggregate of a plurality of connected unit areas 31, the vehicle 15 has a driving control function for performing automatic driving according to a preset movement plan, and in the control step, the dedicated area 33 may be set for each individual vehicle 15 to have a unique path and width based on the unique information Vinfo including the movement plan.

[0072] According to the vehicle control method according to an embodiment of the present invention, in the control step, in order to set the dedicated area 33 to have a unique route and width for each individual vehicle 15 based on the unique information Vinfo including the movement plan, in addition to the effect of maintaining a smooth traffic environment for the vehicle 15, it is possible to realize a planned control based on the movement plan of the vehicle 15.

[0073] Further, the vehicle control method according to an embodiment of the present invention further includes a reception step of receiving the unique information Vinfo of the vehicle 15, and an instruction step of instructing movement based on the dedicated area 33 set for the vehicle 15. In the control step, a dedicated area 33 having a unique route and width for the vehicle 15 is set based on the unique information Vinfo of the vehicle 15 received in the reception step. In the instruction step, a configuration may be adopted in which a recommended movement plan based on the set dedicated area 33 is instructed to the vehicle 15.

[0074] According to the vehicle control method according to an embodiment of the present invention, in the control step, a dedicated area 33 having a unique route and width for the vehicle 15 is set based on the unique information Vinfo of the vehicle 15 received in the reception step. In the instruction step, a recommended movement plan based on the set dedicated area 33 is instructed to the vehicle 15. Therefore, in addition to the effect of maintaining a smooth traffic environment for the vehicle 15, it is possible to realize a planned control based on a recommended movement plan that can ensure smooth movement of the vehicle 15.

[0075] Further, the vehicle control method according to an embodiment of the present invention further includes a prediction step of predicting the environmental state and communication state of the vehicle 15, respectively. In the acquisition step, prediction information regarding the environmental state and communication state of the vehicle 15 predicted in the prediction step is acquired. In the control step, based on the prediction information regarding the environmental state and communication state of the vehicle 15 acquired in the acquisition step, a configuration may be adopted in which the dedicated area 33 related to the vehicle 15 is set to have a unique route and width for the vehicle 15.

[0076] According to the vehicle control method according to an embodiment of the present invention, in the control step, based on the prediction information regarding the environmental state and communication state of the vehicle 15 acquired in the acquisition step, the dedicated area 33 related to the vehicle 15 is set to have a path and width unique to the vehicle 15. Therefore, in addition to maintaining a smooth traffic environment for the vehicle 15 and achieving planned control based on the movement plan of the vehicle 15, it is possible to ensure smooth movement of the vehicle 15 based on the prediction information regarding the environmental state and communication state of the vehicle 15.

[0077] Further, in the vehicle control method according to an embodiment of the present invention, in the control step, based on the prediction information regarding the environmental state and communication state of the vehicle 15 acquired in the acquisition step, a determination is made as to whether the environmental state and communication state related to the vehicle 15 are good or bad. As a result of the good / bad determination, when a determination is made that at least one of the environmental state or communication state related to the vehicle 15 is bad, among the control target areas 13, a bad area 35 related to the environmental state or communication state for which the bad determination has been made is identified. When setting the dedicated area 33 related to the vehicle 15 to have a path and width unique to the vehicle 15, a configuration may be adopted in which the identified bad area 35 is excluded from the dedicated area 33.

[0078] According to the vehicle control method according to an embodiment of the present invention, when setting the dedicated area 33 related to the vehicle 15 to have a path and width unique to the vehicle 15, since the identified bad area 35 is excluded from the dedicated area 33, it is possible to further enhance the effect of maintaining a smooth traffic environment for the vehicle 15 and achieving planned control based on the movement plan of the vehicle 15.

[0079] 〔Other Embodiments〕 The plurality of embodiments described above are examples of the implementation of the present invention. Therefore, the technical scope of the present invention should not be limitedly interpreted by these. This is because the present invention can be implemented in various forms without departing from its gist or its main features.

[0080] For example, in the description of the vehicle control device 11 according to the embodiment of the present invention, when setting the dedicated area 33 for each vehicle 15, an example was given in which the defective area 35 where it is difficult to detect the following of the vehicle 15 is excluded from the dedicated area 33. However, the present invention is not limited to this example. A configuration may be adopted in which the entry of the vehicle 15 into the defective area 35 is permitted under conditions such as restricting the vehicle speed to less than a predetermined threshold value.

[0081] Finally, the present invention may be embodied in a form in which a program for realizing the functions according to the above-described embodiments is supplied to a system or device via a network or a storage medium, and a processor provided in a computer of the system or device reads and executes the program. Further, the present invention may be embodied using a hardware circuit for realizing the above functions. Information including the program for realizing the above functions can be held in a recording device such as a memory or a hard disk, or a recording medium such as a memory card or an optical disk.

Explanation of Reference Numerals

[0082] 11 Vehicle control device (mobile body control device) 13 Controlled target area 15 Vehicle (mobile body) 16 Planned route 17 Information acquisition unit 19 Control control unit 21 Infrared sensor 23 Prediction unit 24 Environmental state prediction unit 25 Control communication unit 26 Communication state prediction unit 27 Reception unit 29 Instruction unit 31 Unit area 33 Dedicated area 35 Defective area 41 Vehicle control device Vinfo Unique information including the movement route

Claims

1. A mobile body control device for controlling the movement of a mobile body having a peripheral monitoring function, a wireless communication function, and a driving control function for performing autonomous driving in a predetermined control target area, an information acquisition unit that acquires unique information including the environmental state or communication state related to the mobile body; a control unit that controls the movement of the mobile body based on the unique information acquired by the information acquisition unit, wherein the control target area is divided and managed into a plurality of unit areas having a predetermined size, and the control unit controls the movement of each mobile body by setting a dedicated area composed of an aggregate of the unit areas to have a unique size for each individual mobile body based on the unique information. A mobile body control device characterized by the above.

2. The mobile body control device according to claim 1, wherein the dedicated area is composed of an aggregate of a plurality of connected unit areas, the driving control function performs autonomous driving according to a preset movement plan, and the control unit sets the dedicated area to have a unique path and size for each individual mobile body based on the unique information including the movement plan. A mobile body control device characterized by the above.

3. The mobile body control device according to claim 2, further comprising a reception unit that receives the unique information of the mobile body, and an instruction unit that instructs the movement based on the dedicated area set for the mobile body, wherein the control unit sets a dedicated area having a unique path and size for the mobile body based on the unique information of the mobile body received by the reception unit, and instructs the mobile body via the instruction unit a recommended movement plan based on the set dedicated area. A mobile body control device characterized by the above.

4. The vehicle control device according to claim 2, further comprising a prediction unit that predicts the environmental state and communication state related to the mobile body, the information acquisition unit acquires prediction information regarding the environmental state and communication state related to the mobile body via the prediction unit, and the control unit sets the dedicated area related to the mobile body to have a unique path and size for the mobile body based on the prediction information regarding the environmental state and communication state related to the mobile body acquired by the information acquisition unit. A mobile body control device characterized by the above.

5. The mobile body control device according to claim 4, wherein the control unit Based on the prediction information regarding the environmental state and communication state of the mobile body acquired by the information acquisition unit, a determination is made on whether the environmental state and communication state of the mobile body are good or bad. As a result of the pass / fail determination, when a determination is made that at least one of the environmental state or communication state of the mobile body is bad, among the control target areas, a bad area related to the environmental state or communication state for which the bad determination is made is identified. When setting the dedicated area related to the mobile body to have a path and size unique to the mobile body, the identified bad area is excluded from the dedicated area. A mobile body control device characterized by the above.

6. A vehicle control method used when controlling the movement of a vehicle having a peripheral monitoring function, a wireless communication function, and a driving control function for automatic driving in a predetermined control target area, an acquisition step of acquiring unique information including the environmental state or communication state of the vehicle; a control step of controlling the movement of the vehicle based on the acquired unique information, wherein the control target area is divided and managed into a plurality of unit areas having a predetermined size, and in the control step, the movement of each vehicle is controlled by setting a dedicated area composed of an aggregate of the unit areas to have a unique size for each individual vehicle based on the unique information. A vehicle control method characterized by the above.

7. The vehicle control method according to claim 6, wherein the dedicated area is composed of an aggregate of a plurality of connected unit areas, the vehicle has the driving control function, the driving control function performs automatic driving according to a preset movement plan, and in the control step, the dedicated area is set to have a unique path and size for each individual vehicle based on the unique information including the movement plan. A vehicle control method characterized by the above.

8. The vehicle control method according to claim 7, further comprising a reception step of receiving the unique information of the vehicle, and an instruction step of instructing the vehicle to move based on the dedicated area set for the vehicle, wherein in the control step, a dedicated area having a unique path and size for the vehicle is set based on the unique information of the vehicle received in the reception step, and in the instruction step, a recommended movement plan based on the set dedicated area is instructed to the vehicle. A vehicle control method characterized by the above.

9. The vehicle control method according to claim 7, further comprising a prediction step of predicting the environmental state and communication state of the vehicle respectively; in the acquisition step, acquisition of prediction information regarding the environmental state and communication state of the vehicle predicted in the prediction step; in the control step, based on the prediction information regarding the environmental state and communication state of the vehicle acquired in the acquisition step, setting the dedicated area related to the vehicle to have a path and width unique to the vehicle A vehicle control method characterized by the above.

10. The vehicle control method according to claim 9, in the control step, based on the prediction information regarding the environmental state and communication state of the vehicle acquired in the acquisition step, determining the quality of the environmental state and communication state of the vehicle; if, as a result of the quality determination, it is determined that at least one of the environmental state or communication state of the vehicle is poor, identifying a poor area related to the environmental state or communication state for which the poor determination has been made among the control target areas; when setting the dedicated area related to the vehicle to have a path and width unique to the vehicle, excluding the identified poor area from the dedicated area A vehicle control method characterized by the above.

11. A vehicle having a peripheral monitoring function, a wireless communication function, and a driving control function for performing automatic driving according to a preset movement plan, which is controlled by the mobile body control device according to claim 3, equipped with a vehicle control device including a communication unit that receives the instruction content sent via the instruction unit provided in the mobile body control device, and a driving control unit that performs automatic driving according to the recommended movement plan related to the instruction content; the vehicle control device transmits its own position information and the latest movement plan including the planned route to the mobile body control device at a predetermined cycle, and while receiving the recommended movement plan updated by the mobile body control device, performs automatic driving control while updating its own movement route according to the received recommended movement plan A vehicle characterized by the above.

12. The vehicle according to claim 11, when a driving operation not following the recommended movement plan occurs, the vehicle control device continues the automatic driving according to the recommended movement plan without causing the vehicle to move according to the driving operation A vehicle characterized by the above.

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