Control device and operating method thereof

Abstract

To assist a vehicle in smoothly entering a lane.SOLUTION: A control device is provided, comprising an acquisition unit for acquiring information indicative of the state of an entering vehicle trying to enter a lane, and a control unit configured to respond to a situation where the state of the entering vehicle corresponds to a first state indicating that the vehicle is entering the lane by outputting an instruction for making a roadside device output information urging an approaching vehicle approaching the entering vehicle from behind in the lane to let the entering vehicle enter the lane.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present disclosure relates to a control device and a method of operating the control device. [Background technology]

[0002] There are known techniques for notifying vehicles of various information to support safe driving of vehicles. Patent Document 1 discloses a device that notifies a vehicle entering a main lane of an expressway of the timing to enter the main lane based on information about vehicles traveling on the main lane. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-067038 Summary of the Invention [Problem to be solved by the invention]

[0004] There is room for improvement in encouraging vehicles entering lanes from branch lanes, bus stops, etc.

[0005] The present disclosure relates to a control device and the like that can assist a vehicle in smoothly entering a lane. [Means for solving the problem]

[0006] The control device according to the present disclosure includes an acquisition unit that acquires information indicating the state of an entering vehicle attempting to enter a lane; and a control unit that, when the state of the entering vehicle is in a first state that suggests entry into the lane, outputs an instruction to a roadside device to output information to an approaching vehicle that is approaching the entering vehicle from behind on the lane, urging the entering vehicle to allow the entering vehicle to enter; If you have, you have.

[0007] The operation method of the control device in the present disclosure includes acquiring information indicating the state of an entering vehicle attempting to enter a lane, and when the state of the entering vehicle is in a first state suggesting entry into the lane, outputting an instruction to a roadside device to output information to an approaching vehicle approaching the entering vehicle from behind on the lane to encourage the entering vehicle to be allowed to enter. [Effects of the Invention]

[0008] The control device and the like according to the present disclosure enable a vehicle to enter a lane more smoothly. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram illustrating an example of the configuration of an information providing system. [Figure 2] FIG. 2 illustrates an example of the configuration of a server device. [Figure 3] FIG. 2 is a diagram illustrating an example of the configuration of a roadside device. [Figure 4] FIG. 10 is a diagram illustrating an example of an operation procedure of the control device. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment will be described with reference to the drawings.

[0011] FIG. 1 is a diagram illustrating an example of the configuration of an information provision system according to an embodiment. The information provision system 1 is a system for supporting the safe driving of vehicles 13 and 14 traveling along a lane 16 in a traveling direction 18 in a schematic plan view. The information provision system 1 includes one or more server devices 10 and one or more roadside devices 12, which are connected to each other via a network 11 so as to be able to communicate information with each other. The vehicle 13 is, for example, a bus that departs from a bus stop 17 arranged along the lane 16 and enters the lane 16. Hereinafter, the vehicle 13 will be referred to as an entering vehicle 13. The vehicle 14 is another vehicle, such as a bus or a passenger car, that approaches the entering vehicle 13 from behind on the lane 16. Hereinafter, the vehicle 14 will be referred to as an approaching vehicle 14.

[0012] The server device 10 is, for example, a server computer that belongs to a cloud computing system or other computing system and functions as a server that implements various functions. The server device 10 may be configured of two or more server computers that are connected to each other so as to be able to communicate information and operate in cooperation with each other. The server device 10 corresponds to the "information processing device" in this embodiment.

[0013] The network 11 is, for example, the Internet, but may also include a mobile communication network, an ad-hoc network, a LAN (Local Area Network), a MAN (Metropolitan Area Network), or other networks, or any combination thereof.

[0014] The roadside device 12 is a device installed at any point along the lane 16, and displays various information or outputs it as audio under the control of a control device 15 configured to be able to communicate with the server device 10 via a network 11. The roadside device 12 has a separate display device 19 configured to display various information. The roadside device 12 is installed, for example, in a position where the information displayed by the roadside device 12 can be seen by an occupant of an approaching vehicle 13 near a bus stop 17, and presents various information to the approaching vehicle 13 by displaying it. The display device 19 is also installed in a position where the information displayed by the display device 19 can be seen by an occupant of an approaching vehicle 14 traveling on the lane 16 and approaching the approaching vehicle 13 from behind. The roadside device 12 has dimensions of, for example, several tens to several hundreds of centimeters in height and several tens to several hundred centimeters in width and depth. The display device 19 may also be, for example, a substantially rectangular signage with sides of several tens to several hundreds of centimeters.

[0015] The entering vehicle 13 and the approaching vehicle 14 are vehicles whose driving is automated at any level (for example, any of levels 1 to 5 in the SAE (Society of Automotive Engineers)) while being appropriately assisted by a driver. The entering vehicle 13 and the approaching vehicle 14 may be an electric vehicle or a hybrid vehicle that uses battery power for at least part of the energy required for driving. The entering vehicle 13 and the approaching vehicle 14 may have communication and positioning functions.

[0016] In this embodiment, the server device 10 functions as a "control device" and acquires information indicating the state of the entering vehicle 13 entering the lane 16. When the state of the entering vehicle 13 suggests that the entering vehicle 13 should enter the lane 16, the server device 10 outputs an instruction (hereinafter referred to as a notification instruction) to the roadside device 12 near the entering vehicle 13 to output information (hereinafter referred to as "permission request information") urging the approaching vehicle 14, which is approaching the entering vehicle 13 from behind on the lane 16, to allow the entering vehicle 13 to enter. The roadside device 12 outputs warning information in response to the notification instruction, so that the approaching vehicle 14 can slow down in response to the warning information to allow the entering vehicle 13 to enter the lane 16. This allows the entering vehicle 13 to enter the lane 16 more smoothly.

[0017] 2 is a diagram showing an example of the configuration of the server device 10. The server device 10 has a communication unit 21, a storage unit 22, and a control unit 23. When the server device 10 is configured with two or more server computers, these components are appropriately arranged in the two or more computers.

[0018] The communication unit 21 includes one or more communication interfaces. The communication interface is, for example, a LAN interface. The communication unit 21 receives information used in the operation of the server device 10 and transmits information obtained by the operation of the server device 10. The server device 10 is connected to the network 11 by the communication unit 21 and communicates information with the roadside device 12 and the like via the network 11.

[0019] The storage unit 22 includes, for example, one or more semiconductor memories, one or more magnetic memories, one or more optical memories, or a combination of at least two of them, that function as a main storage device, an auxiliary storage device, or a cache memory. The semiconductor memory is, for example, a random access memory (RAM) or a read only memory (ROM). The RAM is, for example, a static RAM (SRAM) or a dynamic RAM (DRAM). The ROM is, for example, an electrically erasable programmable read only memory (EEPROM). The storage unit 22 stores information used in the operation of the server device 10 and information obtained by the operation of the server device 10.

[0020] The control unit 23 includes one or more processors, one or more dedicated circuits, or a combination thereof. The processor may be, for example, a general-purpose processor such as a central processing unit (CPU), or a dedicated processor such as a graphics processing unit (GPU) specialized for a specific process. The dedicated circuit may be, for example, a field-programmable gate array (FPGA) or an application-specific integrated circuit (ASIC). The control unit 23 executes information processing related to the operation of the server device 10 while controlling each unit of the server device 10. The functions of the server device 10 are realized by the processor included in the control unit 23 executing a control program. The control program is a program for causing a computer to function as the server device 10. Alternatively, some or all of the functions of the server device 10 may be realized by a dedicated circuit included in the control unit 23. Alternatively, the control program may be stored in a non-transitory recording / storage medium readable by the server device 10 and read by the server device 10 from the medium.

[0021] 3 is a diagram showing an example of the configuration of the roadside device 12. The roadside device 12 has a control device 15, a positioning unit 34, an input unit 35, an output unit 36, and an imaging unit 37. The control device 15 also has a communication unit 31, a storage unit 32, and a control unit 33.

[0022] The communication unit 31 has a communication module compatible with wired or wireless LAN standards, a module compatible with mobile communication standards, etc. Mobile communication standards include LTE (Long Term Evolution), 4G (4th Generation), 5G (5th Generation), etc. The roadside device 12 is connected to the network 11 by the communication unit 31 via a nearby router device or a mobile communication base station, and communicates information with the server device 10 via the network 11.

[0023] The storage unit 32 includes one or more semiconductor memories, one or more magnetic memories, one or more optical memories, or a combination of at least two of these. The semiconductor memories are, for example, RAM or ROM. The RAM is, for example, SRAM or DRAM. The ROM is, for example, EEPROM. The storage unit 32 stores information used in the operation of the control unit 33 and information obtained by the operation of the control unit 33.

[0024] The control unit 33 has, for example, one or more general-purpose processors such as a CPU or an MPU (Micro Processing Unit), or one or more dedicated processors specialized for specific processing. Alternatively, the control unit 33 may have one or more dedicated circuits such as an FPGA or an ASIC. The control unit 33 comprehensively controls the operation of the roadside unit 12 by operating according to a control / processing program or operating according to an operating procedure implemented as a circuit. The control unit 33 then transmits and receives various information to and from the server device 10, etc. via the communication unit 31, and performs the operation according to this embodiment. The functions of the control unit 33 are realized by a processor included in the control unit 33 executing a control program. The control program is a program that causes the processor to function as the control unit 33. Alternatively, some or all of the functions of the control unit 33 may be realized by a dedicated circuit included in the control unit 33.

[0025] The positioning unit 34 includes one or more GNSS (Global Navigation Satellite System) receivers. GNSS includes at least one of the following: GPS (Global Positioning System), QZSS (Quasi-Zenith Satellite System), BeiDou, GLONASS (Global Navigation Satellite System), and Galileo. The positioning unit 34 acquires location information of the roadside device 12 and sends it to the control unit 33.

[0026] The input unit 35 includes one or more input interfaces. The input interfaces include, for example, physical keys, capacitance keys, a pointing device, and a touch screen integrated with a display. The input unit 35 accepts input of information used for the operation of the control unit 33 and sends the input information to the control unit 43.

[0027] The output unit 36 includes one or more output interfaces. The output interfaces include, for example, a display, a speaker, and the display device 19. The display device 19 includes a display, a speaker, etc., and is connected to the main body of the roadside device 12 so as to be able to perform data communication via wired or wireless communication. The display provided on the main body of the roadside device 12 or the display device 19 is, for example, an LED (Light Emitting Diode) light or a bulletin board. The display may include an LCD (Liquid Crystal Display), an organic EL (Electro-Luminescence) display, etc. The output unit 36 outputs information under the control of the control unit 33.

[0028] The imaging unit 37 is a visible light camera installed at a position where it can capture images of the external periphery of the roadside device 12. The camera is installed at a position and angle where it can capture images of the entering vehicle 13 stopped at the bus stop 17 and other vehicles, including the approaching vehicle 14, traveling on the lane 16. The camera captures images of the subject at, for example, 15 to 30 frames per second to generate successive captured images. The imaging unit 37 sends the captured images to the control unit 23.

[0029] Fig. 4 is a flowchart showing an example of the operation procedure of the server device 10. Each step in the procedure of Fig. 4 is executed by the control unit 23 of the server device 10 at an arbitrary period, for example, at a period of several tens of microseconds to several seconds.

[0030] In step S50, the control unit 23 acquires status information indicating the status of the entering vehicle 13. The status of the entering vehicle 13 at the stop 17 is, for example, preparing to depart or ready to depart. The ready to depart state indicates that the entering vehicle 13 is about to enter the lane 16. The control unit 23 acquires a captured image of the stop 17 including the entering vehicle 13 from the roadside device 12 via the communication unit 21, and performs image processing using an arbitrary algorithm to determine whether the entering vehicle 13 is preparing to depart or ready to depart. For example, if the door of the entering vehicle 13 is open or the light indicating that the vehicle is stopped is on, the entering vehicle 13 is determined to be preparing to depart. On the other hand, if the door of the entering vehicle 13 is closed or the light indicating that the vehicle is stopped is off, the entering vehicle 13 is determined to be ready to depart. It is also possible to determine that the vehicle is ready to depart when movement of the entering vehicle 13 is detected based on a plurality of captured images acquired over time, for example, when movement of the entering vehicle 13 from the back of the bus stop 17 to near the boundary with the lane 16 is detected. Furthermore, the control unit 23 may derive the movement speed of the entering vehicle 13 from the movement distance of the entering vehicle 13 per elapsed time, and determine that the vehicle is ready to depart when the movement speed is equal to or greater than an arbitrary standard, for example, 3 to 5 kilometers per hour.

[0031] In a modified example, the roadside device 12 and the entering vehicle 13 may communicate information via road-to-vehicle communication or the like, and the server device 10 may receive status information from the roadside device 12 that the roadside device 12 receives from the entering vehicle 13. In this case, the status information may be information indicating whether the door is open or closed, information regarding brake release or activation indicating whether the vehicle is ready to depart, or information generated in response to an operation by the occupant indicating whether the vehicle intends to depart. In this case, the communication unit 21 of the server device 10 corresponds to the "acquisition unit."

[0032] In step S51, if the state of the approaching vehicle 13 is ready to depart (Yes), the control unit 23 proceeds to step S52, and if the state is not ready to depart (No), the control unit 23 ends the procedure of FIG.

[0033] In step S52, the control unit 23 acquires behavior information indicating the behavior of the approaching vehicle 14. The behavior of the approaching vehicle 14 may be, for example, an allowable behavior that allows the approaching vehicle 13 to enter before the bus stop 17, or an unallowable behavior that does not allow the approaching vehicle 14 to enter. The control unit 23 acquires captured images of the lane 16 behind the bus stop 17 from the roadside device 12 via the communication unit 21, and performs image processing using an arbitrary algorithm to determine whether the behavior of the approaching vehicle 14 is an allowable behavior or an unallowable behavior. At this time, the control unit 23 may also acquire identification information of the approaching vehicle 14 from the license plate number of the approaching vehicle 14, for example. For example, the control unit 23 derives the traveling speed of the approaching vehicle 14 from the difference between multiple captured images taken over time, and derives the distance from the roadside device 12 to the approaching vehicle 14 from the position and size of the approaching vehicle 14 in the captured images. The control unit 23 can determine that the behavior is permissible when the distance to the approaching vehicle 14 is greater than an arbitrary reference distance and the moving speed of the approaching vehicle 14 is less than an arbitrary reference speed, i.e., when the approaching vehicle 14 is located a sufficient distance behind the entering vehicle 13 and moving at a sufficiently slow speed. The control unit 23 may also determine that the behavior is permissible based on the condition that the approaching vehicle 14 behaves in a way that encourages the entering vehicle 13 to enter, for example, by detecting, from multiple captured images over time, the blinking of its lights multiple times within an arbitrary reference time. For example, when the occupant of the approaching vehicle 14 visually recognizes or the on-board device detects that the entering vehicle 13 has started moving or has turned on various lights, the occupant or the on-board device reduces the vehicle speed, thereby performing the permissible behavior. Note that if the behavior is not determined to be permissible, the behavior is determined to be impermissible.

[0034] In a modified example, the roadside device 12 and the approaching vehicle 14 may communicate with each other via road-to-vehicle communication or the like, and the server device 10 may receive behavior information from the roadside device 12 that the roadside device 12 receives from the approaching vehicle 14. In this case, the behavior information may include the vehicle speed detected by an in-vehicle device of the approaching vehicle 14, position information of the approaching vehicle 14 detected by the positioning function of the approaching vehicle 14 and position information of the roadside device 12 detected by the positioning unit 34 of the roadside device 12, and information regarding braking or accelerator opening indicating deceleration of the approaching vehicle 14. The in-vehicle device of the approaching vehicle 14 may add identification information of the approaching vehicle 14 to the behavior information. In this case, the communication unit 21 of the server device 10 corresponds to the "acquisition unit." The distance from the roadside device 12 to the approaching vehicle 14 is derived by the control unit 23 from the position information of the roadside device 12 and the approaching vehicle 14.

[0035] In step S53, if the behavior of the approaching vehicle 14 is an allowable behavior (Yes), the control unit 23 proceeds to step S54, and if the behavior is an unallowable behavior (No), the control unit 23 proceeds to step S56.

[0036] In step S54, the control unit 23 instructs the roadside device 12 to output permissible information. The permissible information is information that prompts the entering vehicle 13 to enter the lane 16. The control unit 23 sends instruction information instructing the roadside device 12 to output instruction information via the communication unit 21. To improve safety, the control unit 23 may output the instruction information after a given waiting time has elapsed since determining the permissible behavior.

[0037] In step S55, the control unit 23 instructs the roadside unit 12 to output the permission request information. That is, the control unit 23 outputs the permission request information and sends a notification instruction to the roadside unit 12 to output the permission request information via the communication unit 21.

[0038] On the other hand, in step S56, the control unit 23 instructs the roadside device 12 to output non-permissible information. That is, the control unit 23 sends information instructing the roadside device 12 to output non-permissible information via the communication unit 21. The non-permissible information is information that prohibits the entering vehicle 13 from entering the lane 16.

[0039] In step S57, the control unit 23 instructs the roadside unit 12 to output attention request information. That is, the control unit 23 sends information to the roadside unit 12 via the communication unit 21 instructing the roadside unit 12 to output attention request information.

[0040] In the roadside device 12, the communication unit 31 receives a notification instruction to output allowance information or information to output non-allowance information, and the control unit 33 responds to the instruction by causing the output unit 36 to output the allowance information or non-allowance information. For example, the display of the roadside device 12 itself displays allowance information in the form of text such as "Please enter" to encourage the entering vehicle 13 to enter the lane 16, or non-allowance information in the form of text such as "Stop" to prohibit entry. Alternatively, the speaker of the output unit 36 may output the text to encourage entry or the text prohibiting entry by voice. Alternatively, the allowance information or non-allowance information may be information for controlling an automatic driving control device when the entering vehicle 13 is automatically driven. In this case, the roadside device 12 sends the allowance information or non-allowance information to the entering vehicle 13, and the in-vehicle device executes control according to the sent information.

[0041] The occupant of the entering vehicle 13 causes the entering vehicle 13 to enter the lane 16 in accordance with the allowance information that is displayed or output as audio, or causes the entering vehicle 13 to refrain from entering the lane 16 in accordance with the non-allowance information that is displayed or output as audio. Alternatively, the on-board device controls the entering vehicle 13 in accordance with the allowance information or non-allowance information.

[0042] Furthermore, in the roadside device 12, the communication unit 31 receives a notification instruction to output permission request information or an instruction to output caution request information, and the control unit 33 responds to these instructions by causing the output unit 36 to output the permission request information or the caution request information. For example, the display of the display device 19 displays permission request information in the form of text such as "Please reduce speed" or "Please yield to the entering vehicle" to prompt the approaching vehicle 14 to slow down when the entering vehicle 13 enters the lane 16, or caution request information in the form of text such as "There is an entering vehicle, please be careful" to request the attention of the entering vehicle 13. Alternatively, the speaker of the output unit 36 may output the text requesting permission or the text requesting caution by voice. Alternatively, the permission request information or the caution request information may be information for controlling an automatic driving control device when the approaching vehicle 14 is automatically driven. In this case, the roadside device 12 sends the permission request information or the caution request information to the approaching vehicle 14, and the in-vehicle device executes control in accordance with the sent information.

[0043] In response to the permission request information that is displayed or output by voice, the occupant of the approaching vehicle 14 slows down the approaching vehicle 14 sufficiently to allow the entering vehicle 13 to enter the lane 16. Alternatively, the on-board device slows down the approaching vehicle 14 in response to the permission request information. Alternatively, in response to the caution request information that is displayed or output by voice, the occupant of the approaching vehicle 14 is alerted to the possibility that the entering vehicle 13 will enter the lane 16.

[0044] In step S58, the control unit 23 stores a new history of the tolerance information for each approaching vehicle 14 or updates the existing history. The control unit 23 associates the tolerance information with information on the actual behavior of the approaching vehicle 14 and stores the information in the storage unit 22, linking it to the identification information of the approaching vehicle 14. The control unit 23 determines, from the difference between multiple captured images over time, that the approaching vehicle 13 has departed from the stop 17, i.e., entered the lane 16. If the position of the approaching vehicle 14 at that time corresponds to the rear of the approaching vehicle 13, the control unit 23 determines that the approaching vehicle 14 has exhibited a behavior that allows the entry of the approaching vehicle 13. In other cases, for example, if it is determined from the captured images that the approaching vehicle 14 will pass the position of the stop 17 before entering the lane 16, the control unit 23 determines that the approaching vehicle 14 has exhibited a behavior that does not allow the entry of the approaching vehicle 13. When the approaching vehicle 14 exhibits a behavior that allows the entry of the entering vehicle 13, the control unit 23 adds a score that indicates that the determination of the allowable behavior was correct.

[0045] After step S58, the control unit 23 completes one cycle of the procedure in FIG.

[0046] According to the above procedure, the approaching vehicle 14 is more likely to allow the ingress vehicle 13 to enter, so that the ingress vehicle 13 departing from the bus stop 17 can smoothly enter the lane 16, assuming that the approaching vehicle 14 will proceed slowly.

[0047] In a modified example, the roadside device 12 may be equipped with a radar device, and the radar device may detect the position and speed of the entering vehicle 13 or the approaching vehicle 14, and send the detected information to the server device 10. The server device 10 may determine the state of the entering vehicle 13 or the behavior of the approaching vehicle 14 using the position and speed of the entering vehicle 13 or the approaching vehicle 14 detected by the radar in addition to or instead of the captured image.

[0048] In a modified example, the control unit 23 of the server device 10 shortens the waiting time from determining the allowable behavior to outputting the instruction information when the score indicating that the determination of the allowable behavior was correct is equal to or greater than a predetermined standard. For example, between steps S53 and S54, the control unit 23 can refer to the history of the allowable behavior of the approaching vehicle 14 based on the identification information of the approaching vehicle 14 and adjust the waiting time according to the score. This enables the control unit 23 to output the instruction information at an earlier timing, thereby enabling smoother support for the entry of the entering vehicle 13.

[0049] In the above description, an example has been given in which the entering vehicle 13 departs from the bus stop 17, but this embodiment also includes a case in which the entering vehicle 13 includes a vehicle other than a bus, for example, entering the main lane 16 from a branch line or the like. In this case, the roadside device 12 is installed, for example, near the point where the branch line merges with the lane 16, in a position that is capable of capturing images of the entering vehicle 13 and the approaching vehicle 14, and where the displays on the roadside device 12 main body or the display device 19 are visible to the entering vehicle 13 and the approaching vehicle 14.

[0050] In the above description, an example has been given in which the server device 10 corresponds to the "control device," but the operation of the server device 10 may also be executed by the control device 15 of the roadside device 12. In that case, the control device 15 corresponds to the "control device" of this embodiment, the communication unit 31 or the imaging unit 37 corresponds to the "acquisition unit," and the control unit 33 corresponds to the "control unit." Alternatively, when the above-described operation is executed by cooperation between the server device 10 and the control device 15 of the roadside device 12, the combination of the server device 10 and the control device 15 corresponds to the "control device," the combination of the communication unit 21 and the communication unit 31 or the imaging unit 37 corresponds to the "acquisition unit," and the combination of the control device 23 and the control device 33 corresponds to the "control unit."

[0051] Although the embodiments have been described above based on the drawings and examples, it should be noted that those skilled in the art can easily make various modifications and alterations based on the present disclosure. Therefore, it should be noted that these modifications and alterations are included in the scope of the present disclosure. For example, the functions included in each means, step, etc. can be rearranged so as not to be logically inconsistent, and multiple means, steps, etc. can be combined or divided into one. [Explanation of symbols]

[0052] 1 Information provision system 10 Server device 11 Network 12 Roadside equipment 13 vehicles 14 vehicles 16 lanes 17 stops 19 Display device 21, 31 Communications Department 22, 32 Storage section 23, 33 Control section 34 Positioning unit 35 Input section 36 Output section 37 Imaging unit

Claims

1. an acquisition unit that acquires information indicating the state of an entering vehicle that is about to enter a lane; a control unit that outputs, when the state of the entering vehicle is in a first state suggesting entry into the lane, an instruction to cause a roadside device to output information to an approaching vehicle that is approaching the entering vehicle from behind on the lane to prompt the entering vehicle to allow the entering vehicle to enter; A control device having:

2. In claim 1, the control unit determines the first state based on the position and speed of the entering vehicle. Control device.

3. In claim 1, The acquisition unit further acquires information indicating a behavior of the approaching vehicle, the control unit outputs the instruction on a condition that the approaching vehicle exhibits a first behavior that allows the entering vehicle to enter the lane. Control device.

4. In claim 3, the control unit determines the first behavior based on a position and a speed of the approaching vehicle. Control device.

5. Obtaining information indicating the state of an entering vehicle attempting to enter the lane; and when the state of the entering vehicle is in a first state suggesting entry into the lane, outputting an instruction to a roadside device to output information to an approaching vehicle approaching the entering vehicle from behind on the lane, the information prompting the entering vehicle to allow entry. How the control device operates.

Images