Merging support system, merging support method, and program

Abstract

To appropriately perform merging support.SOLUTION: A merging support system comprises: a plurality of first display units that are arranged at a predetermined interval along a first road merging with a second road at a merging part; a plurality of second display units that are arranged at a predetermined interval along the second road; a first vehicle detection unit that detects a vehicle traveling on the first road within a first detection range set on the upstream of the merging part; a second vehicle detection unit that detects a vehicle traveling on the second road within a second detection range set on the upstream of the merging part; and a control unit that controls one or more first display units corresponding to one or more vehicles detected with the second detection range in a first operational state, controls one or more second display units corresponding to one or more vehicles detected within the first detection range in the first operational state, and when a new vehicle entering the first detection range is detected, controls the plurality of second display units in a second operational state different from the first operational state.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a merging assistance system, a merging assistance method, and a program. [Background technology]

[0002] Patent Document 1 describes the following merging assistance device. Specifically, the merging assistance device described in Patent Document 1 includes a first vehicle position detection unit that detects the position of a vehicle on a first road, a second vehicle position detection unit that detects the position of a vehicle on a second road that merges into the first road, and a lighting control unit that controls the lighting states of a plurality of lamps that are arranged at predetermined intervals along the lanes on each of the first road and the second road from just before the merging point. The lighting control unit differentiates the lighting states of the plurality of lamps arranged on the first road between lamps corresponding to positions where a vehicle has been detected by the second vehicle position detection unit and lamps corresponding to positions where no vehicle has been detected, and differentiates the lighting states of the plurality of lamps arranged on the second road between lamps corresponding to positions where a vehicle has been detected by the first vehicle position detection unit and lamps corresponding to positions where no vehicle has been detected.

[0003] Furthermore, the lighting control unit described in Patent Document 1 has a determination function for determining whether or not congestion has occurred on the first road, and when it determines that congestion has occurred on the first road, controls the lamps on the second road side to a predetermined lighting state for when congestion has occurred, in which all lamps are blinked or turned off. Furthermore, this lighting control unit has a determination function for determining whether or not congestion has occurred on the second road, and when it determines that congestion has occurred on the second road, controls the lamps on the first road side to a predetermined lighting state for when congestion has occurred, in which all lamps are blinked or turned off.

[0004] The merging assistance device described in Patent Document 1 is said to be able to provide merging assistance to drivers that sufficiently reduces the occurrence of accidents and congestion at a merging section where two roads merge. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2008-40892 Summary of the Invention [Problem to be solved by the invention]

[0006] As described above, in the merging assistance device described in Patent Document 1, the lighting states of the lamps arranged on the second road side are controlled so that the lighting states of the lamps corresponding to the positions where the vehicle is detected by the first vehicle position detection unit are different from the lighting states of the lamps corresponding to the positions where the vehicle is not detected by the first vehicle position detection unit. In this configuration, for example, if a vehicle is traveling on the second road while the first vehicle position detection unit has not detected the vehicle's position on the first road, when the first vehicle position detection unit newly detects the vehicle's position, the lighting states of the lamps arranged on the second road side may change, for example, from behind the vehicle traveling on the second road to in front of the vehicle traveling on the second road as if the vehicle is overtaking the vehicle. In this case, depending on the situation, a vehicle traveling on the second road may detect the approach of a vehicle traveling on the first road just before the merging point. This poses a problem in that the merging assistance device described in Patent Document 1 may not be able to properly assist the vehicle in merging.

[0007] The present disclosure has been made in consideration of the above circumstances, and aims to provide a merging assistance system, a merging assistance method, and a program that can appropriately perform merging assistance. [Means for solving the problem]

[0008] In order to solve the above problem, the merging assistance system of the present disclosure includes a plurality of first display devices arranged at predetermined intervals along a first road that merges with a second road at a merging section, a plurality of second display devices arranged at predetermined intervals along the second road, a first vehicle detection unit that detects vehicles traveling on the first road within a first detection range set upstream of the merging section, a second vehicle detection unit that detects vehicles traveling on the second road within a second detection range set upstream of the merging section, and a control device that controls one or more of the first display devices corresponding to one or more of the vehicles detected in the second detection range in a first operating state, and controls one or more of the second display devices corresponding to one or more of the vehicles detected in the first detection range in the first operating state, and controls the plurality of second display devices in a second operating state different from the first operating state when a new vehicle entering the first detection range is detected.

[0009] A merging assistance method according to the present disclosure includes the steps of using a plurality of first display devices arranged at predetermined intervals along a first road that merges with a second road at a merging section, a plurality of second display devices arranged at predetermined intervals along the second road, a first vehicle detection unit that detects vehicles traveling on the first road in a first detection range set upstream of the merging section, and a second vehicle detection unit that detects vehicles traveling on the second road in a second detection range set upstream of the merging section, to control one or more of the first display devices corresponding to one or more of the vehicles detected in the second detection range in a first operating state, and to control one or more of the second display devices corresponding to one or more of the vehicles detected in the first detection range in the first operating state, and when a new vehicle entering the first detection range is detected, to control the plurality of second display devices in a second operating state different from the first operating state.

[0010] The program disclosed herein causes a computer to execute steps of using a plurality of first display devices arranged at predetermined intervals along a first road that merges with a second road at a merging point, a plurality of second display devices arranged at predetermined intervals along the second road, a first vehicle detection unit that detects vehicles traveling on the first road in a first detection range set upstream of the merging point, and a second vehicle detection unit that detects vehicles traveling on the second road in a second detection range set upstream of the merging point to control one or more of the first display devices corresponding to one or more vehicles detected in the second detection range in a first operating state, and to control one or more of the second display devices corresponding to one or more vehicles detected in the first detection range in the first operating state, and when a new vehicle entering the first detection range is detected, to control the plurality of second display devices in a second operating state different from the first operating state. [Effects of the Invention]

[0011] According to the merging assistance system, merging assistance method, and program of the present disclosure, merging assistance can be performed appropriately. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a block diagram illustrating a configuration example of a merging assistance system according to an embodiment of the present disclosure. [Figure 2] 1 is a plan view schematically illustrating an example of the arrangement of a merging assistance system according to an embodiment of the present disclosure on a road 70. FIG. [Figure 3] 10 is a flowchart illustrating a procedure for acquiring position coordinates at the time of installation according to an embodiment of the present disclosure. [Figure 4] 5 is a flowchart showing an operation example (an example of a process for turning on a merging lane side display device) of the control device according to the embodiment of the present disclosure. [Figure 5] 5 is a timing chart for explaining an example of the processing content of step S16 in FIG. 4 according to an embodiment of the present disclosure. [Figure 6] FIG. 5 is a schematic diagram for explaining an example of the processing content of step S17 in FIG. 4 according to an embodiment of the present disclosure. [Figure 7] FIG. 5 is a schematic diagram for explaining an example of the processing content of step S17 in FIG. 4 according to an embodiment of the present disclosure. [Figure 8] 5 is a flowchart showing an example of operation of the control device according to the embodiment of the present disclosure (an example of a process for lighting up a main line side display device). [Figure 9] 9 is a schematic diagram for explaining an example of the processing content of step S45 in FIG. 8 according to an embodiment of the present disclosure. [Figure 10] 9 is a schematic diagram for explaining an example of the processing content of step S45 in FIG. 8 according to an embodiment of the present disclosure. [Figure 11] FIG. 10 is a schematic diagram for explaining an example of the operation of the control device according to the embodiment of the present disclosure. [Figure 12] FIG. 10 is a schematic diagram for explaining an example of the operation of the control device according to the embodiment of the present disclosure. [Figure 13] FIG. 10 is a schematic diagram for explaining an example of the operation of the control device according to the embodiment of the present disclosure. [Figure 14] FIG. 1 is a schematic block diagram illustrating a configuration of a computer according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0013] A merging assistance system, a merging assistance method, and a program according to an embodiment of the present disclosure will be described below with reference to FIGS. 1 to 14. FIG. 1 is a block diagram illustrating an example of the configuration of a merging assistance system according to an embodiment of the present disclosure. FIG. 2 is a plan view schematically illustrating an example of an arrangement of a merging assistance system on a road 70 according to an embodiment of the present disclosure. FIG. 3 is a flowchart illustrating a procedure for acquiring position coordinates at the time of installation according to an embodiment of the present disclosure. FIG. 4 is a flowchart illustrating an example of operation of a control device (processing for turning on a merging lane side display device) according to an embodiment of the present disclosure. FIG. 5 is a timing chart illustrating an example of processing content of step S16 in FIG. 4 according to an embodiment of the present disclosure. FIG. 6 is a schematic diagram illustrating an example of processing content of step S17 in FIG. 4 according to an embodiment of the present disclosure. FIG. 7 is a schematic diagram illustrating an example of processing content of step S17 in FIG. 4 according to an embodiment of the present disclosure. FIG. 8 is a flowchart illustrating an example of operation of a control device (example of processing for turning on a main lane side display device) according to an embodiment of the present disclosure. FIG. 9 is a schematic diagram illustrating an example of processing content of step S45 in FIG. 8 according to an embodiment of the present disclosure. Fig. 10 is a schematic diagram for explaining an example of operation of a control device (positional relationship between a vehicle and a display device) according to an embodiment of the present disclosure. Figs. 11 to 13 are schematic diagrams for explaining an example of operation of a control device according to an embodiment of the present disclosure. Fig. 14 is a schematic block diagram showing the configuration of a computer according to an embodiment of the present disclosure. Note that the same or corresponding components in each drawing are designated by the same reference numerals, and descriptions thereof will be omitted as appropriate.

[0014] As shown in FIG. 1 , a merging assistance system 10 according to an embodiment of the present disclosure includes a control device 1, n main lane side display devices 2-1, 2-2, ..., 2-n, m merging lane side display devices 3-1, 3-2, ..., 3-m, a main lane side detection unit 5, and a merging lane side detection unit 6. The merging assistance system 10 according to an embodiment of the present disclosure is a system for providing merging assistance to vehicles such as vehicles C11 to C13 and vehicle C21 at a merging section 73 of a road 70 such as an expressway shown in FIG. 2 . In the example shown in FIG. 2 , the road 70 includes a main road 71 and a merging lane 72. The main road 71 includes a main lane 711 and a main lane 712. Note that in this embodiment, vehicles whose driving position, etc. is notified to the merging lane 72 side are limited to vehicles traveling in the main lane 711 adjacent to the merging lane 72. The main road 71 and the merging lane 72 merge at a merging section 73. The main road 71 and the merging lane 72 are connected to each other by side walls, etc., at a hard nose 74. With respect to the traveling direction D1 of the main road 71, the right side as viewed in the drawing is referred to as the downstream side, and the left side as the upstream side. With respect to the traveling direction D2 of the merging lane 72, the right side as viewed in the drawing is referred to as the downstream side, and the left side as the upstream side. In this embodiment, the traveling direction D1 of the main road 71 is referred to as the Y direction, and the width direction perpendicular to the Y direction is referred to as the X direction. In the example shown in FIG. 2 , vehicles C11 and C13 (hereinafter also referred to as main vehicles) are traveling in the main lane 711 of the main road 71, vehicle C12 is traveling in the main lane 712 of the main road 71, and vehicle C21 is traveling in the merging lane 72.

[0015] The main line side display devices 2-1, 2-2, ..., 2-n are display devices (or lighting devices) arranged at predetermined intervals in the order of 1 to n along the main road 71 (main line lanes 711). When referring to one or more main line side display devices 2-1, 2-2, ..., 2-n without specifying each of the multiple main line side display devices 2-1, 2-2, ..., 2-n, they are also referred to as main line side display devices 2. The intervals between the main line side display devices 2 may be, for example, approximately 5 m based on the length of a standard vehicle. However, this length is merely an example and is not limiting. The intervals between the main line side display devices 2 are the same but may be different. Each main line side display device 2 includes an indicator light 41 that lights up in red and an indicator light 42 that lights up in white. The main line side display device 2 can simultaneously turn on the indicator light 41 and the indicator light 42. Indicator lamp 41 is, for example, a combination of a white-emitting LED (light-emitting diode) and a filter such as a red-transmitting plate, or uses a red-emitting LED as a light source, and turns on, off, or blinks red light based on a control signal from control device 1. Indicator lamp 42 is, for example, a white-emitting LED as a light source, and turns on, off, or blinks white light based on a control signal from control device 1.

[0016] The merging lane display devices 3-1, 3-2, ..., 3-m are display devices (or lighting devices) arranged at predetermined intervals along the merging lane 72 in the order of 1 to 1 m. When referring to one or more merging lane display devices 3-1, 3-2, ..., 3-m without specifying each of the multiple merging lane display devices 3-1, 3-2, ..., 3-m, they may also be referred to as merging lane display devices 3. The intervals between the merging lane display devices 3 may be, for example, approximately 5 m based on the length of a standard-sized vehicle. However, this length is merely an example and is not limiting. The intervals between the merging lane display devices 3 may be the same or may be different. Like the main lane display device 2, each merging lane display device 3 includes an indicator light 41 that lights up in red and an indicator light 42 that lights up in white. The merging lane display device 3 can simultaneously turn on the indicator light 41 and the indicator light 42. In the following description, the indicator light 41 will also be referred to as a red light, and the indicator light 42 will also be referred to as a white light.

[0017] The main line side detection unit 5 includes j main line side detection devices 5-1 to 5-j. In the example shown in FIG. 2, the main line side detection unit 5 includes a main line side detection device 5-1 and a main line side detection device 5-2. The main line side detection device 5-1 and the main line side detection device 5-2 are, for example, sensors such as LiDAR (Light Detection and Ranging), cameras, laser radar, millimeter wave radar, ultrasonic sonar, or a combination of multiple sensors. They detect each vehicle C11 to C13 traveling on the main road 71 within a predetermined main line side detection range R51 set upstream of the merging section 73, repeatedly acquire information representing the position coordinates, speed (speed vector), vehicle length, vehicle width, shape, etc. of each vehicle C11 to C13 at a predetermined period, and output the information to the control device 1. When multiple vehicles are located within the main line side detection range R51, the main line side detection unit 5 detects the multiple vehicles simultaneously (in parallel).

[0018] 2, the merging lane side detection unit 6 includes k merging lane side detection devices 6-1 to 6-k. In the example shown in Fig. 2, the merging lane side detection unit 6 includes merging lane side detection device 6-1 and merging lane side detection device 6-2. Like the main lane side detection device 5-1, the merging lane side detection device 6-1 and merging lane side detection device 6-2 are, for example, sensors such as LiDAR, cameras, laser radar, millimeter-wave radar, and ultrasonic sonar, or a combination of multiple sensors. They detect a vehicle C21 traveling in the merging lane 72 within a predetermined merging lane side detection range R61 set upstream of the merging section 73, and repeatedly acquire information representing the position coordinates, speed (speed vector), vehicle length, vehicle width, shape, etc. of the vehicle C21 at a predetermined interval and output the information to the control device 1. Similarly to the main lane side detection unit 5, the merging lane side detection unit 6 also detects a plurality of vehicles when a plurality of vehicles are located in the merging lane side detection range R61.

[0019] The control device 1 can be configured using a computer and peripheral devices of the computer. The control device 1 has a functional configuration configured by a combination of hardware such as a computer and software such as a program executed by the computer, and includes an integrated control unit 11, a display device control unit 12, a main line side signal processing unit 13, and a merging lane side signal processing unit 14. The integrated control unit 11 controls each unit. The integrated control unit 11 controls the main line side display devices 2 and the merging lane side display devices 3, for example, using position information 111 including position information (coordinate position information) of the main line side display devices 2 and the merging lane side display devices 3. The display device control unit 12 transmits predetermined control signals to each main line side display device 2 and each merging lane side display device 3 based on instructions from the integrated control unit 11. The main line side signal processing unit 13 transmits and receives predetermined control signals to the main line side detection unit 5, thereby acquiring detection results from the main line side detection unit 5, for example, repeatedly at predetermined intervals. The merging lane side signal processing unit 14 transmits and receives a predetermined control signal to and from the merging lane side detection unit 6, and thereby acquires the detection result of the merging lane side detection unit 6, for example, repeatedly at a predetermined cycle.

[0020] In this embodiment, the control device 1 controls, for example, in a first operating state, one or more main lane side display devices 2 corresponding to one or more vehicles (e.g., vehicle C21) detected in the merging lane side detection range R61 by the merging lane side detection unit 6. Furthermore, the control device 1 controls, for example, one or more merging lane side display devices 3 corresponding to one or more vehicles C11 and C13 traveling on the main lane 711 detected by the main lane side detection unit 5, in the first operating state, and controls the multiple merging lane side display devices 3 in a second operating state different from the first operating state when a new vehicle (vehicle C14 in FIG. 13 ) entering the main lane side detection range R51 is detected. In this embodiment, the second operating state is, for example, an operating state in which the multiple merging lane side display devices 3 are turned on and off sequentially from the upstream side to the downstream side. In this embodiment, the merging lane display device 3 is illuminated in red in the first operating state, and is illuminated and extinguished in white in the second operating state. The control device 1 controls the multiple merging lane display devices 3 in the second operating state, for example, when a new vehicle is detected in a predetermined detection range (detection range R3-1 in FIG. 6) corresponding to the most upstream merging lane display device 3-1 in the main lane detection range R51. Details of these operation examples will be described later.

[0021] Next, with reference to Fig. 3, a process when the merging assistance system 10 is installed will be described. In the merging assistance system 10 of this embodiment, the operation of each main line display device 2 and each merging lane display device 3 is controlled based on the installation positions of each main line display device 2 and each merging lane display device 3. Therefore, when the merging assistance system 10 is installed, the coordinate positions of each main line display device 2 and each merging lane display device 3 are measured (step S1), and when all measurements are completed (step S2), the measured position information is set in the control device 1 as position information 111. Note that, hereinafter, when the main line display device 2 and the merging lane display device 3 are collectively referred to, they are also simply referred to as display devices.

[0022] Next, with reference to FIGS. 4 to 13, the processing during operation of the merging support system 10 will be described. FIG. 4 shows an example of the processing for turning on the merging lane side display device 3 in the merging support system 10. The processing shown in FIG. 4 is executed repeatedly at a predetermined cycle after the control device 1 is started up. In the processing shown in FIG. 4, first, the control device 1 acquires the position coordinates of each vehicle located in the main lane side detection range R51 (step S10). Next, the control device 1 determines whether or not there is a vehicle on the main lane (main lane 711) (step S11). If there is no vehicle on the main lane (main lane 711) (step S11: NO), the control device 1 turns off each indicator light 41 (each red light) of each merging lane side display device 3 (step S12), and ends the processing shown in FIG. 4.

[0023] If there is a vehicle on the main lane (main lane 711) (step S11: YES), the control device 1 determines whether or not the main lane (main lane 711) is congested (step S13). If the main lane (main lane 711) is congested (step S13: YES), the control device 1 turns on all of the indicator lights 41 (red lights) of each merging lane side display device 3 (step S14), and ends the processing shown in Fig. 4. Note that there is no limitation on the method for determining whether or not there is a traffic jam in step S13, and methods such as comparing the average speed, average inter-vehicle distance, etc. with a predetermined reference value can be used, for example.

[0024] If the main lane (main lane 711) is not congested (step S13: NO), the control device 1 determines whether a vehicle has newly entered the main lane detection range R51 (step S15). If a vehicle has newly entered the main lane detection range R51 (step S15: YES), the control device 1 causes the multiple merging lane display devices 3 to sequentially turn on and off the indicator lights 42 (respective white lights) (step S16). In this embodiment, the "flowing" operation refers to an operating state in which the multiple indicator lights 42 are turned on and off sequentially from the upstream side to the downstream side. FIG. 5 shows an example of the operation when the control device 1 flows the indicator lights 42 (respective white lights) of the multiple merging lane display devices 3 in step S16.

[0025] 5, with time plotted on the horizontal axis, shows the ON (illumination) and OFF (extinguishing) operation timings of the indicator lights 42 (white lights) of the merging lane display devices 3-1, 3-2, ..., 3-m. When a new vehicle enters the main lane detection range R51, the control device 1 first turns on the indicator light (white light) 42 of the merging lane display device 3-1 at time t1, for example, and then turns off the indicator light (white light) 42 of the merging lane display device 3-1 and turns on the indicator light (white light) 42 of the merging lane display device 3-2 at time t2, a predetermined time after time t1. Thereafter, in a similar manner, at time t3, the control device 1 turns off the indicator light (white light) 42 of the merging lane display device 3-2 and turns on the indicator light (white light) 42 of the merging lane display device 3-3. At time t4, the indicator light (white light) 42 of the merging lane display device 3-3 is turned off, and the indicator light (white light) 42 of the merging lane display device 3-4 is turned on. At time t5, the indicator light (white light) 42 of the merging lane display device 3-4 is turned off, and the indicator light (white light) 42 of the merging lane display device 3-5 is turned on. At time t6, the indicator light (white light) 42 of the merging lane display device 3-5 is turned off, and the indicator light (white light) 42 of the merging lane display device 3-6 is turned on. Thereafter, the indicator lights (white lights) 42 of the merging lane display devices 3-7 to 3-m are turned on and off in sequence. In this way, the control device 1 can sequentially light and turn on the indicator lights 42 (white lights) of the multiple merging lane display devices 3. However, the timing of turning on and off each indicator lamp 42 is not limited to the example shown in FIG. 5, and for example, timing may be used such that a plurality of indicator lamps 42 are turned on simultaneously.

[0026] After step S16, or if it is determined in step S15 that no vehicle has newly entered the main lane side detection range R51 (step S15: NO), the control device 1 turns on each of the indicator lights 41 (each red light) of one or more merging lane side display devices 3 that correspond to the position coordinates of each vehicle, turns off all other red lights (each indicator light 41 that does not correspond to the coordinate position of a vehicle), and ends the processing shown in Fig. 4. Here, an example of the processing of step S17 will be described with reference to Figs. 6 and 7.

[0027] In the example shown in FIGS. 6 and 7, a detection range corresponding to each indicator light 41 of each merging lane display device 3 is set within the main lane detection range R51, and each indicator light 41 (each red light) is controlled to be on or off depending on whether a vehicle is located in each detection range. In the example shown in FIGS. 6 and 7, detection ranges R3-1, R3-2, ..., R3-7 corresponding to the merging lane display devices 3-1, 3-2, ..., 3-7 are set within the main lane detection range R51. Then, for example, when a vehicle is located within the detection range R3-1, the control device 1 turns on the indicator light 41 (red light) of the merging lane display device 3-1. Furthermore, for example, when a vehicle is not located within the detection range R3-2, the control device 1 turns off the indicator light 41 (red light) of the merging lane display device 3-2. In the example shown in FIG. 7, a vehicle C101 is located within both the detection range R3-1 and the detection range R3-2. Vehicle C102 is traveling in the main lane 712 and therefore does not enter the detection range R3-3, or is located within the detection range R3-3 but is ignored because it is traveling in the main lane 712. Vehicle C103 is located within the detection ranges R3-5 to R3-7. In this case, the indicator lights 41 (red lights) of the merging lane side display devices 3-1 and 3-2 corresponding to vehicle C101 are turned on. Also, because vehicle C102 is traveling in the main lane 712, the indicator lights 41 (red lights) of the merging lane side display devices 3-5 to 3-7 corresponding to vehicle C103 are turned on. Also, because no vehicles are located within the corresponding detection ranges R3-3 and R3-4, the indicator lights 41 (red lights) of the merging lane side display devices 3-3 and 3-4 are turned off.

[0028] 6 and 7 is merely an example. For example, other methods may be used, such as determining the lighting state based on the comparison result between the coordinate position of each vehicle and each coordinate position of each merging lane side display device 3, without setting a detection range.

[0029] Next, with reference to FIGS. 8 to 10, an example of the lighting process of the main line side display device 2 in the merging support system 10 will be shown. The process shown in FIG. 8 is repeatedly executed at a predetermined cycle after the control device 1 is started. The process shown in FIG. 8 is also executed in parallel with the process shown in FIG. 4. In the process shown in FIG. 8, first, the control device 1 acquires the position coordinates of each vehicle located in the merging lane side detection range R61 (step S40). Next, the control device 1 determines whether or not there is a vehicle in the merging lane 72 (step S41). If there is no vehicle in the merging lane 72 (step S41: NO), the control device 1 turns off each indicator light 41 (each red light) of each main line side display device 2 (step S42), and ends the process shown in FIG. 8.

[0030] If there is a vehicle in the merging lane 72 (step S41: YES), the control device 1 determines whether the merging lane 72 is congested (step S43). If the merging lane 72 is congested (step S43: YES), the control device 1 turns on all of the indicator lights 41 (red lights) of each main line side display device 2 (step S44), and ends the processing shown in FIG.

[0031] If the merging lane 72 is not congested (step S43: NO), the control device 1 turns on each indicator light 41 (each red light) of one or more main line side display devices 2 corresponding to the position coordinates of each vehicle, and turns off all other indicator lights 41 (red lights) (step S45). After executing step S45, the control device 1 ends the processing shown in Fig. 8. Here, an example of the processing of step S45 will be described with reference to Figs. 9 and 10.

[0032] In the example shown in FIGS. 9 and 10, a detection range corresponding to each indicator light 41 of each main line side display device 2 is set within the merging lane side detection range R61, and each indicator light 41 (each red light) is controlled to be on or off depending on whether a vehicle is located within each detection range. In the example shown in FIGS. 9 and 10, detection ranges R2-1, R2-2, ..., R2-7 corresponding to the main line side display devices 2-1, 2-2, ..., 2-7 are set within the merging lane side detection range R61. Then, for example, when a vehicle is located within the detection range R2-1, the control device 1 turns on the indicator light 41 (red light) of the main line side display device 2-1. Furthermore, for example, when a vehicle is not located within the detection range R2-2, the control device 1 turns off the indicator light 41 (red light) of the main line side display device 2-2. In the example shown in FIG. 10, a vehicle C201 is located within the detection range R2-1. Vehicle C202 is located within detection range R2-3 and detection range R2-4. Vehicle C203 is located within detection range R2-7. In this case, the indicator light 41 (red light) of the main line side display device 2-1 corresponding to vehicle C201 is turned on. Also, the indicator lights 41 (red lights) of the main line side display devices 2-3 and 2-4 corresponding to vehicle C202 are turned on. Also, the indicator light 41 (red light) of the main line side display device 2-7 corresponding to vehicle C203 is turned on. And, the indicator lights 41 (red lights) of the main line side display devices 2-2, 2-5, and 2-6 are turned off when no vehicle is located within the corresponding detection ranges R2-2, R2-5, and R2-6.

[0033] 9 and 10 is merely an example. For example, other methods may be used, such as determining the lighting state based on the comparison result between the coordinate position of each vehicle and each coordinate position of each main line side display device 2, without setting a detection range.

[0034] Fig. 11 shows an example of the operation of each indicator light 41 of each display device. In the example shown in Fig. 11, one vehicle C21 is traveling in the merging lane 72. In this case, the indicator lights 41 of the main line side display devices 2-1 to 2-3, which are shown circled with dashed lines, corresponding to the vehicle C21 traveling in the merging lane 72 are turned on, and in this case, the indicator lights 41 of the other main line side display devices 2-4 to 2-n are turned off.

[0035] 11, two vehicles, C11 and C13, are traveling on the main lane 711. In this case, the indicator lights 41 of the merging lane side display devices 3-6 to 3-8, which are shown circled with dashed lines, are turned on in correspondence with the vehicle C11 traveling on the main lane 711. In addition, the indicator lights 41 of the merging lane side display devices 3-13 to 3-20, which are shown circled with dashed lines, are turned on in correspondence with the vehicle C13 traveling on the main lane 711. In addition, in this case, the indicator lights 41 of the other merging lane side display devices 3-1 to 3-5, 3-9 to 3-12, and 3-21 (=3-m) are turned off.

[0036] 12 and 13 show examples of the operation of each display device before and after vehicle C14 newly enters main lane detection range R51 (main lane 711). In FIG. 12, vehicle C22 is traveling in merging lane 72, and no vehicles are located in main lane 711. On the other hand, in FIG. 13, vehicle C14 newly enters main lane detection range R51 (main lane 711). In this case, in the example shown in FIG. 12, the indicator lights 41 (red lights) of main lane display devices 2-10, 2-11, and 2-12 corresponding to vehicle C22 are turned on, as shown by the dashed circle. In the example shown in FIG. 13, the indicator lights 42 (white lights) of merging lane display devices 3-1 to 3-m are turned on in a flowing manner in response to the entry of vehicle C14, as shown by the dashed circle. Also, as shown by the dashed circle, the indicator light 41 (red light) of the merging lane side display device 3-1 corresponding to vehicle C14 is lit, and the indicator lights 41 (red lights) of the main line side display devices 2-13, 2-14 and 2-15 corresponding to vehicle C22 are lit.

[0037] As described above, according to this embodiment, when a new main lane vehicle is detected on the upstream side of the main lane 711 of the main lane side detection range R51 (the main lane side detection range R51 itself or the detection range R3-1 in Figure 6), the indicator light 42 (white light) is flashed so that the white indicator light 42 flows from upstream to downstream, so that, for example, information about the approach of a vehicle in a blind spot can be quickly notified to the merging vehicle.

[0038] In addition, by lighting the indicator light 41 (red light) that matches the coordinate position of the display device measured at the time of installation according to the position and length of the moving vehicle, the exact position and size of the vehicle can be notified.

[0039] Furthermore, when there is a traffic jam, all the red indicator lights 41 are lit, so that the driver can be properly notified of the traffic jam.

[0040] (Action and effect) In the merging assistance system, merging assistance method, and program configured as described above, one or more main lane display devices 2 corresponding to one or more vehicles C21 detected in merging lane detection range R61 are controlled in a first operating state, one or more merging lane display devices 3 corresponding to one or more vehicles C11 and C13 detected in main lane detection range R51 are controlled in a first operating state, and when a new vehicle C14 is detected entering main lane detection range R51 (or detection range R3-1 in FIG. 6 ), the multiple merging lane display devices 3 are controlled in a second operating state different from the first operating state. With this configuration, the entry of a new vehicle into main lane detection range R51 can be notified by the multiple merging lane display devices 3 in the second operating state different from the first operating state, so the appearance of the new vehicle can be properly notified and merging assistance can be performed properly.

[0041] (Other embodiments) The above describes in detail the embodiments of the present disclosure with reference to the drawings, but the specific configuration is not limited to this embodiment, and design changes and the like are also included within the scope that does not deviate from the gist of the present disclosure. In the above embodiment, each display device uses indicator lights with two different lighting colors, but it may also use one lighting color. In that case, for example, the indicator lights corresponding to existing vehicles may remain lit, while the other indicator lights may flash fluidly or simultaneously. Furthermore, instead of lighting all the indicator lights when there is a traffic jam, for example, all the indicator lights may flash, and the flashing interval may be changed depending on the congestion situation. Furthermore, the lighting colors are not limited to red and white.

[0042] <Computer Configuration> FIG. 14 is a schematic block diagram showing the configuration of a computer according to this embodiment. The computer 90 includes a processor 91 , a main memory 92 , a storage 93 , and an interface 94 . The above-described control device 1 is implemented in a computer 90. The operations of the above-described processing units are stored in the form of a program in a storage 93. A processor 91 reads the program from the storage 93, loads it into a main memory 92, and executes the above-described processing in accordance with the program. The processor 91 also allocates storage areas in the main memory 92 corresponding to the above-described storage units in accordance with the program.

[0043] The program may be for realizing some of the functions to be performed by the computer 90. For example, the program may be combined with other programs already stored in storage or other programs implemented in other devices to perform the functions. In other embodiments, the computer may include a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device) in addition to or instead of the above configuration. Examples of PLDs include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array). In this case, some or all of the functions realized by the processor may be realized by the integrated circuit.

[0044] Examples of storage 93 include a hard disk drive (HDD), a solid state drive (SSD), a magnetic disk, a magneto-optical disk, a compact disc read-only memory (CD-ROM), a digital versatile disc read-only memory (DVD-ROM), and a semiconductor memory. Storage 93 may be an internal medium directly connected to the bus of computer 90, or an external medium connected to computer 90 via interface 94 or a communication line. Furthermore, when this program is distributed to computer 90 via a communication line, computer 90 that receives the program may load the program into main memory 92 and execute the above-described processing. In at least one embodiment, storage 93 is a non-transitory tangible storage medium.

[0045] <Additional Notes> The merging assistance system 10 described in each embodiment can be understood, for example, as follows.

[0046] (1) The merging assistance system 10 according to the first aspect includes a plurality of first display devices (main line side display devices 2) arranged at predetermined intervals along a first road (main line road 71) that merges with a second road (merging lane 72) at a merging section 73, a plurality of second display devices (merging lane side display devices 3) arranged at predetermined intervals along the second road (merging lane 72), a first vehicle detection unit (main line side detection unit 5) that detects vehicles C11 to C13 traveling on the first road (main line road 71) within a first detection range (main line side detection range R51) set upstream of the merging section 73, and a second vehicle detection unit (main line side detection unit 5) that detects vehicles C11 to C13 traveling on the second road (merging lane 72) within a second detection range (merging lane side detection range R61) set upstream of the merging section 73. and a control device 1 that controls, in a first operating state, one or more of the first display devices corresponding to one or more of the vehicles detected in the second detection range, and one or more of the second display devices (merging lane side display devices 3) corresponding to one or more of the vehicles C11 to C13 detected in the first detection range, and controls, in the first operating state, the plurality of second display devices (merging lane side display devices 3) in a second operating state different from the first operating state when a new vehicle C14 entering the first detection range (main line side detection range R51) is detected. According to this aspect and each of the following aspects, merging assistance can be performed appropriately.

[0047] (2) A merging assistance system 10 according to a second aspect is the merging assistance system 10 according to (1), in which the second operating state is an operating state in which the plurality of second display devices (merging lane side display devices 3) are turned on and off sequentially from the upstream side to the downstream side. According to this aspect, it is possible to notify a vehicle C22 traveling on the second road (merging lane 72) of the approach of a vehicle C14 traveling on the main lane, regardless of its traveling position.

[0048] (3) A third aspect of the merging assistance system 10 is the merging assistance system 10 of (1) or (2), in which the second display device (merging lane-side display device 3) can perform a lighting operation in a first lighting color (red) and a lighting operation in a second lighting color (white) different from the first lighting color in parallel, and in the first operating state, the second display device is lit in the first lighting color, and in the second operating state, the second display device is lit and extinguished in the second lighting color. According to this aspect, the display with changing lighting colors can more clearly notify vehicle C22 traveling on the second road (merging lane 72) of the approach of vehicle C14 traveling on the main lane.

[0049] (4) A fourth aspect of the merging assistance system 10 is the merging assistance system 10 of any one of (1) to (3), in which the control device 1 controls the second display devices in the second operating state when the new vehicle is detected within the first detection range (main line detection range R51) in a predetermined range (detection range R3-1) corresponding to the most upstream second display device (merging lane display device 3-1). According to this aspect, it is possible to notify the driver that a new vehicle has been detected within the predetermined range (detection range R3-1) corresponding to the most upstream second display device (merging lane display device 3-1). [Explanation of symbols]

[0050] 10. Merging assistance system 1...Control device 2, 2-1 to n...Main line side display device 3, 3-1~m... Merging lane side display device 71...Main road 711, 712...Main lanes 72...Merging lane 73...Confluence C11~14, C21~22...vehicles 5...Main line detection section 5-1~j...Main line side detection device 6...Merging lane side detection section 6-1~k...Merging lane side detection device R51: Main line detection range R61…Detection range on merging lane side R2-1~7, R3-1~7...Detection range

Claims

1. a plurality of first display devices arranged at predetermined intervals along a first road that merges with a second road at a merging point; a plurality of second display devices arranged at predetermined intervals along the second road; a first vehicle detection unit configured to detect vehicles traveling on the first road within a first detection range set upstream of the merging point; a second vehicle detection unit that detects vehicles traveling on the second road within a second detection range set upstream of the merging area; Controlling one or more of the first display devices corresponding to one or more of the vehicles detected in the second detection range in a first operating state; and One or more of the second display devices corresponding to one or more of the vehicles detected in the first detection range are controlled in the first operating state, and when a new vehicle entering the first detection range is detected, the second display devices are controlled in a second operating state different from the first operating state. a control device; A merging assistance system equipped with

2. The second operating state is an operating state in which the second display devices are turned on and off sequentially from the upstream side to the downstream side. The merging assistance system according to claim 1 .

3. the second display device can perform a lighting operation in a first lighting color and a lighting operation in a second lighting color different from the first lighting color in parallel, In the first operating state, the second display device is lit in the first lighting color; In the second operating state, the second display device is turned on and off in the second lighting color. The merging assistance system according to claim 2 .

4. The control device controls the second display devices in the second operating state when the new vehicle is detected within a predetermined range corresponding to the second display device that is most upstream within the first detection range. The merging assistance system according to claim 3 .

5. a plurality of first display devices arranged at predetermined intervals along a first road that merges with a second road at a merging point; a plurality of second display devices arranged at predetermined intervals along the second road; a first vehicle detection unit configured to detect vehicles traveling on the first road within a first detection range set upstream of the merging point; a second vehicle detection unit that detects vehicles traveling on the second road within a second detection range set upstream of the merging area; Using Controlling one or more of the first display devices corresponding to one or more of the vehicles detected in the second detection range in a first operating state; and controlling one or more of the second display devices corresponding to one or more of the vehicles detected in the first detection range in the first operating state, and controlling the second display devices in a second operating state different from the first operating state when a new vehicle entering the first detection range is detected. A merging support method including:

6. a plurality of first display devices arranged at predetermined intervals along a first road that merges with a second road at a merging point; a plurality of second display devices arranged at predetermined intervals along the second road; a first vehicle detection unit configured to detect vehicles traveling on the first road within a first detection range set upstream of the merging point; a second vehicle detection unit that detects vehicles traveling on the second road within a second detection range set upstream of the merging area; Using Controlling one or more of the first display devices corresponding to one or more of the vehicles detected in the second detection range in a first operating state; and controlling one or more of the second display devices corresponding to one or more of the vehicles detected in the first detection range in the first operating state, and controlling the second display devices in a second operating state different from the first operating state when a new vehicle entering the first detection range is detected. A program that causes a computer to execute the following.

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