Lane change assistance device, lane change assistance method, and program

Abstract

To provide a lane change support device for supporting a safe lane change of a vehicle traveling in a rank.SOLUTION: A lane change support device acquires lane change recommendation section information including at least information on a recommendation travel lane of a vehicle traveling in a rank in a travel section immediately before an arrival at a branch point of a travel road. A travel lane of the vehicle traveling in the rank at present is detected when the vehicle traveling in the rank travels in the travel section. When the travel lane of the vehicle traveling in the rank at present does not coincide with the recommendation travel lane included in the lane change recommendation section information, report information for reporting that a lane can be easily changed is output based on rank information related to the vehicle traveling in the rank.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a lane change assistance device, a lane change assistance method, and a program. [Background technology]

[0002] In recent years, technology for vehicles to travel in a convoy has been studied. By traveling in a convoy, it is expected that the effects of improving the fuel efficiency of the vehicles and increasing the volume of transportation will be achieved. When multiple vehicles travel in a convoy, the convoy becomes longer than that of normal vehicles, and the length of the convoy varies depending on the number and type of vehicles, making it difficult to master. It is therefore considered that a larger distance between vehicles than normal is desirable when changing lanes.

[0003] Patent Document 1 discloses a technique for smoothly overtaking other vehicles while maintaining platooning by forming a group of vehicles. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 10-307997 Summary of the Invention [Problem to be solved by the invention]

[0005] When vehicles travel in a platoon as described above, it is desirable to assist the vehicles in the platoon in changing lanes safely.

[0006] SUMMARY OF THE PRESENT DISCLOSURE An object of the present invention is to provide a lane change assistance device, a lane change assistance method, and a program that solve the above-mentioned problems. [Means for solving the problem]

[0007] According to a first aspect of the invention, a lane change assistance device is characterized in that it comprises an acquisition unit that acquires recommended lane change section information including at least information on the recommended driving lane for vehicles traveling in a platoon in a driving section immediately before reaching a branching point of a driving route, a detection unit that detects the current driving lane of the vehicles traveling in the platoon while the vehicles traveling in the platoon are traveling in the driving section, and a lane change notification unit that outputs notification information notifying that a lane change is easy based on the platoon information for the vehicles traveling in the platoon when the current driving lane of the vehicles traveling in the platoon does not match the recommended driving lane included in the recommended lane change section information.

[0008] According to a second aspect of the invention, a lane change assistance method includes obtaining recommended lane change section information including at least information on the recommended driving lane for vehicles traveling in a platoon in a driving section immediately before reaching a branching point of a driving route, detecting the current driving lane of the vehicles traveling in the platoon while the vehicles traveling in the platoon are traveling in the driving section, and if the current driving lane of the vehicles traveling in the platoon does not match the recommended driving lane included in the recommended lane change section information, outputting notification information notifying that a lane change is easy based on the platoon information for the vehicles traveling in the platoon.

[0009] According to a third aspect of the invention, the program causes a computer of a lane change assistance device to function as: an acquisition means for acquiring recommended lane change section information including at least information on the recommended driving lane for vehicles traveling in a platoon in the driving section immediately before reaching a branching point of a driving route; a detection means for detecting the current driving lane of the vehicles traveling in the platoon while the vehicles traveling in the platoon are traveling in the driving section; and a lane change notification means for outputting notification information notifying that a lane change is easy based on the platoon information regarding the vehicles traveling in the platoon when the current driving lane of the vehicles traveling in the platoon does not match the recommended driving lane included in the recommended lane change section information. Effect of the Invention

[0010] According to the present invention, it is possible to assist vehicles traveling in a formation in changing lanes safely. [Brief description of the drawings]

[0011] [Figure 1] 1 is a diagram showing a configuration of a vehicle management system according to an embodiment of the present invention; [Diagram 2] FIG. 2 is a hardware configuration diagram of an in-vehicle device according to an embodiment of the present invention. [Diagram 3] 2 is a hardware configuration diagram of a control device of an in-vehicle device according to an embodiment of the present invention. FIG. [Figure 4] 2 is a functional block diagram of a control device of the vehicle-mounted device according to the embodiment of the present invention; FIG. [Diagram 5] FIG. 10 is a schematic diagram illustrating an example of static recommended section generation information according to an embodiment of the present invention. [Figure 6] FIG. 2 is a schematic diagram illustrating an example of formation information according to an embodiment of the present invention. [Figure 7] FIG. 4 is a schematic diagram illustrating an example of driver information according to an embodiment of the present invention. [Figure 8] FIG. 2 is a schematic diagram illustrating an example of past lane change information according to an embodiment of the present invention. [Figure 9] FIG. 2 is a schematic diagram illustrating an example of dynamic recommended section generation information according to an embodiment of the present invention. [Figure 10] FIG. 2 is a first diagram showing a processing flow of the vehicle-mounted device according to the embodiment of the present invention. [Figure 11] FIG. 11 is a second diagram showing the processing flow of the vehicle-mounted device according to the embodiment of the present invention. [Figure 12] 11 is a diagram for explaining a process for generating a recommended lane change section according to an embodiment of the present invention. FIG. [Figure 13] FIG. 11 is a third diagram showing the processing flow of the vehicle-mounted device according to the embodiment of the present invention. [Figure 14] FIG. 4 is a fourth diagram showing the processing flow of the vehicle-mounted device according to the embodiment of the present invention. [Figure 15] 1 is a diagram showing a minimum configuration of a lane change assistance device according to an embodiment of the present invention; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A lane change assist device according to an embodiment of the present invention will now be described with reference to the drawings. FIG. 1 is a diagram showing the configuration of a vehicle management system equipped with a lane change assist device according to the embodiment. As shown in FIG. 1, the vehicle management system 100 is, as an example, configured to include an on-board unit 10, a roadside unit 2, and a vehicle management device 3 mounted on each of multiple vehicles 1 traveling in a platoon (hereinafter referred to as "platooning").

[0013] The vehicle management device 3 is a server device that manages the vehicles 1 traveling in a convoy. The vehicle management device 3 obtains information on traffic congestion, accident information, congestion information, etc. at each point on each road from a traffic condition distribution server and records it in a database, etc. Although the traffic condition distribution server is not shown in FIG. 1, it is assumed that it exists outside the vehicle management system 100 and is communicatively connected to the vehicle management device 3. The vehicle management device 3 is also communicatively connected to the roadside unit 2. The vehicle management device 3 and the vehicle-mounted device 10 can be connected via a public communication network such as the Internet or a mobile phone line, and the vehicle management device 3 can directly send and receive information to and from the vehicle-mounted device 10.

[0014] The roadside unit 2 is installed on the shoulder of the road on which the platoon travels. The roadside unit 2 has a passage detection function for detecting the passage of the vehicle 1, and a communication function for communicating with the vehicle-mounted device 10 and the vehicle management device 3 mounted on the vehicle 1. The roadside unit 2 transmits information received from the vehicle-mounted device 10 to the vehicle management device 3 based on a communication connection with the vehicle-mounted device 10. The roadside unit 2 can also transmit information received from the vehicle management device 3 to the vehicle-mounted device 10.

[0015] The vehicle-mounted device 10, which is one aspect of the lane change assistance device, has a function for implementing platooning. For example, the vehicle-mounted device 10 may have a function for detecting the distance and position of a vehicle (forward vehicle) 1 participating in platooning at a position immediately in front of the vehicle, in order to track the vehicle, a function for controlling radar transmission and reception for the detection, and a function for controlling the speed and traveling direction of the vehicle 1 based on the detection result. The vehicle-mounted device 10 may also have a function for performing each process for implementing platooning based on information received from the vehicle management device 3. It is assumed that the process for implementing platooning by the vehicle-mounted device 10 uses a known technology.

[0016] FIG. 2 is a diagram showing the hardware configuration of the vehicle-mounted device. The vehicle-mounted device 10 includes a control device 11, a communication device 12, a camera 13, a position sensor 14, a display device 15, an audio output device 16, an input device 17, a measuring instrument 18, and the like.

[0017] The control device 11 controls each function of the vehicle-mounted device 10 . The communication device 12 is communicatively connected to the roadside device 2 and the vehicle control device 3 . The camera 13 captures images of the exterior and interior of the vehicle 1 to generate moving and still images. The position sensor 14 acquires position information of the vehicle 1 (the vehicle-mounted device 10) by using a Global Positioning System (GPS). The display device 15 is a liquid crystal display, an organic EL (Electro-Luminescence) display, various lamps, or the like, and displays various information. The audio output device 16 outputs audio through a speaker. The input device 17 is a touch panel or various buttons provided on the display surface of the display device 15, and receives input. A measuring device 18 measures the speed, acceleration and position of surrounding vehicles using radar or the like.

[0018] FIG. 3 is a hardware configuration diagram of the control device of the in-vehicle device. As shown in this figure, the control device 11 is a computer equipped with various hardware components such as a CPU (Central Processing Unit) 101, a ROM (Read Only Memory) 102, a RAM (Random Access Memory) 103, a database 104, a communication module 105, and the like.

[0019] FIG. 4 is a functional block diagram of the control device of the vehicle-mounted device. The control device 11 of the vehicle-mounted device 10 starts up when the power is turned on, and executes a pre-stored lane change assistance program, which causes the control device 11 to perform the functions of a control unit 111, a lane change recommended section generation unit 112, a lane change recommended section notification unit 113, a lane change notification unit 114, a static recommended section generation information storage unit 115, a dynamic recommended section generation information storage unit 116, a dynamic recommended section generation information acquisition unit 117, and a generation information storage unit 118.

[0020] The control unit 111 controls each functional unit of the control device 11 . The lane-change recommended section generating unit 112 generates a driving route from the current position to the destination based on map information. The lane-change recommended section generating unit 112 then generates lane-change recommended section information that includes at least a recommended driving lane for the vehicle 1 in a driving section immediately before reaching a branch point on the driving route and indicates a recommended section in which a lane change is recommended. The lane-change recommended section notification unit 113 acquires lane-change recommended section information, and outputs notification information indicating the recommended section included in the lane-change recommended section information.

[0021] The lane change notification unit 114 acquires the recommended lane change section information, detects the current lane of the vehicle when the vehicle is traveling in a traveling section immediately before reaching a branch point on the traveling route, and outputs notification information notifying whether or not it is easy to change lanes when the current lane of the vehicle does not match the recommended lane of the vehicle included in the recommended lane change section information. The lane change notification unit 114 further calculates the difficulty of changing lanes at the current position of the vehicle 1, and outputs notification information based on the difficulty.

[0022] The static recommended section generation information storage unit 115 stores static recommended section generation information that does not change according to road conditions, among the recommended section generation information for generating lane change recommended section information. For example, the static recommended section generation information includes map information, driver information related to the driver of the vehicle 1, platoon information related to the platoon in which the vehicle 1 is formed, and past lane change information related to lane changes performed in the past. The dynamic recommended section generation information storage unit 116 stores dynamic recommended section generation information that changes according to road conditions, among the recommended section generation information for generating lane change recommended section information. For example, the dynamic recommended section generation information includes the current position of the vehicle 1, the traffic congestion situation in the traveling direction, accident information in the traveling direction, and congestion information around the platoon. The dynamic recommended section generation information acquisition unit 117 acquires dynamic recommended section generation information from the position sensor 14, the measuring device 18, or the vehicle management device 3. For example, the dynamic recommended section generation information acquisition unit 117 acquires the current position of the vehicle 1 from the position sensor 14 at predetermined time intervals. The dynamic recommended section generation information acquisition unit 117 also measures the surrounding congestion status using the measuring device 18 at predetermined time intervals. The dynamic recommended section generation information acquisition unit 117 also acquires the traffic congestion status in the traveling direction, accident information in the traveling direction, and congestion information around the platoon from the vehicle management device 3. The dynamic recommended section generation information acquisition unit 117 may acquire dynamic recommended section generation information from the vehicle management device 3 at predetermined time intervals, or may receive the dynamic recommended section generation information transmitted from the vehicle management device 3 when the dynamic recommended section generation information is updated (for example, when traffic congestion or an accident occurs). The generated information storage unit 118 stores information indicating the driving route generated by the recommended lane-change section generating unit 112 and recommended lane-change section information.

[0023] FIG. 5 is a schematic diagram illustrating an example of the static recommended section generation information. As shown in the figure, the static recommended section generation information includes map information, the frequency of congestion at each location and each time period, past lane change information, convoy information, and driver information. The frequency of congestion at each location and each time period is the frequency of congestion at each location and each time period. The past lane change information is information about lane changes that have been made in the past. The convoy information is information about the convoy in which vehicle 1 is formed. The driver information is information about the driver of vehicle 1.

[0024] FIG. 6 is a schematic diagram showing an example of train formation information. As shown in the figure, the platoon information includes the length of the platoon, the number of vehicles, the vehicle distance under each road condition such as congestion during travel and speed, and the predicted value of the time required for lane change. The number of vehicles is the number of vehicles 1 belonging to the platoon. The vehicle distance under each condition is, for example, the vehicle distance between each vehicle 1 under each speed and each condition when changing lanes. The predicted value of the time required for lane change is the predicted value of the time required for lane change depending on the lane change method and other platoon information, etc.

[0025] FIG. 7 is a schematic diagram showing an example of the driver information. As shown in the figure, the driver information includes a history of driving a large vehicle, experience of leading a convoy, and the number of lane changes made while traveling in a convoy in the past.

[0026] FIG. 8 is a schematic diagram showing an example of past lane change information. As shown in the figure, the past lane change information is a table having items such as date and time information, position information, road conditions, time required for lane change, driver information, and convoy information. Road conditions include, for example, freezing, curves, inclines, and congestion. The past lane change information is stored by associating each item of data with each lane change that has been performed. Note that the past lane change information may be an average value obtained by classifying the information of each of the above items by position or road conditions.

[0027] FIG. 9 is a schematic diagram illustrating an example of the dynamic recommended section generation information. As shown in the figure, the dynamic recommended section generation information includes the current position of the convoy, the traffic congestion situation in the traveling direction, accident information in the traveling direction, and congestion information around the convoy.

[0028] FIG. 10 is a first diagram showing a processing flow of the vehicle-mounted device. Next, the process performed by the vehicle-mounted device 10 will be described. Below, we will explain the case where multiple vehicles 1 form a platoon and start platoon driving. Each vehicle 1 is stopped at a position in the platoon for platoon driving (a position based on a predetermined order in the platoon). The driver operates the vehicle-mounted device 10 equipped in the vehicle 1 to instruct the start of processing for platoon driving. At this time, the vehicle-mounted device 10 starts control to start platoon driving. The driver then gets into the vehicle 1 located at the front of the platoon driving. The driver may or may not get into the following vehicles 1 other than the vehicle 1 traveling at the front of the platoon driving.

[0029] The driver inputs the destination into the vehicle-mounted device 10 while the vehicle 1 is stopped before starting the platooning. The input device 17 of the vehicle-mounted device 10 accepts the input of the destination. The control device 11 of the vehicle-mounted device 10 then calculates a driving route from the current position to the destination. The driver drives the leading vehicle of the vehicles 1 that are traveling in the platoon based on the driving route. While traveling, the control device 11 of the vehicle-mounted device 10 notifies the driver of recommended sections where lane changes are recommended on the driving route from the current position to the destination.

[0030] More specifically, the lane change recommended section generation unit 112 first acquires static recommended section generation information and dynamic recommended section generation information (step S101). Specifically, the dynamic recommended section generation information acquisition unit 117 first generates a dynamic recommended section generation information request for requesting dynamic recommended section generation information. The dynamic recommended section generation information request includes a road ID that identifies a road on the driving route from the current position to the destination. Then, the dynamic recommended section generation information acquisition unit 117 transmits the dynamic recommended section generation information request to the vehicle management device 3. The vehicle management device 3 acquires the road ID included in the dynamic recommended section generation information request. The vehicle management device 3 acquires the dynamic recommended section generation information recorded in a database or the like in association with the acquired road ID. The dynamic recommended section generation information may be information acquired by the vehicle management device 3 in advance from another device such as a traffic condition distribution server, or information calculated based on information acquired in advance from various sensors and registered in the vehicle management device 3 itself. The vehicle management device 3 transmits the acquired dynamic recommended section generation information to the vehicle-mounted device 10. The vehicle-mounted device 10 receives the dynamic recommended section generation information. The dynamic recommended section generation information acquisition unit 117 of the vehicle-mounted device 10 writes the dynamic recommended section generation information to the dynamic recommended section generation information storage unit 116. The lane-change recommended section generation unit 112 reads out the dynamic recommended section generation information from the dynamic recommended section generation information storage unit 116. The lane-change recommended section generation unit 112 also reads out the static recommended section generation information from the static recommended section generation information storage unit 115.

[0031] The above-mentioned processing of the dynamic recommended section generation information acquisition unit 117 may be performed in advance. For example, the dynamic recommended section generation information acquisition unit 117 may sequentially acquire dynamic recommended section generation information for each predetermined section of each road nationwide, and record the information in the dynamic recommended section generation information storage unit 116 for each predetermined section of each road nationwide.

[0032] Next, the lane change recommended section generating unit 112 generates lane change recommended section information based on the acquired static recommended section generating information and dynamic recommended section generating information, and writes and stores the generated lane change recommended section information in the generated information storage unit 118 (step S102). The lane change recommended section information may be, for example, a section of the driving route to the destination from a branch point to a point a predetermined distance before the branch point, where the frequency of traffic congestion is equal to or higher than a predetermined frequency. The lane change recommended section information includes a recommended section in which a lane change is recommended in a lane change section where a lane change is required, and a recommended driving lane of the vehicle 1 in the lane change section. After that, the lane change recommended section notification unit 113 notifies the driver of the recommended section indicated by the lane change recommended section information (step S103). For example, the lane change recommended section notification unit 113 notifies the driver of the recommended section by displaying the driving route on a map displayed on the display device 15 and highlighting the recommended section on the displayed driving route. Alternatively, the lane change recommended section notification unit 113 may display the address, the location name, etc. of the recommended section on the display device 15, or may output it by voice from the voice output device 16. Then, the process ends.

[0033] FIG. 11 is a second diagram showing the processing flow of the vehicle-mounted device. Next, the process of generating the recommended lane change section information will be described in detail. This figure corresponds to the process shown in step S102 described above. First, the lane-change recommended section generation unit 112 acquires the current position from the position sensor 14. Then, the lane-change recommended section generation unit 112 generates a driving route from the current position to the destination based on map information (step S1021). Next, the lane-change recommended section generation unit 112 extracts a section where a lane change is required (hereinafter referred to as a "lane change section") in the driving route (step S1022). For example, the lane-change recommended section generation unit 112 determines a section with multiple lanes in the driving section immediately before reaching a branch point in the driving route as a lane change section.

[0034] Next, the lane-change recommended section generating unit 112 calculates a lane-change threshold based on the driver information and the platoon information (step S1023). The lane-change threshold is an index indicating the degree of difficulty for the driver to change lanes of the platoon. For example, the lane-change threshold is smaller as the driver's experience of driving a large vehicle, experience of leading a platoon, and number of lane changes during past platoon driving are greater. Also, the lane-change threshold is larger as the expected values ​​of the inter-vehicle distance and the time required for lane change under each road condition such as the length of the platoon, the number of vehicles, the congestion during driving, and the speed condition are greater. The lane-change recommended section generating unit 112 may input the number of years indicating the experience of driving a large vehicle, the number of years indicating the experience of leading a platoon, the length and number of vehicles of the platoon, the inter-vehicle distance, and the expected value of the time required for lane change into a calculation formula for the lane-change threshold, and calculate the lane-change threshold, which is an output value.

[0035] Next, the lane change recommendation section generation unit 112 calculates the lane change recommendation level for each point in the lane change section based on the past lane change information and map information (step S1024). The lane change recommendation level is an index that indicates the recommendation level for lane change. For example, if the past lane change information includes lane change information for the lane change section, the shorter the time it takes to change lanes at the point, the higher the lane change recommendation level. In addition, if the road is straight, the lane change recommendation level is high, and if the road is curved, such as a curve, the lane change recommendation level is low. The lane change recommendation section generation unit 112 obtains the time it took other vehicles to change lanes in the past from the static recommended section generation information for multiple calculation target points, and inputs the time into a calculation formula for the lane change recommendation level to calculate the lane change recommendation level.

[0036] The lane-change recommended section generating unit 112 then determines, as a recommended section, a section that has a point where no congestion, accidents, or congestion occurs and where the congestion occurrence frequency is low, among the points having a lane-change recommendation degree equal to or higher than the lane-change threshold (step S1025). The point where the congestion occurrence frequency is low may be a point where the congestion occurrence frequency is equal to or lower than a predetermined threshold in a past predetermined period. As an example, the congestion occurrence frequency may be the number of congestion occurrences in the past predetermined period included in the static recommended section generation information. When there is no point where the congestion occurrence frequency is equal to or lower than the predetermined threshold in the lane-change recommended section, the lane-change recommended section generating unit 112 may determine, as a recommended section, a predetermined short distance from the starting point, which is shorter than the distance from the starting point to the end point of the lane-change recommended section. Furthermore, the lane-change recommended section generating unit 112 determines, as a recommended driving lane, a lane in the direction of branching at the branch point as a recommended driving lane in the recommended section. Then, the process ends. Note that the lane in the direction of branching at the branch point is a lane that should be traveled in order to proceed in the desired branch direction among the lanes that pass through the branch.

[0037] FIG. 12 is a diagram for explaining the process of generating a recommended lane change section. A detailed description will be given using a specific example. An example will be given in which a branch point B exists in the travel direction on a travel route, and the vehicle branches off to the left at the branch point B. If the travel section CS immediately before the vehicle reaches the branch point B has multiple lanes, it is difficult to branch off to the left at the branch point B unless the vehicle is traveling in the left lane before the vehicle reaches the branch point B. For this reason, the lane change recommended section generation unit 112 determines the travel section CS as a lane change section. Here, the lane change section CS includes points P1 to P5, and among these, points P1 to P3 are congested or have a high frequency of congested traffic. In such a case, the lane change recommended section generation unit 112 determines the section RS, which includes points P4 and P5 that indicate a lane change recommendation level equal to or higher than the lane change threshold and have no congested traffic and a low frequency of congested traffic, as a recommended section among points P1 to P5 in the lane change section CS. The lane change recommended section generation unit 112 also determines the left lane as a recommended travel lane.

[0038] Through the above process, the vehicle-mounted device 10 can notify the driver of a recommended lane change section where the vehicles traveling in the platoon need to change lanes. This allows the driver to know in which section the vehicles traveling in the platoon should change lanes.

[0039] In addition, since the lane-change recommended section generation unit 112 generates the lane-change recommended section information based on static recommended section generation information including map information, congestion occurrence frequency, past lane-change information, platoon information, and driver information, a section suitable for the driver of the vehicle 1 to change lanes of the platoon can be set as the recommended section. In addition, since the lane-change recommended section generation unit 112 generates the recommended section based on dynamic recommended section generation information including the current position, congestion status in the traveling direction, accident information in the traveling direction, and congestion information around the platoon, it is possible to generate lane-change recommended section information according to road conditions, for example, setting a section where no congestion or accidents have occurred as the recommended section.

[0040] Thereafter, the driver drives manually or automatically, and the following vehicle 1 travels while maintaining an interval with the vehicle 1 located immediately before in the platoon. In addition, when the vehicle-mounted device 10 passes the roadside unit 2 while traveling in the platoon, it receives a signal transmitted from the roadside unit 2. Based on the signal transmitted from the roadside unit 2, the vehicle-mounted device 10 establishes a communication connection with the roadside unit 2 or the vehicle management device 3.

[0041] FIG. 13 is a third diagram showing the processing flow of the vehicle-mounted device. Next, the process of the vehicle-mounted device 10 when the vehicles 1 are traveling in a convoy will be described. First, the lane-change recommended section generating unit 112 judges whether the dynamic recommended section generation information stored in the dynamic recommended section generation information storage unit 116 has been updated (step S201). If the dynamic recommended section generation information has not been updated (step S201; NO), the lane-change recommended section generating unit 112 repeats the process of step S201. On the other hand, if the dynamic recommended section generation information has been updated (step S201; Yes), the lane-change recommended section generating unit 112 generates lane-change recommended section information based on the updated dynamic recommended section generation information, and writes and stores the generated lane-change recommended section information in the generated information storage unit 118 (step S202). The method of generating the lane-change recommended section information is the same as in step S102 described above. After that, the lane-change recommended section notification unit 113 notifies the driver of the recommended section indicated by the lane-change recommended section information (step S203). Then, the process ends.

[0042] By the above process, when the dynamic recommended section generation information is updated, the vehicle-mounted device 10 can change the recommended section and notify the driver. For example, when a traffic jam or an accident occurs in the recommended section, the vehicle-mounted device 10 can change the recommended section for lane change to another section where no traffic jam or accident occurs.

[0043] FIG. 14 is a fourth diagram showing the processing flow of the vehicle-mounted device. Next, the process of the vehicle-mounted device 10 when the vehicle 1 is traveling in a lane change section will be described. First, the lane change notification unit 114 determines whether or not a platoon consisting of vehicles 1 is in a lane where a lane change is required (step S301). For example, the lane change notification unit 114 reads out lane map information and line marker information included in the map information from the static recommended section generation information storage unit 115. The lane map information includes, for example, information based on the design of the road, such as the positions of road installations such as signs, the position of the road centerline, and the number of lanes and the curvature of curves depending on the positions. The line marker information is, for example, information that holds the IDs and position information of a large number of markers embedded in the road at a predetermined interval. Then, the lane change notification unit 114 detects the lane in which the platoon is traveling, using the lane map information and the line marker information. Alternatively, the lane change notification unit 114 may detect the lane based on an image captured by the camera 13. The lane change notification unit 114 determines that the vehicle 1 is not in a lane where a lane change is required if the current position of the vehicle 1 is within the recommended lane change section RS and the detected current driving lane matches the recommended driving lane, and determines that the vehicle 1 is in a lane where a lane change is required if this is not the case.

[0044] When it is determined that the vehicle is not in a lane where a lane change is required (step S301; NO), the lane change notification unit 114 notifies the driver that a lane change is not required by voice output or display (step S302). Then, the process ends.

[0045] On the other hand, when the lane change notification unit 114 determines that the vehicle is in a lane where a lane change is required (step S301; YES), it detects the speed information, acceleration information, and position information of surrounding vehicles (step S303). For example, the lane change notification unit 114 measures the speed, acceleration, and position of surrounding vehicles using the measuring device 18. Alternatively, the lane change notification unit 114 may obtain the speed information, acceleration information, and position information of surrounding vehicles by inquiring of the roadside device 2 or the vehicle management device 3.

[0046] Thereafter, the lane change notification unit 114 calculates the degree of difficulty of lane change based on the detected information (speed information, acceleration information, and position information of surrounding vehicles), driver information, platoon information, and past lane change information (step S304). For example, the higher the speed and acceleration of surrounding vehicles, the higher the degree of difficulty. Also, the closer the positions of surrounding vehicles are to vehicle 1, the higher the degree of difficulty. Also, the greater the driver's experience of driving large vehicles, experience leading a platoon, and number of past lane changes during platoon driving, the lower the degree of difficulty. Also, the greater the expected value of the inter-vehicle distance and time required for lane change under each road condition such as the length of the platoon, the number of vehicles, the congestion condition during driving, and the speed condition, the higher the degree of difficulty. Also, if the past lane change information includes lane change information at the current position, the longer the time required for lane change, the higher the degree of difficulty.

[0047] Then, the lane change notification unit 114 determines whether or not a safe lane change is possible based on the calculated difficulty level (step S305). Specifically, the lane change notification unit 114 determines that a safe lane change is possible when the calculated difficulty level is equal to or lower than a predetermined threshold, and determines that a lane change is difficult when the calculated difficulty level is greater than the predetermined threshold.

[0048] When it is determined that a safe lane change is possible (step S305; YES), the lane change notification unit 114 notifies the driver that a safe lane change is possible by audio output or display (step S306). For example, the lane change notification unit 114 may notify the driver that a safe lane change is possible by turning on a lamp indicating that a lane change is possible. Then, the process ends. Note that the lane change notification unit 114 may notify the driver that a lane change is easy when notifying the driver that a safe lane change is possible. At this time, the lane change notification unit 114 may also notify the driver of the reason why a lane change is necessary. At this time, the lane change notification unit 114 may also calculate the distance between the end point position of the section where lane change is easy and the current position, and notify the driver of information indicating how far the section where lane change is easy will end. The lane change notification unit 114 may also notify the driver of surrounding information such as whether there is another section where lane change is easy / whether this section is the last section. The notification may be in the form of a voice, a display on a display device, etc. The reason why the lane change is necessary may be, for example, that there is a fork in the road ahead of the current position.

[0049] On the other hand, when it is determined that a safe lane change is not possible (step S305; NO), the lane change notification unit 114 notifies the driver that it is difficult to change lanes by voice output or display (step S307). Then, the process ends. Note that the lane change notification unit 114 may sound an alarm by a buzzer sound when the vehicle 1 attempts to change lanes when a safe lane change is not possible.

[0050] Through the above processing, the vehicle-mounted device 10 can notify the driver whether or not the vehicle 1 can safely change lanes (whether or not the lane change is easy) when traveling in a lane change section. In addition, since the vehicle-mounted device 10 calculates the degree of difficulty of lane change at the current position of the vehicle 1 and notifies the driver based on the degree of difficulty, the vehicle-mounted device 10 can notify the driver whether or not the lane change of the platoon can be safely performed depending on the conditions of the vehicles traveling around. This makes it possible to support the safe lane change of the vehicles 1 traveling in the platoon. Therefore, it is possible to reduce the burden on the driver when changing lanes while traveling in the platoon.

[0051] FIG. 15 is a diagram showing a minimum configuration of the lane change assist device. The vehicle-mounted device 10, which is one aspect of a lane change assistance device, performs the functions of at least an acquisition unit 114-1, a detection unit 114-2, and a lane change notification unit 114. The acquisition unit 114-1 acquires recommended lane-change section information including at least information on a recommended driving lane for the vehicle and a recommended section for lane changes in a driving section immediately before reaching a branch point on a driving route. The detection unit 114-2 detects the current lane in which the vehicle is traveling when the vehicle is traveling in a travel section immediately before arriving at a branch point. The lane change notification unit 114 outputs notification information notifying that it is easy to change lanes when the current vehicle's driving lane in a recommended section included in the lane change recommended section information does not match the recommended driving lane included in the lane change recommended section information.

[0052] Each function of the lane change assistance device may be provided in the vehicle-mounted device 10 or in the vehicle management device 3. For example, the vehicle management device 3 may generate recommended lane change section information and transmit the generated recommended lane change section information to the vehicle-mounted device 10. In this case, the vehicle-mounted device 10 notifies the driver of the recommended section and the ease of lane change (whether or not the lane can be changed safely) based on the recommended lane change section information received from the vehicle management device 3.

[0053] Each of the above-mentioned devices has a computer system inside. The steps of each of the above-mentioned processes are stored in a computer-readable recording medium in the form of a program, and the above processes are performed by the computer reading and executing this program. Here, the computer-readable recording medium refers to a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, etc. Also, the computer program may be distributed to a computer via a communication line, and the computer that receives the program may execute the program.

[0054] The program may be a program for implementing some of the above-mentioned functions, or may be a so-called differential file (differential program) that can implement the above-mentioned functions in combination with a program already recorded in the computer system. [Explanation of symbols]

[0055] 1. Vehicle 2...Roadside unit 3. Vehicle management device 10. In-vehicle device (lane change assistance device) 11. Control device 12. Communication equipment 13. Camera 14. Position Sensor 15...Display device 16 Audio output device 17 Input Device 18...Measuring instrument 100 Vehicle management system 111...Control unit 112 Lane change recommendation section generation unit 113 Lane change recommended section notification unit 114 Lane change notification section 115: Static recommended section generation information storage unit 116: Dynamic recommended section generation information storage unit 117 Dynamic recommended section generation information acquisition unit 118...Generation information storage unit

Claims

1. a lane change recommendation section generation unit that calculates a recommendation section including a point identified based on a lane change threshold that indicates a degree of difficulty for a driver to change lanes of the vehicles traveling in a platoon and a lane change recommendation level that indicates a recommendation level for changing lanes at each point in a lane change section that indicates a section having multiple lanes among a driving section immediately before reaching a branch point in a driving route; a lane change notification unit that notifies drivers of the vehicles traveling in the platoon of lane change recommendation information that is determined based on information about the recommended section; A lane change assistance device equipped with:

2. an acquisition unit that acquires lane change recommended section information including at least the recommended section; a detection unit that detects a current traveling lane of the vehicles traveling in the platoon when the vehicles traveling in the platoon are traveling in the traveling section, The lane change notification unit, when a driving lane of the vehicles traveling in the platoon does not match a recommended driving lane included in the lane change recommended section information, notifies the driver of lane change recommendation information determined based on information related to the recommended section. The lane change assist device according to claim 1 .

3. The lane change assist device according to claim 1 , wherein the lane change notification unit notifies the driver that a lane change is easy.

4. The lane change notification unit calculates the difficulty level based on at least one of driver information related to a driver of the vehicle traveling in the platoon, or lane change information related to a lane change previously performed by the vehicle traveling in the platoon. The lane change assist device according to claim 1 .

5. The lane change assist device computer, a lane change recommendation section generation means for calculating a recommendation section including a point identified based on a lane change threshold indicating a degree of difficulty for a driver to change lanes of the vehicles traveling in a platoon and a lane change recommendation level indicating a recommendation level for a lane change at each point in a lane change section indicating a section having multiple lanes among a driving section immediately before reaching a branch point in a driving route; a lane change notification means for notifying a driver of the vehicles traveling in the platoon of lane change recommendation information determined based on the information about the recommended section; A program that functions as a

6. Calculate a recommended section including the specified point based on a lane change threshold indicating a degree of difficulty for a driver to change lanes of the vehicles traveling in the platoon and a lane change recommendation level indicating a degree of recommendation for changing lanes at each point in a lane change section indicating a section having multiple lanes among the driving sections immediately before reaching a branch point in the driving route; Notifying drivers of the vehicles traveling in the platoon of lane change recommendation information determined based on the information about the recommended section. Lane change assistance methods.

7. a lane change recommendation section generation unit that calculates a recommendation section including a point identified based on a lane change threshold that indicates a degree of difficulty for a driver to change lanes of the vehicles traveling in a platoon and a lane change recommendation level that indicates a recommendation level for changing lanes at each point in a lane change section that indicates a section having multiple lanes among a driving section immediately before reaching a branch point in a driving route; a lane change notification unit that notifies drivers of the vehicles traveling in the platoon of lane change recommendation information that is determined based on information about the recommended section; A vehicle equipped with.

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