Traffic Control System

Abstract

To achieve a smooth traffic by allowing for safety and stable driving of a vehicle.SOLUTION: Driving information on a driving specific section divergent from a target route or target speed of an own vehicle is transmitted from a probe information transmission unit 21 of a vehicle control system 10 as probe information. An operation control system 100 is configured to: by a probe information collection unit 101, collect the probe information on a plurality of vehicles and extract the information high in reliability; and by a recommendation driving information calculation unit 102, calculate and transmit recommendation driving information for getting through the specific section. The vehicle control system 10 is configured to execute driving control for getting through the specific section on the basis of the recommendation driving information on the specific section a specific section driving control unit 22 receives from the operation control system 100, and recognition information on a driving environment with respect to the specific section.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a traffic control system that collects driving information of a plurality of vehicles. [Background technology]

[0002] 2. Description of the Related Art In recent years, there has been progress in the development of road traffic information systems that provide information about road traffic conditions to vehicles, such as automobiles, traveling on roads, and in particular road traffic systems known as ITS (Intelligent Transport Systems).

[0003] An example of a road traffic information system is VICS (Vehicle Information and Communication System: registered trademark). VICS is a system that usually provides macro information on a certain section of a road, and a vehicle can grasp the driving environment ahead by receiving obstacle information such as fallen objects on the road from VICS.

[0004] Meanwhile, on the vehicle side, technologies are being adopted that recognize the driving environment ahead using cameras, laser radar, etc., and control driving based on the recognized driving environment. By combining information received from infrastructure such as VICS with autonomously recognized driving environment information, safer driving is possible.

[0005] For example, Patent Document 1 discloses a technology for searching for a driving route using time-dependent driving environment information obtained through communication and driving environment information acquired from a camera or the like, and for controlling the driving of a vehicle along the searched driving route. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2017-41070 A Summary of the Invention [Problem to be solved by the invention]

[0007] However, it is only at the last moment that it becomes possible to avoid falling objects that are close by until they are reflected in infrastructure information such as VICS, and road ruts, puddles, cracks in the road surface, etc. that are not reflected in infrastructure information. Therefore, as disclosed in Patent Document 1, a unique combination of infrastructure information and vehicle information is not necessarily sufficient to enable safe and stable vehicle driving and realize a smooth traffic flow.

[0008] The present invention has been made in view of the above circumstances, and has an object to provide a traffic control system that enables safe and stable vehicle driving and realizes a smooth traffic flow. [Means for solving the problem]

[0009] A traffic control system according to one aspect of the present invention includes a vehicle control system that transmits driving information of a vehicle while the vehicle is traveling, and a control system that collects the driving information from the vehicle control systems of a plurality of vehicles, processes the collected driving information, and transmits the processed information, wherein the vehicle control system includes: The above Based on the recognition results of the vehicle's driving environment, Applicable Vehicle Eyes Only the driving information of a specific section where the vehicle deviates from the target speed by a specified amount is used as probe information. Send a probe information transmitting unit that transmits the recommended driving information for passing through the specific section from the control system; The abovea specific section driving control unit that recognizes the driving environment of the specific section located ahead of the vehicle, determines whether or not there is an obstacle, and if it determines that there is no obstacle, executes driving control based on the recommended driving information, and if it determines that there is an obstacle, cancels the recommended driving information and executes driving control based on the recognition result of the driving environment of the specific section, and the control system includes a probe information collection unit that collects the probe information of a plurality of vehicles and extracts highly reliable information, and calculates the recommended driving information for the specific section based on the probe information extracted by the probe information collection unit, and includes position information of the specific section in the calculated recommended driving information to calculate the recommended driving information for the specific section. Trying to enter, and a calculation unit for calculating recommended driving information that transmits the recommended driving information to a vehicle located within a set range. Effect of the Invention

[0010] According to the present invention, safe and stable vehicle travel is possible, thereby realizing a smooth traffic flow. [Brief description of the drawings]

[0011] [Figure 1] Traffic control system overview [Diagram 2] FIG. 1 is an explanatory diagram showing transmission of probe information in a specific section; [Diagram 3] FIG. 13 is an explanatory diagram showing the transmission of probe information according to driving conditions. [Figure 4] An explanatory diagram showing probe information and recommended driving information [Diagram 5] Flowchart showing the processing on the control system side [Figure 6] Flowchart showing the process on the vehicle control system side DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Fig. 1 is an overall configuration diagram of a traffic control system. As shown in Fig. 1, the traffic control system 1 in this embodiment is composed of a vehicle control system 10 of each vehicle that transmits driving information of a vehicle traveling by automatic driving to a cloud computing network (hereinafter simply referred to as "cloud"), and a cloud-linked control system 100 that collects and processes driving information of a plurality of vehicles.

[0013] In this embodiment, the vehicle control system 10 is configured around an automatic driving control unit 20 that controls automatic driving that does not require driving operations by the vehicle occupants. An external environment recognition unit 30, a locator unit 40, a braking / driving control unit 50, a steering control unit 60, an information notification unit 70, and the like are connected to the automatic driving control unit 20 so as to be able to communicate with each other via an in-vehicle network.

[0014] The external environment recognition unit 30 includes various devices for environment recognition, such as a camera unit 31 and a radar device 32 such as a millimeter wave radar or a laser radar. The external environment recognition unit 30 recognizes the external environment around the vehicle based on detection information of objects around the vehicle detected by the camera unit 31, the radar device 32, etc., traffic information acquired by infrastructure communication such as road-to-vehicle communication and vehicle-to-vehicle communication, position information of the vehicle measured by the locator unit 40, etc.

[0015] For example, when a stereo camera consisting of two cameras that capture images of the same object from different viewpoints is mounted on the vehicle as the camera unit 31, the external environment recognition unit 30 recognizes the external environment three-dimensionally by stereo processing a pair of left and right images captured by the stereo camera. The camera unit 31 as a stereo camera is configured, for example, by two shutter-synchronized color cameras having imaging elements such as CCD or CMOS arranged on the left and right in the vehicle width direction with a predetermined baseline length near the rearview mirror inside the front window at the top of the vehicle interior.

[0016] A pair of left and right images captured by camera unit 31 as a stereo camera are subjected to matching processing to determine the pixel shift amount (parallax) of corresponding positions between the left and right images, and this pixel shift amount is converted into brightness data, etc. to generate a distance image. Points on the distance image are coordinate-converted into points in real space with the host vehicle at the center based on the principle of triangulation, and the left and right white lines that define the driving lane of the road on which the host vehicle is traveling, obstacles, vehicles traveling ahead of the host vehicle, etc. are recognized three-dimensionally.

[0017] The left and right white lines on the road can be recognized by extracting a group of candidate points for the white lines from an image and calculating straight lines and curves connecting the candidate points. For example, within a white line detection area set on an image, edges where the brightness changes by a predetermined amount or more are detected on multiple search lines set in the horizontal direction (vehicle width direction), and a pair of white line start points and end points are detected for each search line, so that the intermediate area between the white line start points and the white line end points is extracted as a white line candidate point.

[0018] The white lines are then recognized by calculating an approximation model of the left and right white lines by processing time-series data of the spatial coordinate positions of the white line candidate points based on the vehicle movement amount per unit time. The approximation model of the white lines can be an approximation model that connects straight line components obtained by the Hough transform, or a model that approximates the left and right white lines using a curve such as a quadratic expression.

[0019] Locator unit 40 detects the vehicle position of the vehicle mainly by positioning based on signals from multiple navigation satellites such as GNSS (Global Navigation Satellite System) satellites. When the positioning accuracy is deteriorated due to the capture state of signals (radio waves) from the satellites or the influence of multipath due to reflection of radio waves, locator unit 40 detects the vehicle position of the vehicle by also using positioning based on autonomous navigation using on-board sensors such as gyro sensor 42 and vehicle speed sensor 43.

[0020] In positioning using multiple navigation satellites, signals including information on orbits, time, etc. transmitted from the navigation satellites are received via the receiver 41, and the vehicle's own position is determined as an absolute position including longitude, latitude, altitude, and time information based on the received signals. In addition, in positioning using autonomous navigation, the vehicle's own position is determined as a relative position change based on the traveling direction of the vehicle detected by the gyro sensor 42 and the travel distance of the vehicle calculated from the vehicle speed pulse output from the vehicle speed sensor 43.

[0021] Locator unit 40 also includes a map database DB, and identifies the position on the map data in the map database DB from the measured position data of the vehicle. The map database DB is a database that holds high-precision maps created for driving control including autonomous driving, and is stored in a large-capacity storage medium such as a hard disk drive (HDD) or a solid state drive (SSD).

[0022] In detail, the high-precision map is configured as a multi-dimensional map (dynamic map) that holds static information such as road shapes and connections between roads, and dynamic information such as traffic information collected by infrastructure communication, in multiple layers. The road data includes the type of road white lines, the number of driving lanes, the width of the driving lanes, point sequence data indicating the center position in the width direction of the driving lanes, the curvature of the driving lanes, the travel azimuth of the driving lanes, speed limits, etc. This is held together with attribute data such as the reliability of the data and the date of data update.

[0023] Furthermore, locator unit 40 performs maintenance management of map database DB, inspecting the nodes, links, and data points of map database DB to always keep it up to date, and also creates and adds new data for areas where no data exists in the database to build a more detailed database. Updating data in map database DB and adding new data are performed by comparing measured position data with data stored in map database DB.

[0024] The braking / driving control unit 50 controls the driving force generated by the electric motor or the internal combustion engine, and also controls the vehicle's driving speed, forward / reverse switching, braking, etc. For example, the braking / driving control unit 50 controls the engine operating state based on signals from various sensors that detect the engine operating state and various control information acquired via the in-vehicle network, and also controls the four-wheel brake device (not shown) independently of the brake operation of the occupant (driver) based on the brake switch, the wheel speeds of the four wheels, the steering angle, the yaw rate, and other vehicle information. Furthermore, the braking / driving control unit 50 calculates the brake fluid pressure of each wheel based on the braking force of each wheel, and performs anti-lock brake system and anti-side slip control, etc.

[0025] The steering control unit 60 controls the steering torque by an electric power steering (EPS) unit 61 provided in the steering system based on, for example, vehicle speed, driver's steering torque, steering angle, yaw rate, and other vehicle information. This steering torque control is executed as current control for an electric motor of the EPS unit 61 that realizes a target steering torque for matching an actual steering angle with a target steering angle. The EPS unit 61 uses the target steering torque from the steering control unit 60 as an instruction torque and controls the drive current of the electric motor corresponding to this instruction torque by, for example, PID control.

[0026] The information notification unit 70 controls the output of warnings to alert the driver when an abnormality occurs in various devices of the vehicle, and various information to be presented to the driver. For example, the information notification unit 70 notifies the driver of warnings and control information using at least one of visual output such as a monitor, display, and alarm lamp, and audio output such as a speaker and buzzer. The information notification unit 70 notifies the driver of the control state during execution of driving control including automatic driving, and also notifies the driver of the driving state at that time when driving control including automatic driving is paused by the driver's operation.

[0027] Next, a description will be given of the automatic driving control unit 20, which is the core of the vehicle control system 10. When the driver operates a switch, panel, etc. (not shown) to select a driving assistance mode that assists the driver in driving or an automatic driving mode that does not require the driver to perform driving operations, as opposed to a manual driving mode in which the driver performs all driving operations such as steering, acceleration / deceleration, and braking to drive the vehicle, the automatic driving control unit 20 performs driving control via the braking / driving control unit 50 and steering control unit 60 based on information from the external environment recognition unit 30 and the locator unit 40.

[0028] In this embodiment, the driving assistance mode means a driving mode in which at least one of acceleration / deceleration control and steering control is automatically performed while the driver is required to maintain or turn the steering wheel, and includes partial automatic driving. On the other hand, the automatic driving mode means a driving mode that is premised on hands-free driving without the driver touching the steering wheel, and is a conditional automatic driving mode in which all acceleration / deceleration control and steering control are automatically performed within the designed driving range in which the automatic driving function operates normally.

[0029] This automatic driving mode is released when the driver performs an override operation, such as holding the steering wheel or steering with a steering torque equal to or greater than a set value, depressing the brake pedal, depressing the accelerator pedal, etc. In addition, in the automatic driving mode, if it becomes difficult for the system to continue operating, the automatic driving is released and the vehicle is left to manual driving by the driver.

[0030] When the occupant (driver) turns on the autonomous driving mode and inputs information about the destination and intermediate points (facility name, address, telephone number, etc.), or directly specifies them on a map displayed on a panel, etc., the autonomous driving control unit 20 sets the position coordinates (latitude, longitude) of the driving route via the locator unit 40; alternatively, on expressways, etc., the autonomous driving mode can be turned on while driving on the main road to identify the road and driving lane to travel on without specifying the destination and driving route.

[0031] The autonomous driving control unit 20 calculates the center position in the width direction of the driving lane of the identified road using map data and on-board sensors such as the camera unit 31, and sets the trajectory of the traveling direction of the center position of this driving lane as the target route for autonomous driving. The same applies when the destination and driving route are not specified, and the trajectory of the traveling direction of the center position of the driving lane is set as the target route for autonomous driving.

[0032] Furthermore, the automatic driving control unit 20 sets the vehicle speed set by the driver or the speed limit of the road as the target vehicle speed for automatic driving, and automatically drives the vehicle to the destination along the target route while appropriately adjusting this target vehicle speed according to the curvature of the target route, the type and gradient of the road, the distance between the vehicle and other vehicles, etc. If the destination and driving route are not specified, the vehicle is driven to follow the center position of the driving lane.

[0033] Based on information from the external environment recognition unit 30, the locator unit 40, and the on-board sensors, the autonomous driving control unit 20 detects driving information such as the lateral position (lateral position) of the host vehicle relative to the target route (center position of the lane), the yaw angle of the host vehicle's traveling direction relative to the target route, and the vehicle speed. The autonomous driving control unit 20 then executes steering control to follow the target route via the steering control unit 60 and the EPS unit 61, and executes acceleration / deceleration control to the target speed via the braking / driving control unit 50.

[0034] During this driving control for autonomous driving, the autonomous driving control unit 20 transmits driving information of the vehicle to the cloud and receives recommended driving information from the control system 100 via the cloud. As functional units related to the driving information in this cloud-linked manner, the autonomous driving control unit 20 includes a probe information transmission unit 21 and a specific section driving control unit 22, and the control system 100 includes a probe information collection unit 101 and a recommended driving information calculation unit 102.

[0035] Usually, the automatic driving control unit 20 performs driving control so that the deviation amount of the lateral position and yaw angle of the vehicle relative to the target route converges within a preset control range, and the deviation amount of the speed of the vehicle relative to the target speed converges within a preset control range. However, depending on the driving environment, it may be preferable to drive on a route different from the target route or at a speed different from the target speed. For example, when the external environment recognition unit 30 recognizes a scene in which there are obstacles, ruts, frozen parts, etc. on the road of the target route, the automatic driving control unit 20 controls the vehicle to take a trajectory (behavior trajectory) of a route and speed different from the usual one in order to avoid the obstacles, ruts, frozen parts, etc.

[0036] The probe information transmission unit 21 judges a section where the vehicle has taken a different behavioral trajectory from the normal one, that is, a section where the vehicle has traveled while deviating from the target route or the target speed by a predetermined amount based on the recognition result of the traveling environment of the vehicle, as a specific section. In this embodiment, the probe information transmission unit 21 judges a section where the deviation amount of the lateral position of the vehicle from the target route deviates beyond the normal control range, or a section where the vehicle has traveled beyond the normal control range from the target speed, as a specific section, and transmits the traveling information of the specific section as probe information to the cloud CL, for example, as shown in FIG. 2.

[0037] Fig. 2 is an explanatory diagram showing the transmission of probe information. In Fig. 2, a section D1 with deep puddles on the road RD, a section D2 with shallow puddles, an acceleration section D3 in a merging lane J, a merging section D4, an entrance section D5 of a curve with a large curvature, a central section D6 of a curve, a snowy section D7 at a high altitude, and the like are specific sections where the vehicle has traveled deviating from the target route or target speed by a predetermined amount, and only the travel information of these specific sections is transmitted to the cloud CL as probe information, and the travel information of the section D0 for normal travel is not transmitted.

[0038] In this embodiment, the probe information transmission unit 21 transmits at least one of the lateral position of the vehicle in the specific section and the passing speed of the specific section, together with the position and passing time information of the specific section, as probe information. In other words, since transmitting all information during driving would result in an enormous amount of data, the probe information is uploaded to the cloud CL only when the vehicle's behavior trajectory is different from the normal one, as shown in FIG. 3.

[0039] FIG. 3 is an explanatory diagram showing the transmission of probe information according to the driving state. In FIG. 3, circles indicate vehicle positions, and arrows indicate passing speeds. Among the circles indicating vehicle positions, open circles indicate that the vehicle is traveling near the target route (center of lane) Rt, and therefore data will not be transmitted. On the other hand, filled circles indicate that the vehicle is traveling significantly away from the target route (center of lane) Rt, and therefore data will be transmitted. Also, among the arrows indicating passing speeds, thin arrows indicate that the vehicle is traveling approximately within the target speed, and therefore data will not be transmitted. On the other hand, thick arrows indicate that the vehicle is traveling significantly away from (below) the target speed, and therefore data will be transmitted.

[0040] In Fig. 3, the vehicle passes through curve section D10 of road RD on an out-in-out route with respect to the target route Rt. In section D11 with puddles on the roadside and section D12 with snowpuddles on the roadside, the vehicle runs near the center of road RD to avoid the puddles and snowpuddles. In section D13 with ruts, the vehicle runs near the outside of the road to avoid the ruts. These sections D10, D11, D12, and D13 are specific sections that deviate from the target route or target speed by a specified amount, and probe information is transmitted in these specific sections.

[0041] The probe information of the specific section uploaded onto the cloud CL is collected by the probe information collection unit 101 of the control system 100, and the recommended driving information calculation unit 102 calculates recommended driving information for passing through the specific section.

[0042] The probe information collecting unit 101 extracts highly reliable information from the collected probe information of multiple vehicles and sends it to the recommended driving information calculating unit 102. Highly reliable information is extracted by removing old information that is older than a set time, or removing new information in which the lateral position of the vehicle in a specific section or the passing speed through the specific section deviates from the average value by a set value or more.

[0043] The recommended driving information calculation unit 102 calculates recommended driving information for passing through the specific section based on the probe information collected and extracted by the probe information collection unit 101. For example, as shown in Fig. 4, the recommended driving information calculation unit 102 calculates an average driving trajectory in the specific section from the probe information of multiple vehicles in the specific section, and also calculates the average speed of multiple vehicles in the specific section. Fig. 4 is an explanatory diagram showing probe information and recommended driving information. Then, the recommended driving information calculation unit 102 transmits the recommended driving information, including the average driving trajectory and average speed in the specific section, together with position information of the specific section to the cloud.

[0044] The recommended driving information transmitted from the recommended driving information calculation unit 102 is received by the vehicle control system 10 via the cloud. The vehicle control system 10 executes driving control for passing through the specific section in the specific section driving control unit 22 of the autonomous driving control unit 20, based on the received recommended driving information for the specific section and the recognition information of the driving environment for the specific section via the external environment recognition unit 30.

[0045] In detail, the specific section driving control unit 22 recognizes the driving environment when passing through the specific section at the average driving trajectory and average passing speed of a large number of vehicles grasped from the recommended driving information using the camera unit 31 of the external environment recognition unit 30, etc., and determines whether there are any obstacles on the road, whether there are any approaching oncoming vehicles, whether there are any following overtaking vehicles, etc.

[0046] If the specific section driving control unit 22 determines that there is no obstacle to passing through the specific section according to the recommended driving information, it executes driving control based on the recommended driving information to pass through the specific section. On the other hand, if it determines that there is an obstacle to traveling according to the recommended driving information, the specific section driving control unit 22 cancels the recommended driving information, executes driving control based on the driving environment of the specific section recognized by the on-board camera unit 31 or the like, and passes through the specific section.

[0047] Next, the operation of the traffic control system 1 will be described with reference to the flowcharts of Figures 5 and 6. Figure 5 is a flowchart showing the processing on the control system side, and Figure 6 is a flowchart showing the processing on the vehicle control system side.

[0048] First, the processing on the control system side of Fig. 5 will be described. As processing of the probe information collection unit 101, the control system 100 receives the travel data of the probe information in step S100, and checks whether or not the travel data has been received for a predetermined number of data or for a predetermined time in step S101. If the travel data has not been collected for the predetermined number of data or for the predetermined time, data collection by receiving data in step S100 is continued, and if the travel data has reached the predetermined number of data or for the predetermined time, the process proceeds to step S102.

[0049] In step S102, the control system 100 deletes from the collected driving data old information that is older than a set time and data that deviates from the average data, and extracts highly reliable data. The following step S103 is a process in the recommended driving information calculation unit 102 of the control system 100, and calculates recommended driving information (recommended driving route, recommended passing speed) for passing through the specific section based on the highly reliable data extracted from the probe information of the specific section.

[0050] Then, the process proceeds to step S104, where the recommended driving information calculation unit 102 transmits the recommended driving information calculated in step S103 including the position information of the specific section. In this case, if a vehicle proceeding toward the specific section can be detected from roadside facilities, the recommended driving information is transmitted to vehicles located within a set range ahead of the specific section. On the other hand, if the control system 100 cannot detect the current position of each vehicle, the vehicle determines whether to adopt the recommended driving information based on the position information of the specific section included in the recommended driving information received from the cloud.

[0051] Next, the process on the vehicle control system side in Fig. 6 will be described. In the vehicle control system 10, the automatic driving control unit 20 judges whether automatic driving is possible or not in the first step S10. For example, if an abnormality occurs in a part of the system, or the vehicle is outside the operating area of ​​automatic driving and it becomes difficult to continue automatic driving, the automatic driving control unit 20 judges that it is impossible to continue automatic driving, and proceeds from step S10 to step S11 to request the occupant to take over driving, and transitions from automatic driving mode to manual driving mode.

[0052] On the other hand, if autonomous driving is possible in step S10, the process proceeds from step S10 to step S12, and the autonomous driving control unit 20, as processing of the probe information transmission unit 21, checks whether the vehicle has traveled through a specific section that has taken an unusual behavioral trajectory. If the vehicle has traveled through a specific section and is therefore traveling normally, the process proceeds to step S14. If the vehicle has traveled through a specific section, the process proceeds to step S13, where the driving information of the specific section in question is sent to the cloud as probe information, and the process proceeds to step S14.

[0053] In step S14, the autonomous driving control unit 20 checks whether or not it has received recommended driving information from the control system 100. If it has not received recommended driving information, the process proceeds from step S14 to step S15, and the autonomous driving control unit 20 continues autonomous driving by following the target route.

[0054] On the other hand, if recommended driving information has been received in step S14, the autonomous driving control unit 20 proceeds from step S14 to step S16 as processing of the specific section driving control unit 22, and determines whether there are any obstacles that would hinder driving along the recommended driving route or the recommended passing speed in accordance with the recommended driving information.

[0055] As a result, if it is determined that there is no obstacle, in step S17, the previous target route and target speed are changed to a recommended driving route and recommended passing speed based on the recommended driving information, and automatic driving is performed to pass the specific section. On the other hand, if it is determined that there is an obstacle, in step S18, a new driving route and passing speed are calculated based on the driving environment recognized by the external environment recognition unit 30, and automatic driving is performed to pass the specific section.

[0056] Thus, in this embodiment, travel information of a specific section where the vehicle has traveled deviating from the target route or target speed for automatic driving is transmitted as probe information from the vehicle control system 10 of the vehicle. The probe information of these multiple vehicles is collected by the control system 100, and recommended travel information for passing through the specific section is calculated from the collected probe information and transmitted to the vehicle. When passing through the specific section, the vehicle control system 10 executes travel control for passing through the specific section based on the recommended travel information for the specific section received from the control system 100 and recognition information of the travel environment for the specific section by the on-board camera unit 31 or the like.

[0057] This makes it possible to respond to changes in the driving environment due to falling objects that have just fallen before they are reflected in VICS information, etc., and also allows vehicles to safely avoid ruts, puddles, snowdrifts, cracks in the road surface, etc. that are not reflected in the information. Furthermore, it makes it possible to realize optimal driving according to the driving environment, such as taking the optimal route around curves and the optimal driving speed according to the actual weather, enabling safer and more stable driving for each vehicle and realizing a smooth flow of traffic.

[0058] Furthermore, only the information necessary for driving on a specific section is sent and received between the vehicle control system 10 and the management system 100 via the cloud, which effectively reduces the amount of information and enables information reflecting the latest driving environment to be quickly transmitted to each vehicle. [Explanation of symbols]

[0059] 1 Traffic Control System 10 Vehicle Control System 20 Autonomous Driving Control Unit 21 Probe information transmission unit 22 Specific section driving control unit 30 External Environment Recognition Unit 40 Locator Units 50 Brake / drive control unit 60 Steering control unit 70 Information and Notification Unit 100 Control System 101 Probe Information Collection Department 102 Recommended driving information calculation unit

Claims

1. A vehicle control system that transmits driving information of the host vehicle while the host vehicle is traveling; A control system that collects the driving information from the vehicle control systems of a plurality of vehicles, processes the collected driving information, and transmits the processed information; A traffic control system comprising: The vehicle control system includes: a probe information transmitting unit configured to transmit, as probe information, only travel information of a specific section in which the host vehicle has traveled at a speed deviating from a target speed of the host vehicle by a predetermined amount based on a result of the recognition of the traveling environment of the host vehicle; a specific section driving control unit that, when receiving recommended driving information for passing through the specific section from the control system, recognizes a driving environment of the specific section located in front of the vehicle, determines whether or not there is an obstacle, executes driving control based on the recommended driving information if it determines that there is no obstacle, and cancels the recommended driving information and executes driving control based on the recognition result of the driving environment of the specific section if it determines that there is an obstacle; Equipped with The control system includes: a probe information collection unit that collects the probe information of a plurality of vehicles and extracts highly reliable information; a recommended travel information calculation unit that calculates the recommended travel information for the specific section based on the probe information extracted by the probe information collection unit, includes position information of the specific section in the calculated recommended travel information, and transmits the information to a vehicle that is located within a set range and is about to enter the specific section; A traffic control system comprising:

2. The traffic control system according to claim 1 , wherein the probe information transmitting unit includes in the probe information location information and passing time information of the specific section, as well as a passing speed of the specific section in the specific section.

3. The traffic control system according to claim 1 or 2, characterized in that the probe information collection unit extracts highly reliable information by removing from the probe information of a plurality of vehicles information that is more than a set time old or information that deviates from an average value by more than a set value.

4. 4. The traffic control system according to claim 1, wherein the vehicle control system and the control system are systems linked together via a cloud.

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