Vehicle guidance system

Abstract

To suppress that a travel line of the own vehicle overlaps with a travel line of another vehicle when the own vehicle retreats.SOLUTION: A vehicle guiding system that guides the own vehicle in a direction in which the own vehicle should retreat, comprises a guiding unit for guiding the own vehicle in a direction away from an estimated travel line as a retreating direction based on first information about a travel course traveled by the own vehicle, second information about an estimated travel line, which is a travel line on which another vehicle different from the own vehicle is estimated to travel, and third information about a present position of the own vehicle. As a result, when the own vehicle retreats, it is possible to suppress that the travel line of the own vehicle overlaps with the travel line of another vehicle.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present disclosure relates to a vehicle guidance system.

Background Art

[0002] Conventionally, as this type of vehicle guidance system, there has been proposed one that guides a evacuation destination to the host vehicle when the driver is in a state where normal driving is not possible (see, for example, Patent Document 1). In this device, an area into which the host vehicle can enter is set in advance as an evacuation destination, and the set evacuation destination is guided to the vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When the vehicle travels toward the evacuation destination guided by the above-described vehicle guidance device, the travel line of the host vehicle may overlap with the travel line of another vehicle. When the travel line of the host vehicle overlaps with the travel line of another vehicle, the host vehicle may interfere with the travel of the other vehicle.

[0005] The main object of the vehicle guidance system of the present disclosure is to suppress the overlap between the travel line of the host vehicle and the travel line of another vehicle when the vehicle evacuates.

Means for Solving the Problems

[0006] The vehicle guidance system of the present disclosure has taken the following means to achieve the above-described main object.

[0007] [1] A vehicle guidance system that guides an evacuation direction, which is a direction in which the host vehicle should evacuate, Based on first information regarding a driving course on which the host vehicle travels, second information regarding a predicted driving line which is a driving line on which another vehicle different from the host vehicle is predicted to travel, and third information regarding the current position of the host vehicle, a guiding unit guides the host vehicle with a direction away from the predicted driving line as the evacuation direction. The gist is to include the above.

[0008] In this vehicle guidance system of the present disclosure, the guiding unit guides the host vehicle with a direction away from the predicted driving line as the evacuation direction based on first information regarding a driving course on which the host vehicle travels, second information regarding a predicted driving line which is a driving line on which another vehicle different from the host vehicle is predicted to travel, and third information regarding the current position of the vehicle. Thereby, a user using the host vehicle can be prompted to evacuate the host vehicle in the evacuation direction. The user prompted to drive the host vehicle in the evacuation direction can evacuate the host vehicle in the guided evacuation direction, that is, a direction away from the predicted driving line. Thereby, the vehicle guidance system can suppress the driving lines of the host vehicle and another vehicle from overlapping when the vehicle evacuates. Here, the "vehicle guidance system" may be an in-vehicle control device mounted on the vehicle or the like, or may be a combination of an in-vehicle control device or the like and a server that communicates with the in-vehicle control device.

[0009] [2]In the vehicle guidance system described above (the vehicle guidance system described in [1]), when an abnormality occurs in the host vehicle, the guiding unit may guide with a direction away from the predicted driving line as the evacuation direction based on the first, second, and third information. By doing so, the vehicle guidance system can guide the user to the evacuation direction when an abnormality occurs in the host vehicle.

[0010] [3] In the above vehicle guidance system (the vehicle guidance system described in [1] or [2]), the driving course is a circuit, and the estimated driving line may be a record line in the circuit or a high-frequency driving line that has been traveled with the highest frequency. Other vehicles are likely to travel on a record line in the circuit, a driving line similar to the record line, a high-frequency driving line that has been traveled with the highest frequency, or a driving line similar to the high-frequency driving line. Therefore, by setting the estimated driving line as a record line or a high-frequency driving line, the guidance unit can guide the user in an appropriate evacuation direction. Thereby, the vehicle guidance system can more appropriately suppress the overlap between the driving line of the host vehicle and the driving line of other vehicles.

[0011] [4] In the above vehicle guidance system (the vehicle guidance system described in [1] or [2]), the driving course is a circuit, the other vehicle is a following vehicle of the host vehicle, and the estimated driving line may be a previous driving line that is the driving line when the following vehicle last circled the driving course. When the driving course is a circuit and the other vehicle is a following vehicle of the host vehicle, the other vehicle is likely to travel on the driving line when it last circled the driving course. Therefore, by setting the other vehicle as a following vehicle of the host vehicle and setting the estimated driving line as the previous driving line, the guidance unit can guide the evacuation direction based on a more appropriate estimated driving line. Thereby, the vehicle guidance system can guide the user in an appropriate evacuation direction and more appropriately suppress the overlap between the driving line of the host vehicle and the driving line of other vehicles.

[0012] [5] In the above vehicle guidance system (the vehicle guidance system described in any one of [1] to [4]), the guiding unit may guide the direction toward the evacuation area, which is an area that is separated from the estimated driving line in the left-right direction by a predetermined distance or more in the driving course and is the area closest to the current position of the host vehicle, as the evacuation direction. By doing so, the guiding unit can guide the user in a direction in which evacuation can be quickly performed. Thereby, the vehicle guidance system can more appropriately suppress the overlapping of the driving line of the host vehicle and the driving line of another vehicle.

[0013] [6] In the vehicle guidance system (the vehicle guidance system described in [5]) in which the guiding unit guides the direction toward the evacuation area as the evacuation direction, the guiding unit may guide the position information of the evacuation area together with the evacuation direction. Thereby, the vehicle guidance system can guide the user specifically as to how far to evacuate so as not to overlap with the driving line of another vehicle. Therefore, the vehicle guidance system can more appropriately suppress the overlapping of the driving line of the host vehicle and the driving line of another vehicle.

[0014] [7] In the above vehicle guidance system (the vehicle guidance system described in [1] or [2]), it is provided with a communication unit that receives, by vehicle-to-vehicle communication, the record line of the driving course from a following vehicle of the vehicle or the immediately preceding driving line when the following vehicle has just circumnavigated the driving course. The driving course is a circuit, and the estimated driving line may be the record line or the immediately preceding driving line received by the vehicle-to-vehicle communication. When the driving course is a circuit and another vehicle is a following vehicle, the other vehicle is likely to travel on a record line in the circuit or a driving line similar to the record line, an immediately preceding driving line, or a driving line similar to the immediately preceding driving line. Therefore, by setting the estimated driving line as the record line or the immediately preceding driving line received by the vehicle-to-vehicle communication, the guiding unit can guide the evacuation direction based on a more appropriate estimated driving line. Thereby, the vehicle guidance system can guide the user in a more appropriate evacuation direction and can more appropriately suppress the overlapping of the driving line of the host vehicle and the driving line of another vehicle.

Brief Description of the Drawings

[0015]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Modes for Carrying Out the Invention

[0016] Next, modes for carrying out the invention of the present disclosure will be described using examples.

Examples

[0017] FIG. 1 is a configuration diagram showing an outline of the configuration of a vehicle guidance system 10 as an embodiment of the present invention. The vehicle guidance system 10 is a system for guiding the direction in which the vehicle 20 traveling on the circuit should evacuate, and includes the vehicle (own vehicle) 20 and the server 100.

[0018] The vehicle 20 is configured as an automobile that travels by the power from a drive device 62 such as a motor or an engine. In addition to the drive device 62, the vehicle 20 includes an ignition switch 22, a GPS (Global Positioning System) 24, a vehicle speed sensor 30, an acceleration sensor 32, an accelerator sensor 36, a brake sensor 38, an electronic control unit 50, a drive actuator 60, a brake actuator 64, a brake device 66, a display 70, a speaker 72, a navigation system 80, a DCM (Data Communication Module) 86, an inter-vehicle communication device (communication unit) 90, and the like.

[0019] The GPS 24 is a device that detects the position of the vehicle 20 based on signals transmitted from a plurality of GPS satellites. The vehicle speed sensor 30 detects the vehicle speed of the vehicle 20 based on, for example, the wheel speed. The acceleration sensor 32 detects, for example, the acceleration of the vehicle 20 in the front-rear direction or the acceleration of the vehicle 20 in the left-right direction (lateral direction).

[0020] The accelerator sensor 36 detects an accelerator opening or the like corresponding to the amount of depression of the driver's accelerator pedal. The brake sensor 38 detects a brake position or the like as the amount of depression of the driver's brake pedal.

[0021] The drive device 62 includes a motor or an engine for traveling and is drive-controlled by the drive actuator 60.

[0022] The DCM 86 transmits information of the host vehicle to the server 100 or receives information regarding a travel course such as a circuit from the server 100. Examples of the information of the host vehicle include the position of the host vehicle, the vehicle speed, the traveling power, the traveling mode, and the like. Examples of the information regarding the travel course include information regarding the position of the evacuation area Aev described later. The DCM 86 communicates with the server 100 at predetermined intervals (for example, every 30 seconds, every 1 minute, every 2 minutes, etc.).

[0023] The electronic control unit 50 is configured as a microcomputer centered around a CPU (not shown), and in addition to the CPU, it includes a ROM, a RAM, a flash memory, an input port, an output port, a communication port, etc. The electronic control unit 50 sets the required torque to be output to the drive shaft to which the drive wheels are connected from the drive device 62 and the required braking force to be output from the brake device 66 based on the accelerator opening from the accelerator sensor 36, the brake position from the brake sensor 38, the vehicle speed from the vehicle speed sensor 30, etc. For the set required torque, it is transmitted to the drive actuator 60, and for the set required braking force, it is transmitted to the brake actuator 64. The electronic control unit 50 transmits the position information of the vehicle 20 from the GPS 24 to the server 100 via the DCM 86 at every time T1 (for example, every few milliseconds).

[0024] The drive actuator 60 drives and controls the drive device 62 so that the required torque set by the electronic control unit 50 is output from the drive device 62 to the drive shaft.

[0025] The brake actuator 64 controls the brake device 66 so that the required braking force set by the electronic control unit 50 acts on the vehicle 20 by the brake device 66.

[0026] The display 70 is configured as a display device that visibly displays various information and is incorporated in the dashboard of the vehicle 20. The display 70 is controlled by the electronic control unit 50.

[0027] The speaker 72 is configured as an audio output device that outputs various information output from the electronic control unit 50 as audio and is incorporated in the dashboard of the vehicle 20. The speaker 72 is controlled by the electronic control unit 50.

[0028] The navigation system 80 is a system that guides the host vehicle to a set destination, and includes a map information database 82 and a display unit 84. Map information is stored in the map information database 82. When a destination is set, the navigation system 80 sets a route based on the information of the destination, the information of the current location (the position of the current host vehicle) acquired by the GPS 24, and the information stored in the map information database 82, and performs route guidance.

[0029] The vehicle-to-vehicle communication device 90 receives information (such as position and speed) from surrounding vehicles (other vehicles) by wireless communication, and transmits information (such as position and speed) of the vehicle (host vehicle) 20 to surrounding vehicles.

[0030] The server 100 is configured as a well-known computer and has a CPU, ROM, RAM, auxiliary storage device (for example, flash memory, etc.), main storage device (for example, HDD, SSD, etc.), communication module, etc. The server 100 is configured to be able to communicate wirelessly with a plurality of vehicles. The main storage device stores a database 102. The database 102 stores information about circuits scattered around the world (such as the shape, state, width, position on the map (longitude, latitude), etc., first information), information about the vehicle position (longitude, latitude) Po when a vehicle has traveled in circuits scattered around the world in the past, information about an estimated travel line Lest which is a travel line estimated to be traveled by other vehicles different from the host vehicle in each circuit, and information about an evacuation area Aev in each circuit. The position Po is the current position (longitude, latitude) of each vehicle transmitted to the server 100 every time T1 when each vehicle travels on the circuit.

[0031] FIG. 2 is a flowchart showing an example of a setting routine executed by the server 100. The CPU of the server 100 executes the setting routine at time T2 (for example, every 1 hour, every 12 hours, every 1 day, etc.).

[0032] First, for each circuit, the server 100 extracts the vehicle position Po when each vehicle has traveled the circuit in the past from the database 102 (step S100).

[0033] Next, the server 100 sets the record line, which is the line that circles the circuit the fastest among the driving lines for each vehicle obtained by performing linear interpolation on the extracted vehicle positions Po, as the estimated driving line Lest, and accumulates the position information (longitude, latitude, second information) of the set estimated driving line Lest in the database 102 (step S110). The CPU of the server 100 may set the high-frequency driving line that is traveled most frequently from the driving lines of each vehicle instead of the record line in the circuit, and set the estimated driving line Lest as the high-frequency driving line.

[0034] Then, the server 100 sets the evacuation area Aev, which is the area to which the vehicle 20 should head when evacuating on the circuit, and accumulates the position information of the set evacuation area Aev in the database 102 (step S120), and ends this routine. FIG. 3 is an explanatory diagram for explaining an example of the evacuation area Aev. In the figure, the white circles indicate the vehicle positions Po at each time. The server 100 sets the evacuation area Aev as the area surrounded by the boundary line Lb connecting the points that are a predetermined distance Lref away from the estimated driving line Lest in the left and right directions (the directions indicated by the white arrows in the figure) and the course end Ec1 (the hatched area in the figure). Note that in the figure, since the distance from the estimated driving line Lest to the course end Ec2 is less than the predetermined distance Lref, the evacuation area Aev is not set on the course end Ec2 side of the estimated driving line Lest. The evacuation area Aev set in this way is an area that is a predetermined distance Lref or more away from the estimated driving line Lest in the left and right directions. Through such processing, the server 100 accumulates the estimated driving line Lest and the evacuation area Aev for each circuit in the database 102.

[0035] Next, in vehicle 20, the process in which the electronic control unit 50 and the display 70 guide the evacuation direction will be described. FIG. 4 is a flowchart showing an example of an evacuation direction guidance routine executed by the electronic control unit 50 of vehicle 20. This routine is repeatedly executed by the CPU of the electronic control unit 50.

[0036] First, the electronic control unit 50 determines whether vehicle 20 is currently traveling within the circuit (step S200) and whether an abnormality has occurred in vehicle 20 (step S210). In step S200, the electronic control unit 50 determines whether vehicle 20 is currently traveling within the circuit from the information on the current position of vehicle 20 (third information) from the GPS 24 and the map information stored in the map information database 82 of the navigation system 80. In step S210, the electronic control unit 50 determines that an abnormality has occurred in vehicle 20 when it detects a decrease in the tire air pressure or when a warning lamp indicating that some abnormality has occurred in the vehicle is lit. When vehicle 20 is not traveling within the current circuit or when no abnormality has occurred in vehicle 20 even though it is traveling within the current circuit, this routine ends.

[0037] When vehicle 20 is traveling within the current circuit in step S200 and an abnormality has occurred in vehicle 20 in step S210, the electronic control unit 50 transmits the current position of vehicle 20 and a request for transmitting the information on the evacuation area Aev to the server 100 via the DCM 85 (step S220), and waits until it receives the information on the evacuation area Aev via the DCM 85 (step S230). The server 100 that has received the current position of vehicle 20 and the request for transmitting the evacuation area Aev identifies the circuit on which vehicle 20 is traveling from the current position of vehicle 20, extracts the position information of the evacuation area Aev of the circuit on which vehicle 20 is currently traveling from the evacuation area Aev for each circuit stored in the database 102, and transmits it to vehicle 20.

[0038] When the electronic control unit 50 receives the position information of the evacuation area Aev, it determines the direction toward the nearest evacuation area Aev in the left-right direction of the vehicle 20, that is, the direction away from the estimated travel line Lest, from the received position information of the evacuation area Aev and the current position of the vehicle 20 from the GPS 24, and sets the evacuation direction, and displays the evacuation direction on the display 70 (step S240). FIG. 5 is an explanatory diagram for explaining an example of the relationship between the vehicle 20 traveling on the circuit and the evacuation direction displayed on the display 70. In the figure, the white triangle mark and the black triangle mark indicate the positions P1 and P2 of the vehicle 20, respectively. The hatched area indicates the evacuation area Aev. At the position P1, since the evacuation area Aev on the left side of the vehicle 20 is the nearest among the plurality of evacuation areas Aev, an arrow pointing to the left is displayed on the display 70. At the position P2, since the evacuation area Aev on the right side of the vehicle 20 is the nearest among the plurality of evacuation areas Aev, an arrow pointing to the right is displayed on the display 70. By thus displaying the arrow on the display 70, the electronic control unit 50 guides the evacuation direction to the user of the vehicle 20, so that the user of the vehicle 20 can be urged to drive and evacuate the vehicle 20 in the direction away from the estimated travel line Lest. The user urged to drive the vehicle 20 in the evacuation direction can evacuate the vehicle 20 in the guided evacuation direction, that is, the direction away from the estimated travel line Lest. Thereby, the notification device according to the embodiment can suppress the overlapping of the travel line of the vehicle 20 and the travel line of other vehicles.

[0039] Next, the electronic control unit 50 determines whether or not the evacuation has been completed based on the current position of the vehicle 20 from the GPS 24, that is, whether or not the vehicle 20 has moved into the evacuation area Aev (step S250). When the evacuation has not been completed, the electronic control unit 50 repeats steps S240 and S250. When the evacuation is completed, the electronic control unit 50 ends the display of the evacuation direction on the display 70 and ends this routine. Thereby, since the electronic control unit 50 displays the evacuation direction on the display 70 until the evacuation of the vehicle 20 is completed, the vehicle 20 can be more reliably evacuated to the evacuation area Aev.

[0040] According to the vehicle guidance system 10 of the embodiment described above, the electronic control unit 50 and the display 70 guide in the direction away from the estimated travel line Lest as the evacuation direction based on the position information of the circuit, the position information of the estimated travel line Lest, and the information on the current position of the vehicle 20. Thereby, the vehicle guidance system 10 can suppress the traveling lines of the vehicle 20 and other vehicles from overlapping.

[0041] Also, in the vehicle guidance system 10 of the embodiment, when an abnormality occurs in the vehicle 20, the electronic control unit 50 and the display 70 guide in the direction away from the estimated travel line Lest and toward the evacuation area Aev as the evacuation direction based on the position information of the circuit, the position information of the estimated travel line Lest, and the information on the current position of the vehicle 20. Thereby, the vehicle guidance system 10 can guide the user to the evacuation direction when an abnormality occurs in the vehicle 20.

[0042] Furthermore, in the vehicle guidance system 10 of the embodiment, the estimated travel line Lest is set as the record line or the high-frequency travel line in the circuit. Thereby, the vehicle guidance system 10 can guide the user to an appropriate evacuation direction and can more appropriately suppress the traveling lines of the vehicle 20 and other vehicles from overlapping.

[0043] And, in the vehicle guidance system 10 of the embodiment, the electronic control unit 50 and the display 70 guide in the direction toward the evacuation area Aev which is a region that is separated from the estimated travel line Lest by a predetermined distance Lref or more in the left-right direction in the circuit and is the closest to the current position of the vehicle 20 as the evacuation direction. Thereby, the vehicle guidance system 10 can more appropriately suppress the traveling lines of the vehicle 20 and other vehicles from overlapping.

[0044] In the vehicle guidance system 10 of the embodiment, the estimated travel line Lest is used as the record line in the circuit. However, the estimated travel line Lest may be the immediately preceding travel line, which is the travel line when the following vehicle of the vehicle 20 has just circled the circuit. When the travel course is a circuit, the following vehicle is likely to travel on the immediately preceding travel line or a travel line similar to the immediately preceding travel line. Therefore, by setting the estimated travel line Lest as the immediately preceding travel line, the electronic control unit 50 and the display 70 can display the evacuation direction on the display 70 based on a more appropriate estimated travel line Lest. Thereby, the vehicle guidance system 10 can guide the user to a more appropriate evacuation direction and can more appropriately suppress the overlapping of the travel line of the vehicle 20 and the travel lines of other vehicles.

[0045] In the vehicle guidance system 10 of the embodiment, the estimated travel line Lest is used as the record line. However, when the following vehicle of the vehicle 20 is equipped with a vehicle-to-vehicle communication device similar to the vehicle-to-vehicle communication device 90, the vehicle 20 receives the record line of the circuit from the following vehicle by vehicle-to-vehicle communication via the vehicle-to-vehicle communication device 90, and the electronic control unit 50 may use the record line as the estimated travel line Lest. In this case, the electronic control unit 50 may set the evacuation area Aev by the same process as in step S120 and may display the evacuation direction on the display 70 using the set evacuation area Aev. The following vehicle of the vehicle 20 is likely to travel on the record line of the circuit or a travel line similar to the record line. Therefore, by setting the record line received by vehicle-to-vehicle communication as the estimated travel line Lest, the electronic control unit 50 and the display 70 can display the evacuation direction based on a more appropriate estimated travel line Lest. Thereby, the vehicle guidance system 10 can guide the user to a more appropriate evacuation direction and can more appropriately suppress the overlapping of the travel line of the vehicle 20 and the travel lines of other vehicles.

[0046] In the vehicle guidance system 10 of the embodiment, when an abnormality occurs in the vehicle 20, the electronic control unit 50 and the display 70 guide the vehicle 20 with the direction away from the estimated travel line Lest and toward the evacuation area Aev as the evacuation direction. However, when no abnormality occurs in the vehicle 20, the electronic control unit 50 and the display 70 may also guide the vehicle 20 with the direction away from the estimated travel line Lest and toward the evacuation area Aev as the evacuation direction.

[0047] In the vehicle guidance system 10 of the embodiment, the electronic control unit 50 and the display 70 guide the vehicle 20 with the direction away from the estimated travel line Lest and toward the evacuation area Aev as the evacuation direction. However, the electronic control unit 50 and the display 70 may guide the vehicle 20 with the direction away from the estimated travel line Lest as the evacuation direction without considering the evacuation area Aev.

[0048] In the vehicle guidance system 10 of the embodiment, the electronic control unit 50 causes the display 70 to display the evacuation direction in step S240. However, instead of causing the display 70 to display the evacuation direction, or in addition to causing the display 70 to display the evacuation direction, the electronic control unit 50 may cause the display unit 84 of the navigation system 80 to display it, or may output it as voice from the speaker 72.

[0049] In the vehicle guidance system 10 of the embodiment, the electronic control unit 50 causes the display 70 to display the evacuation direction in step S240. However, the electronic control unit 50 may cause the display 70 to display the evacuation area Aev together with the evacuation direction and the map information in step S240.

[0050] In the vehicle guidance system 10 of the embodiment, the travel course is a circuit. However, the travel course is not limited to a circuit-like course that can be circulated, and may be any course on which the vehicle 20 can travel.

[0051] In the vehicle guidance system 10 of the embodiment, the server 100 sets the estimated travel line Lest and the evacuation area Aev, and the electronic control unit 50 sets the evacuation direction. However, the server 100 may also set the estimated travel line Lest, the evacuation area Aev, and the evacuation direction. In this case, the server 100 transmits the set evacuation direction to the electronic control unit 50, and the electronic control unit 50 may display the received evacuation direction on the display 70. Further, the server 100 may set the estimated travel line Lest and transmit it to the electronic control unit 50, and the electronic control unit 50 may set the evacuation area Aev and the evacuation direction using the received estimated travel line Lest.

[0052] The correspondence between the main elements of the embodiment and the main elements of the invention described in the column of means for solving the problems will be described. In the embodiment, the electronic control unit 50 and the display 70 correspond to the "guide part".

[0053] Note that the correspondence between the main elements of the embodiment and the main elements of the invention described in the column of means for solving the problems is an example for specifically explaining the form for implementing the invention described in the column of means for solving the problems in the embodiment, and thus does not limit the elements of the invention described in the column of means for solving the problems. That is, the interpretation of the invention described in the column of means for solving the problems should be made based on the description in that column, and the embodiment is merely a specific example of the invention described in the column of means for solving the problems.

[0054] As described above, the embodiments have been used to explain the forms for implementing the present invention. However, the present invention is not limited to such embodiments, and it goes without saying that the present invention can be implemented in various forms without departing from the gist of the present invention.

Industrial Applicability

[0055] The present invention can be used in the manufacturing industry of vehicle guidance systems and the like.

Explanation of Reference Numerals

[0056] 10 Vehicle guidance system, 20 vehicle, 22 ignition switch, 24 GPS (Global Positioning System, Global Positioning Satellite), 30 vehicle speed sensor, 32 acceleration sensor, 36 accelerator sensor, 38 brake sensor, 50 electronic control unit, 60 drive actuator, 62 drive device, 64 brake actuator, 66 brake device, 70 display, 72 speaker, 80 navigation system, 82 map information database, 84 display unit, 86 DCM (Data Communication Module), 90 vehicle-to-vehicle communication device, 100 server, 102 database.

Claims

1. A vehicle guidance system for guiding a retreat direction, which is a direction in which the host vehicle should retreat, comprising: a guiding unit that guides the host vehicle in a direction away from the estimated travel line as the retreat direction based on first information regarding a travel course on which the host vehicle travels, second information regarding an estimated travel line which is a travel line on which another vehicle different from the host vehicle is estimated to travel, and third information regarding the current position of the host vehicle; provided with: the travel course is a circuit; the estimated travel line is a record line in the circuit or a high-frequency travel line traveled most frequently; a vehicle guidance system.

2. A vehicle guidance system for guiding a retreat direction, which is a direction in which the host vehicle should retreat, comprising: a guiding unit that guides the host vehicle in a direction away from the estimated travel line as the retreat direction based on first information regarding a travel course on which the host vehicle travels, second information regarding an estimated travel line which is a travel line on which another vehicle different from the host vehicle is estimated to travel, and third information regarding the current position of the host vehicle; provided with: the travel course is a circuit; the other vehicle is a following vehicle of the host vehicle; the estimated travel line is a previous travel line which is a travel line when the following vehicle last circuited the travel course; a vehicle guidance system.

3. A vehicle guidance system for guiding a retreat direction, which is a direction in which the host vehicle should retreat, comprising: a guiding unit that guides the host vehicle in a direction away from the estimated travel line as the retreat direction based on first information regarding a travel course on which the host vehicle travels, second information regarding an estimated travel line which is a travel line on which another vehicle different from the host vehicle is estimated to travel, and third information regarding the current position of the host vehicle; provided with: a communication unit that receives, by vehicle-to-vehicle communication, a record line of the travel course or a previous travel line which is a travel line when a following vehicle of the host vehicle last circuited the travel course; provided with: the travel course is a circuit; the estimated travel line is the record line or the previous travel line received by the vehicle-to-vehicle communication; a vehicle guidance system.

4. The vehicle guidance system according to any one of Claims 1 to 3, When an abnormality occurs in the host vehicle, the guiding unit guides the host vehicle in a direction away from the estimated travel line as the evacuation direction based on the first, second, and third information. Vehicle guiding system.

5. A vehicle guiding system according to any one of Claims 1 to 3, wherein the guiding unit guides in a direction toward an evacuation area that is at a distance of a predetermined distance or more in the left-right direction from the estimated travel line on the travel course and is the area closest to the current position of the host vehicle as the evacuation direction. Vehicle guiding system.

6. A vehicle guiding system according to Claim 5, wherein the guiding unit guides the position information of the evacuation area together with the evacuation direction. Vehicle guiding system.

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