Traffic control system and traffic control method

Abstract

A traffic control system provided with: an identification unit (234) that identifies a vehicle corresponding to a prescribed condition that has been set; a position control unit (235) that, on the basis of the relative distance between the identified vehicle and a surrounding vehicle in the vicinity of the identified vehicle, sets relative positions of the vehicle and the surrounding vehicle; and a control unit (230) that generates control information for controlling the movement of the vehicle in accordance with the relative positions that have been set.

Description

Technical Field

[0001] The present disclosure relates to a traffic control system Mu and intersection and a traffic control method.

Background Art

[0002] In recent years, various sensors have been installed in vehicles, and functions to assist driving have been introduced. Patent Document 1 discloses a technique for calculating an inter-vehicle distance based on the position information of the host vehicle and the position information of other vehicles, and correcting the inter-vehicle distance based on the speed information of the host vehicle and other vehicles.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above prior art, it is desired to support the traffic of a plurality of vehicles even when vehicles with different driving levels, such as self-driving vehicles, are mixed.

[0005] Therefore, the present disclosure provides a traffic control system, a traffic control method, and a control device that can control the traffic of vehicles with different driving levels that are mixed.

Means for Solving the Problems

[0006] In order to solve the above problems, a traffic control system according to one aspect of the present disclosure includes a specifying unit that specifies a vehicle that meets a set predetermined condition, a position control unit that sets a relative position between the specified vehicle and surrounding vehicles based on a relative distance between the specified vehicle and the surrounding vehicles, and a control unit that generates control information for controlling the movement of the vehicle according to the relative position.

[0007] In addition, a traffic control method according to one embodiment of the present disclosure includes a computer identifying a vehicle that meets a set predetermined condition, setting a relative position between the identified vehicle and surrounding vehicles around the vehicle based on a relative distance between the identified vehicle and the surrounding vehicles, and generating control information for controlling the movement of the vehicle according to the relative position.

[0008] In addition, a control device according to one embodiment of the present disclosure includes an identification unit that identifies a vehicle that meets a set predetermined condition, and a position control unit that sets a relative position between the identified vehicle and surrounding vehicles around the vehicle based on a relative distance between the identified vehicle and the surrounding vehicles, and the position control unit controls the movement of the vehicle so as to achieve the set relative position.

Brief Description of the Drawings

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Mode for Carrying Out the Invention

[0010] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In each of the following embodiments, the same parts are denoted by the same reference numerals, and redundant descriptions are omitted.

[0011] In recent years, various sensors have been installed in vehicles, and functions to assist driving are being introduced. Also, the IEEE (Institute of Electrical and Electronics Engineers) has established a communication system for vehicle-to-vehicle communication called DSRC (Dedicated Short Range Communication) based on 802.11p. Furthermore, the 3GPP (Third Generation Partnership Project) has created a standard specification for C-V2X based on the D2D (Device to Device) communication of LTE (Long Term Evolution) in Release 14. The introduction of an advanced safety driving system called ADAS (Advanced Driver Assistance Systems) by sensor fusion that utilizes vehicle-to-vehicle communication and various sensors installed in vehicles is expected. Furthermore, the arrival of a world of fully autonomous driving is also expected beyond the evolution of ADAS. In the present disclosure, a traffic control method and the like for assisting safe driving are disclosed.

[0012] (Embodiment) [Overview of Traffic Control System According to Embodiment] FIG. 1 is a diagram for explaining an example of realizing a traffic control system according to an embodiment.

[0013] As shown in FIG. 1, the traffic control system 1 includes a plurality of vehicles 100 and a control device 200. The vehicle 100 and the control device 200 are configured to be communicable via, for example, a base station 1001, an RSU (Road Side Unit) 1002, or the like. The vehicle 100 includes, for example, an automobile, an electric vehicle, a motorcycle, a mobile robot, a UAV (Unmanned Aerial Vehicle) represented by a drone, and the like. In an example shown in FIG. 1, the traffic control system 1 shows an example of two vehicles 100A and 100B, but may include three or more vehicles 100. In the following description, when the vehicles 100A and 100B are not distinguished, they may be described as the vehicle 100.

[0014] Vehicle 100 transmits V2X (Vehicle to Everything) messages to other vehicles 100 or RSU 1002. Other vehicles 100 or RSU 1002 that receive the V2X messages transfer the information obtained via the V2X messages to the control device 200. Also, Vehicle 100 transmits information related to the on-board driving assistance device to the control device 200 via the base station 1001. The information related to the driving assistance device may include, for example, information related to any sensor connected to the driving assistance device. Here, the V2X message may be a V2V (Vehicle to Vehicle) message, a V2P (Vehicle to Pedestrian) message, a V2N (Vehicle to Network) message, or a V2I (Vehicle to Infrastructure) message.

[0015] The control device 200 is, for example, a so-called cloud server, which is a server device that executes information processing in cooperation with the vehicle 100. The control device 200 has a function of controlling and managing the operations of a plurality of vehicles 100. Furthermore, the function of controlling and managing the operations of a plurality of vehicles 100 may be realized by using the output results obtained by inputting the information related to the driving assistance device collected via the above V2X messages into AI (Artificial Intelligence). Here, the AI may be one integrated function having a plurality of inputs and outputs, or may be a function divided into a plurality of functions having different inputs and outputs for each control target. Furthermore, when the function of the AI is divided into a plurality, each function may be implemented in a distributed manner on a plurality of servers, may be statically distributed, or may be dynamically distributed according to time and location in consideration of the calculation amount, delay characteristics, and the characteristics of MEC (Mobile Edge Computing).

[0016] [Configuration Example of Control Device According to Embodiment] FIG. 2 is a diagram showing an example of the configuration of the control device 200 according to the embodiment. As shown in FIG. 2, the control device 200 includes a communication unit 210, a storage unit 220, and a control unit 230. The control unit 230 is electrically connected to the communication unit 210 and the storage unit 220.

[0017] The communication unit 210 has a function of communicating with the vehicle 100, the base station 1001, the RSU 1002, etc. The communication protocol supported by the communication unit 210 is not particularly limited, and the communication unit 210 can also support a plurality of types of communication protocols. Further, the communication unit 210 may support a plurality of types of wireless interfaces. The communication unit 210 outputs, for example, information received from the vehicle 100 to the control unit 230, or transmits information from the control unit 230 to the vehicle 100.

[0018] The storage unit 220 is realized by, for example, a semiconductor memory element such as a RAM or a flash memory, or a storage device such as a hard disk or an optical disk. The storage unit 220 stores various information such as condition information D1 and vehicle information D2. The condition information D1 includes, for example, information indicating conditions for specifying the corresponding vehicle 100. The vehicle information D2 includes, for example, information that can identify the vehicle 100.

[0019] The control unit 230 is, for example, a dedicated or general-purpose computer. The control unit 230 controls the operation of the control device 200. The control unit 230 includes a transmission / reception unit 231, an acquisition unit 232, a setting unit 233, a specifying unit 234, and a position control unit 235. Each functional unit of the transmission / reception unit 231, the acquisition unit 232, the setting unit 233, the specifying unit 234, and the position control unit 235 is realized, for example, when a program stored inside the control unit 230 in the control unit 230 is executed using the RAM or the like as a work area by the control unit 230.

[0020] The transmission / reception unit 231 receives information from the vehicle 100 via the communication unit 210. The transmission / reception unit 231 transmits information to the vehicle 100 via the communication unit 210.

[0021] The acquisition unit 232 acquires vehicle information D2 that can identify the vehicle 100, the driving support processing system mounted on the vehicle 100, etc. via the transmission / reception unit 231. The vehicle information D2 includes, for example, information related to V2X messages issued by the driving support processing system, information acquired by any sensor connected to the driving support processing system, information regarding the position of the vehicle 100, etc. The acquisition unit 232 stores the acquired information in the storage unit 220 as vehicle information D2 for each vehicle 100. In other words, the control device 200 holds the vehicle information D2 for each vehicle 100. The vehicle information D2 includes, for example, information related to the insurance subscribed to. The information related to the insurance includes, for example, information regarding the presence or absence of subscription to personal, property, personal injury, or passenger injury insurance, and the compensation amount of each insurance.

[0022] The setting unit 233 sets conditions for specifying the vehicle 100. The conditions to be set include, for example, the presence or absence of subscription to personal, property, personal injury, or passenger injury insurance of the vehicle 100 traveling ahead. The conditions to be set may be, for example, the presence or absence of subscription to personal, property, personal injury, or passenger injury insurance with a certain compensation amount or more. The conditions to be set may be, for example, the presence or absence of installation of the driving support processing system in the vehicle 100 traveling ahead. The conditions to be set may be, for example, the presence or absence of installation of the driving support processing system with a certain technical level or more. The certain technical level means, for example, the level of devices used in the driving support processing system. Also, the certain technical level may be, for example, the level of autonomous driving (0 to 5). The conditions to be set may be, for example, the legal speed of the road on which the host vehicle is traveling. That is, the setting unit 233 may set at least one of the plurality of conditions. The setting unit 233 stores condition information D1 indicating the set conditions in the storage unit 220.

[0023] Based on the vehicle information D2 obtained via the acquisition unit 232, the specific unit 234 specifies the vehicle 100 that satisfies the conditions indicated by the condition information D1 in the storage unit 220. For example, the specific unit 234 determines whether the vehicle 100 corresponds to the conditions of the condition information D1 based on the identification information of the vehicle 100 indicated by the vehicle information D2 and the condition information D1 in the storage unit 220, thereby specifying the vehicle 100 that satisfies the conditions.

[0024] Based on the vehicle information D2 in the storage unit 220, the specific unit 234 specifies the vehicle 100 that has not subscribed to insurance for personal injury, property damage, personal injury, or passenger injury, etc., with a certain compensation amount or more, or the vehicle 100 that has subscribed to insurance. The specific unit 234 specifies the vehicle 100 that is not equipped with a driving support processing system with a certain technical level or more, or the vehicle 100 that is equipped with a driving support processing system with a certain technical level or more. The specific unit 234 specifies whether the vehicle 100 is traveling at a speed equal to or higher than the legal speed of the road. The legal speed is, for example, the speed determined for the vehicle 100. For example, in the case of a general road, the speed of a passenger car is 60 km / h and that of an emergency vehicle is 80 km / h. In the case of a highway, the speed of a passenger car is 100 km / h and that of a large truck or trailer is 80 km / h. That is, the specific unit 234 can specify whether the vehicle 100 is traveling at a speed equal to or higher than the legal speed of the road based on the type of the vehicle 100 and the road on which it is traveling.

[0025] The position control unit 235 controls the relative positions of a plurality of vehicles 100. For example, the position control unit 235 sets an inter-vehicle distance according to the relative distance between a plurality of vehicles 100, and controls the relative positions of the vehicles 100 so as to achieve the inter-vehicle distance. For example, the position control unit 235 controls the distance to the vehicle 100 traveling ahead with respect to the vehicle 100 specified by the specifying unit 234. The relative position includes, for example, the relative positions between the front and rear vehicles 100, the relative positions between vehicles 100 in different lanes, and the like. The position control unit 235 obtains the relative distance between the vehicles 100 based on, for example, the position information acquired from the vehicle 100. The position control unit 235 obtains the relative distance between the vehicles 100 based on, for example, the distance and direction to the surrounding vehicles acquired from the vehicle 100. Further, when the position control unit 235 is controlling the operation of the vehicle 100, for example, it may obtain the position of each vehicle 100 from the operation plan and obtain the relative position from the obtained position.

[0026] When the position control unit 235 determines that the vehicle 100 traveling ahead of the specified vehicle 100 is a vehicle 100 that subscribes to insurance with a certain compensation amount or more, the position control unit 235 sets a first inter-vehicle distance for the specified vehicle 100. The first inter-vehicle distance includes, for example, a distance of 22 m. Further, when the position control unit 235 determines that the vehicle 100 traveling ahead of the specified vehicle 100 is a vehicle 100 that does not subscribe to insurance with a certain compensation amount or more, the position control unit 235 sets a second inter-vehicle distance for the specified vehicle 100. The second inter-vehicle distance includes, for example, a distance of 27 m.

[0027] When the position control unit 235 determines that the specified vehicle 100 is a vehicle 100 equipped with a driving support processing system at a certain technical level or higher, the position control unit 235 sets a first inter-vehicle distance for the specified vehicle 100. Further, when the position control unit 235 determines that the specified vehicle 100 is not a vehicle 100 equipped with a driving support processing system at a certain technical level or higher, the position control unit 235 sets a second inter-vehicle distance for the specified vehicle 100.

[0028] When the specifying unit 234 specifies that the vehicle 100 is a vehicle that is not traveling on the road at a legal speed or higher, the position control unit 235 sets a first inter-vehicle distance for the specified vehicle 100. Further, when the specifying unit 234 specifies that the vehicle 100 is a vehicle that is traveling on the road at a legal speed or higher, the position control unit 235 sets a third inter-vehicle distance for the specified vehicle 100. The third inter-vehicle distance includes, for example, a distance of 45 m.

[0029] The position control unit 235 controls the relative positions of the plurality of vehicles 100 by controlling the inter-vehicle distances between the vehicles 100. For the control of the inter-vehicle distance, for example, as the vehicle 100 traveling in front of the vehicle 100, one vehicle 100 immediately preceding may be controlled, or a plurality of vehicles 100 may be controlled. When controlling a plurality of vehicles 100, for example, control may be performed so as to heavily weight the closer vehicle 100. The position control unit 235 instructs the vehicle 100 to be controlled, such as the inter-vehicle distance and the traveling position, via the transmission and reception unit 231.

[0030] The position control unit 235 generates, for example, control information for controlling the movement of the vehicle 100 according to the set relative position. The control information includes, for example, information for controlling at least one of the vehicle 100 and the surrounding vehicles. The control information includes, for example, information such as the distance, speed, and operation plan from the surrounding vehicles. In the present embodiment, the position control unit 235 controls the movement of the vehicle 100 so that the relative position between the vehicle 100 and the surrounding vehicles becomes the set relative position by transmitting an instruction including the control information to the vehicle 100 via the communication unit 210.

[0031] Note that at least one of the generation of the control information and the transmission control may be realized by the control unit 230. For example, the control unit 230 may generate control information for controlling the movement of the vehicle 100 according to the relative position and transmit an instruction including the control information to the vehicle 100. For example, the control unit 230 may add a generation unit for generating the control information as a new function.

[0032] The functional configuration example of the control device 200 according to the embodiment has been described above. Note that the above configuration described with reference to FIG. 2 is merely an example, and the functional configuration of the control device 200 according to the embodiment is not limited to such an example. The functional configuration of the control device 200 according to the embodiment can be flexibly modified according to specifications and operations.

[0033] [Configuration Example of Vehicle According to Embodiment] Next, an example of the configuration of the vehicle 100 according to the embodiment will be described. FIG. 3 is a configuration diagram showing an example of the configuration of the vehicle 100 according to the embodiment.

[0034] As shown in FIG. 3, the vehicle 100 includes a plurality of electronic control units connected via a communication network 101. The communication network 101 is composed of, for example, an in-vehicle communication network or bus compliant with any standard such as CAN (Controller Area Network), LIN (Local Interconnect Network), LAN (Local Area Network), or FlexRay (registered trademark). Note that each part of the vehicle 100 may be directly connected without passing through the communication network 101.

[0035] In the example shown in FIG. 3, the vehicle 100 includes a drive system control unit 110, a body system control unit 120, a mounted device 130, a communication unit 140, a storage unit 150, and a driving support device 160. In this embodiment, the case where the mounted device 130 and the driving support device 160 are connected via a communication network 501 will be described. However, for example, they may be directly connected via an interface or the like. Here, the directly connected configuration may include a configuration connected by D2D (Device to Device) communication. In this embodiment, the case where the vehicle 100 includes one mounted device 130 will be described, but a configuration including a plurality of mounted devices 130 may also be used.

[0036] The drive system control unit 110 controls the operations of devices related to the drive system of the vehicle 100 according to various programs. For example, the drive system control unit 110 functions as a control device for a driving force generation device for generating the driving force of the vehicle 100 such as an internal combustion engine or a driving motor, a driving force transmission mechanism for transmitting the driving force to the wheels, a steering mechanism for adjusting the steering angle of the vehicle 100, and a braking device for generating the braking force of the vehicle 100, etc.

[0037] The body system control unit 120 controls the operations of various devices installed in the vehicle body according to various programs. For example, the body system control unit 120 functions as a control device for a keyless entry system, a smart key system, a power window device, or various lamps such as a headlamp, a backlamp, a brake lamp, a turn signal, or a fog lamp. In this case, radio waves transmitted from a portable device that substitutes for a key or signals of various switches can be input to the body system control unit 120. The body system control unit 120 receives these inputs of radio waves or signals and controls the door lock device, the power window device, the lamps, etc. of the vehicle. Also, the body system control unit 120 may control static or dynamic information displayed on a display device installed in the vehicle body.

[0038] The mounting device 130 detects information about the outside world of the vehicle 100. The mounting device 130 includes, for example, various sensors, imaging devices, etc. The mounting device 130 detects the environment around the mounting device 130 as information about the outside world. The area around the mounting device 130 indicates, for example, an area detectable by the mounting device 130. The mounting device 130 can use, for example, at least one of a camera, a distance sensor, a sound wave sensor, an acceleration sensor, a gyro sensor, a position sensor, LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging), a radar, a temperature sensor, a humidity sensor, and an air pressure sensor. Further, the mounting device 130 may be mounted inside a tire and measure the circumferential acceleration, internal pressure, and temperature of the tire. For example, the mounting device 130 detects the road surface condition (for example, dry, semi-wet, wet, snow-covered, snow-packed, road surface frozen, sherbet). Also, the mounting device 130 may detect the position using, for example, GNSS (Global Navigation Satellite System) represented by GPS (Global Positioning System), map matching, WiFi (registered trademark) positioning, magnetic positioning, BLE (Bluetooth (registered trademark) Low Energy) positioning, beacon positioning, etc. The mounting device 130 supplies the detected information to the driving support device 160. Further, the driving support device 160 may transmit the information detected via V2X communication to the control device 200.

[0039] The communication unit 140 communicates with various external electronic devices, the control device 200, the base station 1001, the RSU 1002, etc. The communication unit 140 outputs the data received from the control device 200, or the information included in the data, to the driving support device 160, or transmits the data from the control device 200, or the information included in the data, to the driving support device 160. Note that the communication protocol supported by the communication unit 140 is not particularly limited, and the communication unit 140 can also support a plurality of types of communication protocols. Further, the communication unit 140 may support a plurality of types of wireless interfaces.

[0040] For example, the communication unit 140 performs wireless communication with a driving assistance device 160 or the like mounted on another vehicle 100 via a wireless LAN, Bluetooth (registered trademark), NFC (Near Field Communication), or WUSB (Wireless USB).

[0041] For example, the communication unit 140 communicates with a control device 200 existing on an external network (e.g., the Internet, a cloud network, or a carrier-specific network) via a base station 1001 or an access point. Also, for example, the communication unit 140 performs V2X communication such as vehicle-to-vehicle (V2V) communication, vehicle-to-infrastructure (V2I) communication, vehicle-to-network communication between the host vehicle and the network, vehicle-to-home communication between the host vehicle and the home, and vehicle-to-pedestrian (V2P) communication. That is, the communication unit 140 can communicate with a communication unit 140 mounted on another vehicle 100, an RSU 1002, a base station 1001 or an access point, a wireless communication terminal carried by a pedestrian (e.g., a smartphone or a wearable device), a personal computer in a house, a tablet terminal, etc. via V2X communication. Also, for example, the communication unit 140 includes a beacon receiving unit and receives radio waves or electromagnetic waves transmitted from a wireless station or the like installed on a road, and acquires information such as the current position, traffic congestion, traffic restrictions, or required time.

[0042] The storage unit 150 stores various data and programs. The storage unit 150 is, for example, a semiconductor memory element such as a RAM (Random Access Memory) or a flash memory, a hard disk, an optical disk, or the like. The storage unit 150 stores information received via the communication unit 140. The storage unit 150 stores various information such as vehicle information D2 associated with the vehicle 100.

[0043] The driving support device 160 is, for example, a dedicated or general-purpose computer. The driving support device 160 is, for example, an example of a driving support processing system. The driving support device 160 is, for example, an integrated control unit that controls the vehicle 100. Based on the information inside and outside the vehicle detected by the mounted device 130, the driving support device 160 can calculate the control target values of the driving force generation device, the steering mechanism, or the braking device, and output a control command to the drive system control unit 110. For example, the driving support device 160 can perform cooperative control for realizing functions of ADAS including collision avoidance or shock mitigation of the vehicle 100, following driving based on the inter-vehicle distance, vehicle speed maintenance driving, collision warning of the vehicle, or lane departure warning of the vehicle, etc.

[0044] The driving support device 160 controls the driving force generation device, the steering mechanism, or the braking device, etc. based on the information of the surroundings (outside world) of the vehicle 100 detected by the mounted device 130. Thereby, the driving support device 160 can perform cooperative control for the purpose of assisting the driver's operation or autonomous driving that runs autonomously regardless of the driver's operation.

[0045] Based on the information outside the vehicle detected by the mounted device 130, the driving support device 160 can output a control command to the body system control unit 120. For example, the driving support device 160 can perform cooperative control for the purpose of anti-glare, such as controlling the headlamp according to the position of the preceding vehicle or oncoming vehicle detected by the mounted device 130 and switching the high beam to the low beam. Also, when the driving support device 160 detects the possibility of a collision with a vehicle traveling ahead, it can control to turn on or blink the brake lamp before the driver starts a braking operation. Furthermore, when the driving support device 160 detects a lane change or the start of a right or left turn of the vehicle without operating the blinker, it can control to execute the blinking of the blinker suitable for the lane change or the right or left turn.

[0046] The configuration example of the vehicle 100 according to the embodiment has been described above. Note that the above configuration described with reference to FIG. 3 is merely an example, and the functional configuration of the vehicle 100 according to the embodiment is not limited to such an example. The configuration of the vehicle 100 according to the embodiment can be flexibly modified according to specifications and operations.

[0047] [Processing Procedure of the Control Device According to the Embodiment] Next, with reference to FIG. 4, the processing procedure of the control device 200 according to the embodiment will be described. FIG. 4 is a flowchart showing an example of the processing procedure of the control device 200 according to the embodiment. FIG. 5 is a diagram showing an example of the condition information D1 according to the embodiment.

[0048] The processing procedure shown in FIG. 4 is realized by the control unit 230 of the control device 200 executing a program. The processing procedure shown in FIG. 4 is repeatedly executed by the control unit 230 at a fixed or variable cycle. Further, the processing procedure shown in FIG. 4 may be activated by the control unit 230 in response to, for example, the occurrence of an event, the detection of a trigger, etc. For example, the processing procedure shown in FIG. 4 is executed by the control unit 230 when the legal speed of the road being traveled changes, the lane width of the lane being traveled narrows, the number of lanes being traveled is reduced, or a change in the road surface condition is detected. Alternatively, the processing procedure shown in FIG. 4 may be executed by the control unit 230 at the timing of entering a preset area or exiting a preset area. The preset area is, for example, a location or area with a high accident occurrence history.

[0049] As shown in FIG. 4, the control unit 230 of the control device 200 acquires the vehicle information D2 of the vehicle 100 traveling ahead and the vehicle 100 to be controlled (step S101). The vehicle 100 traveling ahead means the vehicle 100 traveling ahead of the vehicle 100 to be controlled. For example, the control unit 230 acquires the vehicle information D2 including the identification information of the vehicle 100 such as a number uniquely assigned to identify the vehicle body. The identification information includes, for example, the chassis number, the automobile registration number plate, the vehicle number plate, etc.

[0050] The control unit 230 checks the set conditions (step S102). The control unit 230 determines whether the acquired vehicle information D2 satisfies the set conditions (step S103). For example, the control unit 230 compares the vehicle information D2 with the conditions indicated by the condition information D1, and determines whether the conditions are satisfied based on the comparison result.

[0051] For example, as shown in FIG. 5, a plurality of conditions are set in the condition information D1. The set condition C1 is, for example, "the vehicle 100 traveling ahead is a vehicle 100 that is not insured against personal injury, property damage, personal injury, or passenger injury, etc. with a certain compensation amount or more". Further, the set condition C2 is, for example, "the vehicle 100 traveling ahead is a vehicle 100 that does not have a driving support device 160 with a certain technical level or more". Furthermore, the set condition C3 is, for example, "the legal speed of the road on which the vehicle is traveling is 60 km / h or more". Note that as the conditions set in the condition information D1, one condition may be set, or a plurality of conditions may be set. In this case, when the vehicle 100 indicated by the vehicle information D2 satisfies any of the conditions C1, C2, and C3, the control unit 230 determines that the conditions are satisfied.

[0052] Returning to FIG. 4, when the control unit 230 determines that the set conditions are satisfied (Yes in step S103), the process proceeds to step S104. The control unit 230 sets a first inter-vehicle distance as the inter-vehicle distance (step S104). When the process of step S104 is completed, the control unit 230 proceeds to step S105. The control unit 230 instructs the vehicle 100 of the set inter-vehicle distance via the communication unit 210 (step S105). For example, when the first inter-vehicle distance is set as the inter-vehicle distance, the control unit 230 instructs the vehicle 100 that has specified the first inter-vehicle distance, and changes the relative position by causing the vehicles 100 to travel at the first inter-vehicle distance. When the process of step S105 is completed, the control unit 230 ends the processing procedure shown in FIG. 4.

[0053] Also, when the control unit 230 determines that the set conditions are not met (No in step S103), the process proceeds to step S106. The control unit 230 sets the second inter-vehicle distance as the inter-vehicle distance (step S106). The control unit 230 instructs the vehicle 100 of the set inter-vehicle distance via the communication unit 210 (step S105). For example, when the second inter-vehicle distance is set as the inter-vehicle distance, the control unit 230 instructs the vehicle 100 that has specified the second inter-vehicle distance, and changes the relative position by having the vehicles 100 travel at the second inter-vehicle distance. When the process of step S105 ends, the control unit 230 ends the processing procedure shown in FIG. 4.

[0054] [Operation example of traffic control system according to embodiment] Next, with reference to FIGS. 6 to 8, the operation of the traffic control system 1 according to the embodiment will be described. FIG. 6 is a sequence diagram showing an example of the operation of the traffic control system 1 according to the embodiment. FIGS. 7 and 8 are sequence diagrams showing other examples of the operation of the traffic control system 1 according to the embodiment.

[0055] As shown in FIG. 6, the vehicle 100 transmits vehicle information D2 to the control device 200 via the communication unit 140 (step S1001). For example, the vehicle 100 transmits vehicle information D2 including the identification information of its own vehicle and the like to the control device 200. Further, the vehicle 100 may transmit the license plate number of the vehicle ahead or information for identifying the vehicle ahead obtained via a V2X message to the control device 200. Note that the vehicle 100 may also transmit information related to the position of the vehicle ahead transmitted via a V2X message.

[0056] When the control device 200 receives the vehicle information D2 from the vehicle 100, it identifies the vehicle 100 based on the received vehicle information D2 (step S201). The control device 200 determines whether the identified vehicle 100 meets the conditions (step S202). The control device 200 sets the inter-vehicle distance based on the determination result (step S203). The control device 200 transmits, via the communication unit 210, an instruction to change to the set inter-vehicle distance to the corresponding vehicle 100 (step S204). The instruction is information including control information such as the inter-vehicle distance, speed, and operation plan.

[0057] When the vehicle 100 receives the instruction from the control device 200, it controls the vehicle 100 so as to obtain the received inter-vehicle distance (step S1002). The vehicle 100 operates the drive system control unit 110 so as to obtain the inter-vehicle distance instructed by the control device 200. Thereby, the vehicle 100 can change the relative position by changing the inter-vehicle distance between its own vehicle and the vehicle 100 traveling ahead.

[0058] Next, another example of the operation of the traffic control system 1 will be described. As shown in FIG. 7, the vehicle 100 detects the air resistance based on the detection result of the mounted device 130 (step S1011). For example, the vehicle 100 detects the air resistance based on the running resistance and the like received during running. The vehicle 100 transmits, via the communication unit 140, the vehicle information D2 including the air resistance to the control device 200 (step S1012). For example, the vehicle 100 transmits the vehicle information D2 including the identification information of its own vehicle to the control device 200.

[0059] When the control device 200 receives vehicle information D2 from the vehicle 100, it identifies the vehicle 100 based on the received vehicle information D2 (step S211). The control device 200 determines whether the air resistance of the identified vehicle 100 satisfies the condition (step S212). The condition related to the air resistance set in the condition information D1 may be variable according to, for example, the type, kind, etc. of the vehicle 100. The condition is, for example, different conditions regarding air resistance are set according to the differences between a light motor vehicle, a sedan type, a light truck, and a large truck. The control device 200 sets the inter-vehicle distance based on the determination result (step S213). The control device 200 transmits an instruction for changing to the set inter-vehicle distance to the corresponding vehicle 100 via the communication unit 210 (step S214).

[0060] When the vehicle 100 receives an instruction from the control device 200, it controls the vehicle 100 so as to obtain the received inter-vehicle distance (step S1013). The vehicle 100 operates the drive system control unit 110 so as to obtain the inter-vehicle distance instructed by the control device 200. Thereby, the vehicle 100 can change the relative position by changing the inter-vehicle distance between its own vehicle and the vehicle 100 traveling ahead to an inter-vehicle distance corresponding to the air resistance.

[0061] In the present embodiment, the case where the control device 200 sets the inter-vehicle distance (relative position) according to the value indicating the environment of the vehicle 100 by including the condition related to the air resistance of the vehicle 100 as a predetermined condition has been described, but it is not limited thereto. For example, the control device 200 may be configured to detect values such as wind speed, wind direction, humidity, and atmospheric pressure by the vehicle 100 and set the inter-vehicle distance according to the environment of the vehicle 100 based on the detected values.

[0062] Next, another example of the operation of the traffic control system 1 will be described. As shown in FIG. 8, the vehicle 100 detects the remaining fuel or remaining charge amount (step S1021). For example, when the vehicle 100 is a vehicle equipped with an engine, it detects the amount of remaining fuel, and when it is an electric vehicle, it detects the remaining charge amount. The vehicle 100 transmits a request for information related to refueling to the control device 200 via the communication unit 140 (step S1022). The request for information related to refueling includes, for example, the identification information of the own vehicle and information related to fuel refueling or charging facilities.

[0063] When the control device 200 receives the request from the vehicle 100, it identifies the vehicle 100 based on the received request (step S221). The control device 200 transmits response information related to refueling to the corresponding vehicle 100 via the communication unit 210 (step S222). For example, the control device 200 identifies information on a point where fuel can be refueled or a point where charging can be performed based on the traveling route of the identified vehicle 100, and transmits response information including the information to the vehicle 100.

[0064] For example, when the vehicle 100 receives the response information from the control device 200, it determines the necessity of fuel-efficient driving based on the distance to a point where fuel can be refueled or a point where charging can be performed, and the amount of remaining fuel or the remaining charge amount. When the vehicle 100 determines that fuel-efficient driving is necessary, it transmits a request for fuel-efficient driving to the control device 200 via the communication unit 140 (step S1023). The request for fuel-efficient driving includes, for example, the identification information of the own vehicle and information indicating the request for fuel-efficient driving.

[0065] When the control device 200 receives a request from the vehicle 100, it identifies the vehicle 100 based on the received request (step S223). The control device 200 determines whether the identified vehicle 100 meets the conditions (step S224). For example, the control device 200 determines whether the vehicle 100 meets the conditions for enabling fuel-efficient driving. Based on the determination result, the control device 200 sets the inter-vehicle distance corresponding to fuel-efficient driving (step S225). Note that when the vehicle 100 does not meet the conditions for enabling fuel-efficient driving, the control device 200 sets the inter-vehicle distance corresponding to normal driving. The control device 200 transmits an instruction to change to the set inter-vehicle distance to the corresponding vehicle 100 via the communication unit 210 (step S226).

[0066] When the vehicle 100 receives an instruction from the control device 200, it controls the vehicle 100 so that the received inter-vehicle distance is achieved (step S1024). The vehicle 100 operates the drive system control unit 110 so that the inter-vehicle distance is the one instructed by the control device 200. Thereby, the vehicle 100 can change the relative position by changing the inter-vehicle distance between the host vehicle and the vehicle 100 traveling ahead to the inter-vehicle distance corresponding to fuel-efficient driving.

[0067] Note that when the control device 200 receives a request for information related to refueling from the vehicle 100 in step S1022, it may perform the processing from step S224 to step S226 without transmitting the response information related to refueling to the vehicle 100 in step S222, and transmit an instruction to change to the set inter-vehicle distance to the corresponding vehicle 100 via the communication unit 210. At that time, the control device 200 may include the response information related to refueling in the instruction to change to the set inter-vehicle distance and transmit it.

[0068] [Modification Example (1) of the Embodiment] Next, a modification example (1) of the embodiment will be described. FIG. 9 is a diagram showing an example of the configuration of a control device 200 according to the modification example (1) of the embodiment. As shown in FIG. 9, the control device 200 includes a communication unit 210, a storage unit 220, and a control unit 230. The control unit 230 includes a transmission / reception unit 231, an acquisition unit 232, a setting unit 233, a specifying unit 234, a position control unit 235, a ratio calculation unit 236, and a route calculation unit 237. Each functional unit of the transmission / reception unit 231, the acquisition unit 232, the setting unit 233, the specifying unit 234, the position control unit 235, the ratio calculation unit 236, and the route calculation unit 237 is realized, for example, by a program stored inside the control unit 230 being executed with a RAM or the like as a work area by the control unit 230. That is, the control unit 230 adds a ratio calculation unit 236 and a route calculation unit 237 to the configuration of the embodiment.

[0069] The setting unit 233 further arbitrarily sets one or more areas. For example, the setting unit 233 sets a specific area for controlling the vehicle 100. The setting unit 233 stores area information D3 indicating the set area in the storage unit 220. Note that the area may be set in advance.

[0070] The ratio calculation unit 236 calculates the ratio of the vehicles 100 that meet the conditions for each area set by the setting unit 233. For example, the ratio calculation unit 236 calculates the ratio based on information such as the degree of correspondence and performance of the driving support device 160 of each vehicle 100 specified by the specifying unit 234, the vehicle type, the presence or absence of insurance coverage, the conditions of the insurance subscribed, etc., the conditions set by the setting unit 233, and the area. For example, the ratio calculation unit 236 calculates the ratio of the vehicles 100 that are not subscribed to insurance for pedestrians, objects, personal injury, passenger injury, etc. among all the vehicles 100 traveling within the set area. For example, the ratio calculation unit 236 calculates the ratio of the vehicles 100 that do not mount a driving support device 160 of a certain technical level or higher among all the vehicles 100 traveling within the set area. Note that since the ratio of the vehicles that meet arbitrary conditions is considered to change over time, the calculated ratio may be a value for each time.

[0071] The route calculation unit 237 calculates a route to the destination of the vehicle 100 based on the ratio of the vehicles 100 that meet the conditions for each area calculated by the ratio calculation unit 236. For example, the route calculation unit 237 selects a route that preferentially selects a route within an area with a high ratio of vehicles 100 equipped with driving support devices 160 at a certain technical level or higher rather than a route within an area with a high ratio of vehicles 100 not equipped with driving support devices 160 at a certain technical level or higher. Also, for example, the route calculation unit 237 selects a route that preferentially selects a route within an area with a high ratio of vehicles 100 that have joined insurance with a certain compensation amount or more for personal injury, property damage, personal injury, or passenger injury rather than a route within an area with a high ratio of vehicles 100 that have not joined insurance with a certain compensation amount or more.

[0072] When controlling the relative position of the vehicle 100, the control device 200 can improve the safety of traffic control by setting a dedicated inter-vehicle distance from the vehicle 100 that has not joined insurance with a certain compensation amount or more. Also, when controlling the relative position of the vehicle 100, the control device 200 can improve the stability of traffic control by maintaining an appropriate inter-vehicle distance from vehicles 100 with different driving skills.

[0073] [Modification Example (2) of the Embodiment] Next, a modification example (2) of the embodiment will be described. FIG. 10 is a diagram showing an example of the configuration of a control device 200 according to the modification example (2) of the embodiment. As shown in FIG. 10, the control device 200 includes a communication unit 210, a storage unit 220, and a control unit 230. The control unit 230 includes a transmission / reception unit 231, an acquisition unit 232, a setting unit 233, a specifying unit 234, a position control unit 235, a ratio calculation unit 236, a route acquisition unit 238, and an insurance premium calculation unit 239. Each functional unit of the transmission / reception unit 231, the acquisition unit 232, the setting unit 233, the specifying unit 234, the position control unit 235, the ratio calculation unit 236, the route acquisition unit 238, and the insurance premium calculation unit 239 is realized, for example, when a program stored inside the control unit 230 is executed with a RAM or the like as a work area by the control unit 230. That is, the control unit 230 adds a ratio calculation unit 236, a route acquisition unit 238, and an insurance premium calculation unit 239 to the configuration of the embodiment.

[0074] The route acquisition unit 238 acquires information related to a route traveled by the vehicle 100 at a fixed or variable cycle via the transmission / reception unit 141. The route acquisition unit 238 stores the acquired information in the storage unit 220.

[0075] The insurance premium calculation unit 239 calculates an insurance premium according to the ratio calculated by the ratio calculation unit 236 and the route acquired by the route acquisition unit 238. For example, when the route traveled by the vehicle 100 is a route in an area where the ratio of vehicles 100 not covered by insurance for personal injury, property damage, personal injury, or passenger injury with a certain compensation amount or more is high, the insurance premium calculation unit 239 calculates (adds) a high insurance premium. For example, when the route traveled by the vehicle 100 is a route in an area where the ratio of vehicles 100 covered by insurance for personal injury, property damage, personal injury, or passenger injury with a certain compensation amount or more is high, the insurance premium calculation unit 239 calculates (adds) a low insurance premium.

[0076] For example, when the route traveled by the vehicle 100 is a route within an area where the proportion of vehicles 100 not equipped with a driving support device 160 at a certain technical level or higher is high, the insurance premium calculation unit 239 calculates (adds) a high insurance premium. For example, when the route traveled by the vehicle 100 is a route within an area where the proportion of vehicles 100 equipped with a driving support device 160 at a certain technical level or higher is high, the insurance premium calculation unit 239 calculates (adds) a low insurance premium. The insurance premium calculation unit 239 associates the calculated insurance premium with the vehicle 100 and stores it in the storage unit 220, or provides it to a server device or the like that manages the vehicle 100.

[0077] The control device 200 can set insurance premiums according to risks for each area where the distribution of the driving skills of the vehicles 100 is different. Furthermore, the control device 200 can relatively reduce the risk by controlling the relative position of the vehicle 100, and can lower the insurance premium.

[0078] [Modification Example (3) of the Embodiment] Next, a modification example (3) of the embodiment will be described. FIG. 11 is a sequence diagram showing another example of the operation of the traffic control system 1 according to the modification example (3) of the embodiment.

[0079] As shown in FIG. 11, the vehicle 100B transmits ADAS information to the control device 200 via the communication unit 140 (step S1201). The ADAS information includes, for example, information related to the ADAS and information for identifying the vehicle 100. The vehicle 100B transmits the ADAS information at a preset cycle or a cycle instructed by the control device 200.

[0080] The vehicle 100A transmits ADAS information to the control device 200 via the communication unit 140 (step S1101). The vehicle 100A transmits the ADAS information to the control device 200 at a preset cycle or a cycle instructed by the control device 200.

[0081] Thereafter, the vehicle 100B transmits ADAS information to the control device 200 via the communication unit 140 (step S1202).

[0082] When the control device 200 receives ADAS information from the vehicle 100A and the vehicle 100B via the communication unit 210, the control device 200 stores the received ADAS information in the storage unit 220 in chronological order. The control device 200 calculates the ratio of the vehicles 100 that meet the conditions for each area (step S301). For example, the control device 200 calculates the ratio of the vehicles 100 that do not carry a driving support device 160 with a certain technical level or higher. For example, the control device 200 determines that the ratio of the vehicles 100 in the area where the vehicle 100 is traveling and that do not carry a driving support device 160 with a certain technical level or higher is equal to or higher than a threshold value (for example, 0.5) (step S302). The control device 200 instructs, via the communication unit 210, to increase the transmission frequency of the ADAS information (step S303). In an example shown in FIG. 11, the control device 200 determines that the ratio of the vehicles 100 in the area where the vehicle 100A is traveling and that do not carry a driving support device 160 with a certain technical level or higher is equal to or higher than the threshold value. Therefore, the control device 200 instructs the vehicle 100A to increase the transmission frequency of the ADAS information. Note that this threshold value may be dynamically changed according to the time zone and the weather.

[0083] When the vehicle 100A receives, via the communication unit 140, an instruction from the control device 200 to increase the transmission frequency of the ADAS information, the vehicle 100A increases the transmission frequency of the ADAS information (step S1102). For example, the vehicle 100A changes the period or increases the number of transmissions so that the transmission frequency of the ADAS information becomes higher. The vehicle 100A transmits the ADAS information via the communication unit 140 at the changed transmission frequency (steps S1103, S1104, S1105).

[0084] When the control device 200 receives ADAS information from the vehicle 100A via the communication unit 210, the control device 200 stores the received ADAS information in the storage unit 220 in chronological order. By acquiring the ADAS information from the vehicle 100 at a high frequency in an area where many vehicles 100 with low driving skills are distributed, the control device 200 can perform appropriate traffic control leading to risk reduction.

[0085] [Modification Example (4) of the Embodiment] Next, a modification example (4) of the embodiment will be described. FIG. 12 is a sequence diagram showing another example of the operation of the traffic control system 1 according to the modification example (4) of the embodiment.

[0086] As shown in FIG. 12, the vehicle 100B transmits ADAS information to the control device 200 via the communication unit 140 (step S1211). The vehicle 100B transmits the ADAS information at a preset cycle or a cycle instructed by the control device 200.

[0087] The vehicle 100A transmits ADAS information to the control device 200 via the communication unit 140 (step S1111). The vehicle 100A transmits the ADAS information to the control device 200 at a preset cycle or a cycle instructed by the control device 200.

[0088] Thereafter, the vehicle 100B transmits ADAS information to the control device 200 via the communication unit 140 (step S1212).

[0089] When the control device 200 receives ADAS information from the vehicle 100A and the vehicle 100B via the communication unit 210, it stores the received ADAS information in the storage unit 220 in chronological order. The control device 200 calculates the ratio of the vehicles 100 that meet the conditions for each area (step S311). For example, the control device 200 calculates the ratio of the vehicles 100 that do not have a driving support device 160 with a certain technical level or higher. For example, the control device 200 determines that the ratio of the vehicles 100 in the area where the vehicle 100 is traveling and does not have a driving support device 160 with a certain technical level or higher is equal to or less than a threshold value (for example, 0.3) (step S312). The control device 200 instructs, via the communication unit 210, to lower the transmission frequency of the ADAS information (step S313). In an example shown in FIG. 12, the control device 200 determines that the ratio of the vehicles 100 in the area where the vehicle 100A is traveling and does not have a driving support device 160 with a certain technical level or higher is equal to or less than the threshold value. For this reason, the control device 200 instructs the vehicle 100A to lower the transmission frequency of the ADAS information. Note that this threshold value may be dynamically changed according to the time zone and the weather.

[0090] When the vehicle 100A receives, via the communication unit 140, an instruction from the control device 200 to lower the transmission frequency of the ADAS information, it lowers the transmission frequency of the ADAS information (step S1112). For example, the vehicle 100A changes the period or reduces the number of transmissions so that the transmission frequency of the ADAS information becomes lower. The vehicle 100A transmits the ADAS information via the communication unit 140 at the changed transmission frequency (steps S1113 and S1114).

[0091] When the control device 200 receives ADAS information from the vehicle 100A via the communication unit 210, it stores the received ADAS information in the storage unit 220 in chronological order. In an area where many vehicles 100 with high driving skills are distributed, the control device 200 can obtain the ADAS information from the vehicles 100 at a low frequency, thereby suppressing the processing load on the vehicle 100 side and performing appropriate traffic control that leads to risk reduction.

[0092] [Modification Example (5) of the Embodiment] Next, a modification example (5) of the embodiment will be described. FIG. 13 is a sequence diagram showing another example of the operation of the traffic control system 1 according to the modification example (5) of the embodiment.

[0093] As shown in FIG. 13, the vehicle 100B transmits ADAS information to the control device 200 via the communication unit 140 (step S1221). The vehicle 100B transmits the ADAS information at a preset cycle or a cycle instructed by the control device 200.

[0094] The vehicle 100A transmits ADAS information to the control device 200 via the communication unit 140 (step S1121). The vehicle 100A transmits the ADAS information to the control device 200 at a preset cycle or a cycle instructed by the control device 200.

[0095] Thereafter, the vehicle 100B transmits ADAS information to the control device 200 via the communication unit 140 (step S1222).

[0096] When the control device 200 receives the ADAS information from the vehicle 100A and the vehicle 100B via the communication unit 210, the control device 200 stores the received ADAS information in the storage unit 220 in chronological order. The control device 200 calculates the ratio of the vehicles 100 that meet the conditions for each area (step S321). For example, the control device 200 calculates the ratio of the vehicles 100 that do not have the driving support device 160 with a certain technical level or higher.

[0097] The control device 200 determines that the ratio of vehicles 100 without a driving assistance device 160 with a certain technical level or higher in the area where the vehicle 100A is traveling is equal to or higher than a threshold value (for example, 0.5) (step S322). The control device 200 instructs, via the communication unit 210, to change the detection accuracy of the sensor (step S323). In an example shown in FIG. 13, the control device 200 determines that the ratio of vehicles 100 without a driving assistance device 160 with a certain technical level or higher in the area where the vehicle 100A is traveling is equal to or higher than the threshold value. For this reason, the control device 200 instructs the vehicle 100A to change to a setting for improving the detection accuracy of any sensor used in the driving assistance device 160.

[0098] When the vehicle 100A receives an instruction to change the detection accuracy of the sensor from the control device 200 via the communication unit 140, it changes the setting of the sensor of the mounted device 130 (step S1122). For example, the change of the setting for improving the detection accuracy of any sensor may be to specify a specific sensor and change its detection accuracy. For example, the setting for improving the detection accuracy of any sensor may be a setting for increasing the drive current, a setting for increasing the transmission power, or a setting for increasing the gain of the amplifier circuit. Here, the setting for increasing the gain of the amplifier circuit may be, for example, a setting for switching amplifier circuits with different gains. After changing to a setting for improving the detection accuracy of any sensor used in the driving assistance device 160, the vehicle 100A transmits ADAS information via the communication unit 140 at a preset cycle or a cycle instructed by the control device 200 (steps S1123, S1124).

[0099] Also, the change of the setting for improving the detection accuracy of any sensor may be executed based on the time zone or the weather. Further, the change of the setting for improving the detection accuracy of any sensor may be executed according to the brightness detected by a certain sensor, for example, a camera. Thereby, it becomes possible to operate each sensor with appropriate detection accuracy even in an environment that has become dark according to the time zone or the weather.

[0100] When the control device 200 receives ADAS information from the vehicle 100A via the communication unit 210, it stores the received ADAS information in the storage unit 220 in chronological order. The control device 200 can enable appropriate traffic control leading to risk reduction by setting the sensitivity of the sensors of the vehicle 100 high in an area where many vehicles 100 with low driving skills are distributed.

[0101] [Modification Example (6) of the Embodiment] Next, a modification example (6) of the embodiment will be described. FIG. 14 is a diagram showing an example of the functions of the driving support device 160 according to the modification example (6) of the embodiment.

[0102] As shown in FIG. 14, the driving support device 160 includes an input / output unit 161, an acquisition unit 162, a generation unit 163, a processing unit 164, a detection unit 165, a determination unit 166, a setting unit 167, a decision unit 168, and an execution unit 169.

[0103] The input / output unit 161 acquires information related to the driving support process from the control device 200 via the communication unit 140 and transmits the information related to the driving support process to the control device 200. The acquisition unit 162 acquires V2X messages transmitted by other vehicles 100 via the input / output unit 161. When the generation unit 163 receives a V2X message including information related to the positions of surrounding vehicles 100 from among the received V2X messages, it generates a list indicating the information related to the positions of the surrounding vehicles 100.

[0104] The processing unit 164 processes information acquired from any sensor connected to the driving assistance device 160. For example, the processing unit 164 utilizes GNSS to acquire the position information of the host vehicle. The position information includes, for example, information such as latitude and longitude. Further, the processing unit 164 detects the vehicle 100 traveling ahead with the camera of the mounting device 130 and calculates the relative position from the image information. The processing unit 164 can calculate the relative position of the vehicle 100 traveling ahead more accurately by utilizing the ranging information using a radar in addition to the image information detected by the camera. Also, the processing unit 164 may acquire information regarding the position information of the host vehicle and the relative position with surrounding objects by using the position information detected by GNSS, the image information detected by the camera of the mounting device 130, and three-dimensional map information called a dynamic map.

[0105] The detection unit 165 detects the absolute position of the vehicle 100 traveling ahead from the position information of the host vehicle acquired by the processing unit 164 and the relative position of the vehicle 100 traveling ahead. The determination unit 166 determines whether the absolute position of the vehicle 100 traveling ahead detected by the detection unit 165 is included in a list containing information regarding the positions of surrounding vehicles 100. For example, if the absolute position of the vehicle 100 traveling ahead is included in the list containing information regarding the positions of surrounding vehicles 100, the determination unit 166 determines that the vehicle 100 traveling ahead is the vehicle 100 equipped with the driving assistance device 160. On the other hand, if the absolute position of the vehicle 100 traveling ahead is not included in the list containing information regarding the positions of surrounding vehicles 100, the determination unit 166 determines that the vehicle 100 traveling ahead is a vehicle 100 not equipped with the driving assistance device 160.

[0106] The setting unit 167 sets conditions instructed by the control device 200 via the input / output unit 161. For example, the setting unit 167 sets a condition that when the vehicle 100 traveling ahead is a vehicle 100 not equipped with the driving assistance device 160, a first inter-vehicle distance is set, and when the vehicle traveling ahead is a vehicle equipped with the driving assistance device 160, a second inter-vehicle distance is set.

[0107] The determination unit 168 sets the inter-vehicle distance from the vehicle 100 traveling ahead based on the determination result of the determination unit 166 and the conditions set by the setting unit 167. For example, if the condition set by the setting unit 167 is "when the vehicle 100 traveling ahead is a vehicle 100 not equipped with the driving support device 160, set the first inter-vehicle distance, and when the vehicle 100 traveling ahead is a vehicle 100 equipped with the driving support device 160, set the second inter-vehicle distance", in this case, if the determination result of the determination unit 166 is "the vehicle 100 traveling ahead is a vehicle 100 not equipped with the driving support device 160", the first inter-vehicle distance is determined. Also, if the determination result of the determination unit 166 is "the vehicle 100 traveling ahead is a vehicle 100 equipped with the driving support device 160", the second inter-vehicle distance is determined. The execution unit 169 controls the power device, braking device, steering device, etc. of the drive system control unit 110 so that the inter-vehicle distance from the vehicle 100 traveling ahead becomes the inter-vehicle distance determined by the determination unit 168.

[0108] The functional example of the driving support device 160 according to the modification example (6) of the embodiment has been described above. Note that the above functions described with reference to FIG. 14 are merely examples, and the functions of the driving support device 160 according to the modification example (6) of the embodiment are not limited to such examples. The functions of the vehicle 100 according to the modification example (6) of the embodiment can be flexibly modified according to the specifications and operations.

[0109] [Processing Procedure of Driving Support Device According to Modification Example (7) of Embodiment] FIG. 15 is a flowchart showing an example of the processing procedure of the driving support device 160 according to the modification example (7) of the embodiment. The processing procedure shown in FIG. 15 is realized by the driving support device 160 executing a program. The processing procedure shown in FIG. 15 is repeatedly executed by the driving support device 160.

[0110] As shown in FIG. 15, the driving assistance device 160 acquires a V2X message via the communication unit 140 (step S1031). For example, the driving assistance device 160 acquires a V2X message from another vehicle 100, the RSU 1002, etc. The driving assistance device 160 adds the position information of another vehicle 100 included in the V2X to a list (step S1032). That is, the position information of the surrounding vehicles 100 equipped with the V2X function is added to the list. The list is created based on one or more V2X messages acquired during a set period. When the set period has elapsed, the driving assistance device 160 may reset the content of the list and reconstruct it for the next period. Note that in the list, the position information may be associated with information for identifying the vehicle corresponding to the position information. Here, as the information for identifying the vehicle, for example, a chassis number, a license plate number, a vehicle number plate, etc. can be used.

[0111] The driving assistance device 160 detects the position information of the vehicle 100 traveling ahead based on the sensors mounted on the host vehicle (step S1033). The driving assistance device 160 compares the position information of the vehicle 100 traveling ahead with the list (step S1034). The driving assistance device 160 determines whether the position information of the vehicle 100 traveling ahead is included in the list based on the comparison result in step S1034 (step S1035).

[0112] When the driving assistance device 160 determines that the position information of the vehicle 100 traveling ahead is included in the list (Yes in step S1035), the process proceeds to step S1036. The driving assistance device 160 sets that the vehicle 100 traveling ahead is equipped with the V2X function (step S1036). When the process in step S1036 is completed, the driving assistance device 160 ends the processing procedure shown in FIG. 15.

[0113] Further, when the driving support device 160 determines that the position information of the vehicle 100 traveling ahead is not included in the list (No in step S1035), the process proceeds to step S1037. The driving support device 160 sets that the vehicle 100 traveling ahead is not equipped with the V2X function (step S1037). When the process of step S1037 is completed, the driving support device 160 ends the processing procedure shown in FIG. 15.

[0114] When the driving support device 160 sets whether the vehicle 100 traveling ahead is equipped with the V2X function, it associates the setting result with the identification information of the vehicle 100 and provides it to the control device 200. Thereby, since the traffic control system 1 does not need to perform processing regarding whether the control device 200 is equipped with the V2X function for the surrounding vehicles 100, even if the number of vehicles 100 to be controlled increases, the burden on the control device 200 can be suppressed.

[0115] [Modification Example (8) of the Embodiment] Next, a modification example (8) of the embodiment will be described. FIG. 16 is a diagram showing an example of the functions of the driving support device 160 according to the modification example (8) of the embodiment.

[0116] As shown in FIG. 16, the driving support device 160 includes an input / output unit 161, an acquisition unit 162, a generation unit 163, a processing unit 164, a detection unit 165, a determination unit 166, a setting unit 167, a decision unit 168, an execution unit 169, and a setting acquisition unit 170. That is, the driving support device 160 further has the function of the setting acquisition unit 170.

[0117] The setting acquisition unit 170 acquires the settings desired by the driver via the input / output unit 161. For example, assume that the setting desired by the driver is the setting of "increasing the inter-vehicle distance from the vehicle 100 traveling ahead by 1 m". In this case, the determination unit 168 determines the inter-vehicle distance with respect to the vehicle 100 traveling ahead based on the determination result of the determination unit 166, the conditions set by the setting unit 167, and the desired setting acquired by the setting acquisition unit 170. For example, assume that the setting desired by the driver is the setting of "increasing the inter-vehicle distance from the vehicle traveling behind by 1 m". In this case, the determination unit 168 determines the inter-vehicle distance with respect to the vehicle 100 traveling behind based on the determination result of the determination unit 166, the conditions set by the setting unit 167, and the desired setting acquired by the setting acquisition unit 170.

[0118] The execution unit 169 executes a process of instructing the vehicle 100 traveling ahead or behind to change the determined inter-vehicle distance. For example, the execution unit 169 transmits a request for instructing the change of the inter-vehicle distance to the corresponding vehicle 100 via the communication unit 140. Thereby, the driving support device 160 can change the inter-vehicle distance between the host vehicle and the vehicle 100 traveling ahead or behind. Note that the execution unit 169 may transmit the determined inter-vehicle distance to other vehicles 100 via, for example, the control device 200, the RSU 1002, etc., instead of directly transmitting it to other vehicles 100.

[0119] The driving support device 160 can change the relative position between the host vehicle and the surrounding vehicles 100 that meet the conditions based on the settings desired by the driver. Thereby, the driving support device 160 can support the driving of the host vehicle and the surrounding vehicles 100 so as to maintain the relative position desired by the driver.

[0120] [Modification Example (9) of the Embodiment] Next, a modification example (9) of the embodiment will be described. FIG. 17 is a diagram showing an example of the configuration of the control device 200 according to the modification example (9) of the embodiment. As shown in FIG. 17, the control device 200 includes a communication unit 210, a storage unit 220, and a control unit 230. The control unit 230 includes a transmission / reception unit 231, an acquisition unit 232, a setting unit 233, an identification unit 234, a position control unit 235, and a second acquisition unit 240. Each functional unit of the transmission / reception unit 231, the acquisition unit 232, the setting unit 233, the identification unit 234, the position control unit 235, and the second acquisition unit 240 is realized, for example, when a program stored inside the control unit 230 is executed using a RAM or the like as a work area by the control unit 230. That is, the control unit 230 adds the second acquisition unit 240 to the configuration of the embodiment.

[0121] The second acquisition unit 240 acquires information related to the control of the traffic signal via the transmission / reception unit 231. That is, the control device 200 has the second acquisition unit 240 acquire information regarding the timing at which an arbitrary traffic signal turns green, yellow, or red.

[0122] The position control unit 235 controls the inter-vehicle distance from the vehicle 100 traveling ahead with respect to the vehicle 100 identified by the identification unit 234. Further, the position control unit 235 controls the inter-vehicle distance from the vehicle 100 traveling ahead in consideration of the information regarding the timing of change of the traffic signal acquired by the second acquisition unit 240. For example, when the timing at which the vehicle 100 traveling ahead or the traffic signal ahead on the road on which the corresponding vehicle is traveling turns red is within a threshold time, the position control unit 235 stops issuing an instruction to change the inter-vehicle distance.

[0123] In addition to controlling the inter-vehicle distance between the vehicle 100 identified by the identification unit 234 and the vehicle 100 traveling ahead, the position control unit 235 may also send an instruction to permit or prohibit lane changes to the vehicle 100 traveling in the adjacent lane. For example, when the vehicle 100 traveling ahead or the traffic signal ahead on the road where the vehicle 100 to be controlled is traveling will turn red within a certain threshold time, the position control unit 235 sends an instruction to prohibit lane changes to the vehicle 100 traveling within a certain range in the adjacent lane via the transceiver unit 231. Here, the position control unit 235 may send a V2X message including an instruction to prohibit lane changes to the identified vehicle 100. That is, the position control unit 235 can suppress lane changes of the vehicles traveling around the host vehicle by instructing the vehicle 100 to be controlled to send a V2X message including an instruction to prohibit lane changes around the vehicle.

[0124] In addition, the second acquisition unit 240 may widely acquire the road conditions. For example, the second acquisition unit 240 acquires information regarding the presence of a vehicle 100 stopped due to a breakdown or an accident on the road, or obstacles such as fallen objects on the road. For example, the position control unit 235 can control the inter-vehicle distance from the vehicle 100 traveling ahead in consideration of the information regarding the obstacles on the road ahead acquired by the second acquisition unit 240. For example, assume that the position of an obstacle ahead on the road where the vehicle 100 traveling ahead or the vehicle 100 to be controlled is traveling is within a certain threshold distance. In this case, the position control unit 235 can stop issuing an instruction to change the inter-vehicle distance. Further, assume that the position of an obstacle ahead on the road where the vehicle 100 traveling ahead or the vehicle 100 to be controlled is traveling is within a certain threshold distance. In this case, the position control unit 235 can send an instruction to prohibit lane changes to the vehicle 100 traveling within a certain range in the adjacent lane via the transceiver unit 231.

[0125] Further, the second acquisition unit 240 may acquire information related to the weather. For example, the second acquisition unit 240 acquires information on regions with rainfall or snowfall. The position control unit 235 may perform control to increase the inter-vehicle distance, for example, set the fourth inter-vehicle distance, for the vehicle 100 traveling in a region with rainfall or snowfall.

[0126] Furthermore, the second acquisition unit 240 may acquire information related to the road surface condition (for example, dry, semi-wet, wet, snow-covered, compacted snow, frozen, sherbet, etc.). For example, the second acquisition unit 240 acquires information related to the freezing of the road surface condition. The position control unit 235 may perform control to increase the inter-vehicle distance, for example, set the fourth inter-vehicle distance, for the vehicle 100 traveling in a region including a frozen road surface.

[0127] [Modification Example (10) of the Embodiment] Next, a modification example (10) of the embodiment will be described. FIG. 18 is a diagram showing an example of the configuration of the control device 200 according to the modification example (10) of the embodiment. As shown in FIG. 18, the control device 200 includes a communication unit 210, a storage unit 220, and a control unit 230. The control unit 230 includes a transmission / reception unit 231, an acquisition unit 232, a setting unit 233, an identification unit 234, a position control unit 235, and an evaluation unit 241. Each functional unit of the transmission / reception unit 231, the acquisition unit 232, the setting unit 233, the identification unit 234, the position control unit 235, and the evaluation unit 241 is realized, for example, by a program stored inside the control unit 230 being executed by the control unit 230 using a RAM or the like as a work area. That is, the control unit 230 adds the evaluation unit 241 to the configuration of the embodiment.

[0128] The evaluation unit 241 evaluates the driving characteristics of each vehicle 100 according to the level corresponding to the driving support device 160. The driving characteristics mean, for example, the nature, level, etc. of technologies for assisting driving, driving technologies by humans, and automatic driving technologies. The evaluation unit 241 can evaluate the levels of both human driving and automatic driving. In the present embodiment, the control device 200 will describe an example of the evaluation of the level of driving characteristics when assisting the driving of the vehicle 100.

[0129] For example, the levels supported by the driving assistance device 160 include level 0, level 1, level 2, level 3, level 4, level 5, etc. Level 0 means, for example, that the driver operates everything. Level 1 means, for example, that the driving assistance device 160 supports either steering operation or acceleration / deceleration. Level 2 means, for example, that the driving assistance device 160 supports steering operation and acceleration / deceleration. Level 3 means, for example, that the driving assistance device 160 operates everything at a specific location and the driver operates in case of emergency. Level 4 means, for example, that the driving assistance device 160 operates everything at a specific location. Level 5 means, for example, that the driving assistance device 160 operates everything without location limitation.

[0130] The evaluation unit 241 may evaluate the driving characteristics of each vehicle 100 by utilizing the information of each sensor acquired by the acquisition unit 232. For example, the evaluation unit 241 utilizes the information of the acceleration sensor to count the number of times of sudden braking, and the more the number is, the lower the evaluation of the driving characteristics. For example, the evaluation unit 241 utilizes the information of the camera to identify the vehicle 100 that caused the sudden braking and lower the evaluation of the driving characteristics of that vehicle 100. The identification unit 234 acquires the evaluation of the driving characteristics of the vehicle 100 traveling ahead via the evaluation unit 241. The position control unit 235 sets the inter-vehicle distance based on the evaluation of the driving characteristics of the vehicle 100 traveling ahead identified by the identification unit 234.

[0131] When the control device 200 controls the relative position of the vehicle 100, it can suppress the risk of traffic accidents by setting an inter-vehicle distance considering the evaluation result of the evaluation unit 241. In addition, the control device 200 can contribute to the improvement of driving characteristics by providing the evaluation result to the driving assistance device 160, the driver, etc. Furthermore, the control device 200 may provide the evaluation result to the insurance premium calculation unit 239 to calculate an insurance premium according to the driving skill of each vehicle 100.

[0132] Note that the modification examples (1) to (10) of the embodiment may be applied to other embodiments, the traffic control system 1, the control device 200, and the driving assistance device 160 of the modification examples.

[0133] [Hardware Configuration] The control device 200 and the driving assistance device 160 according to the above-described embodiment may be realized by a computer 1000 having a configuration as shown in FIG. 19, for example. Hereinafter, the control device 200 according to the embodiment will be described as an example. FIG. 19 is a hardware configuration diagram showing an example of a computer 1000 that realizes the functions of the control device 200. The computer 1000 includes a CPU 1100, a RAM 1200, a ROM (Read Only Memory) 1300, an HDD (Hard Disk Drive) 1400, a communication interface 1500, and an input / output interface 1600. Each part of the computer 1000 is connected by a bus 1050.

[0134] The CPU 1100 operates based on a program stored in the ROM 1300 or the HDD 1400, and controls each part. For example, the CPU 1100 expands a program stored in the ROM 1300 or the HDD 1400 into the RAM 1200, and executes processing corresponding to various programs.

[0135] The ROM 1300 stores a boot program such as a BIOS (Basic Input Output System) executed by the CPU 1100 when the computer 1000 is started up, and a program dependent on the hardware of the computer 1000.

[0136] The HDD 1400 is a computer-readable recording medium that non-temporarily records a program executed by the CPU 1100 and data used by such a program. Specifically, the HDD 1400 is a recording medium that records an information processing program according to the present disclosure, which is an example of program data 1450.

[0137] The communication interface 1500 is an interface for the computer 1000 to connect to an external network 1550 (e.g., the Internet). For example, the CPU 1100 receives data from other devices or transmits data generated by the CPU 1100 to other devices via the communication interface 1500.

[0138] The input / output interface 1600 is an interface for connecting the input / output device 1650 and the computer 1000. For example, the CPU 1100 receives data from input devices such as a keyboard and a mouse via the input / output interface 1600. Also, the CPU 1100 transmits data to output devices such as a display, a speaker, and a printer via the input / output interface 1600. Further, the input / output interface 1600 may function as a media interface for reading a program or the like recorded on a predetermined recording medium (media). The media is, for example, an optical recording medium such as a DVD (Digital Versatile Disc), a magneto-optical recording medium such as an MO (Magneto-Optical disk), a tape medium, a magnetic recording medium, or a semiconductor memory.

[0139] For example, when the computer 1000 functions as the control device 200 according to the embodiment, the CPU 1100 of the computer 1000 realizes functions such as the transmission / reception unit 231, the acquisition unit 232, the setting unit 233, the specifying unit 234, the position control unit 235, the ratio calculation unit 236, the route calculation unit 237, the route acquisition unit 238, the insurance premium calculation unit 239, the second acquisition unit 240, and the evaluation unit 241 of the control unit 230 by executing the program loaded on the RAM 1200. Also, the HDD 1400 stores the program according to the present disclosure and the data in the storage unit 220. Note that the CPU 1100 reads and executes the program data 1450 from the HDD 1400, but as another example, these programs may be acquired from other devices via the external network 1550.

[0140] The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, but the technical scope of the present disclosure is not limited to such examples. It is obvious that those with ordinary knowledge in the technical field of the present disclosure can conceive of various modification examples or correction examples within the scope of the technical idea described in the claims, and it is naturally understood that these also belong to the technical scope of the present disclosure.

[0141] Also, the effects described in this specification are merely illustrative or exemplary and not limiting. That is, the technology according to the present disclosure can exhibit other effects obvious to those skilled in the art from the description of this specification, together with or instead of the above effects.

[0142] In addition, a program can also be created to cause hardware such as a CPU, ROM, and RAM built into a computer to exhibit functions equivalent to those of the control device 200, and a computer-readable recording medium recording the program can also be provided.

[0143] Also, each step related to the processing of the traffic control system 1 in this specification does not necessarily need to be processed in chronological order according to the order described in the sequence. For example, each step related to the processing of the traffic control system 1 may be processed in an order different from the order described in the sequence or may be processed in parallel.

[0144] Also, in this specification, the traffic control system 1 has been described in the case where the control device 200 is a cloud server, but it is not limited to this. For example, in the traffic control system 1, the functions of the control device 200 may be realized by the driving assistance device 160 of the vehicle 100, an electronic control unit, etc., or the RSU 1002. Also, the traffic control system 1 may use a technique called MEC (Mobile Edge Computing) to dynamically implement the control device 200 on an edge server in the vicinity. Furthermore, each part of the control device 200 may be implemented by being distributed to different servers.

[0145] Also, in this specification, although the driving support device 160 has been described as being realized by the electronic control unit of the vehicle 100, it is not limited thereto. The driving support device 160 may be realized by, for example, other electronic control units such as a mounted device, a communication device, a drive system control unit 510, and a body system control unit 120 mounted on the vehicle 100.

[0146] (Effect) The traffic control system 1 includes an identifying unit 234 that identifies a vehicle 100 that meets a set predetermined condition, a position control unit 235 that sets a relative position between the identified vehicle 100 and surrounding vehicles based on the relative distance between the vehicle 100 and the surrounding vehicles, and a control unit 230 that generates control information for controlling the movement of the vehicle according to the relative position.

[0147] Thereby, when the traffic control system 1 identifies a vehicle 100 that meets a set predetermined condition, it can set an appropriate relative position according to the relative distance from surrounding vehicles. The traffic control system 1 can control the movement of the vehicle 100 based on the control information by generating control information according to the set relative distance. As a result, even when vehicles 100 with different driving levels are mixed, the traffic control system 1 can assist in driving to maintain the relative positions of the plurality of vehicles 100, thereby improving safety.

[0148] In the traffic control system 1, the control unit 230 generates control information for controlling at least one of the vehicle 100 and the surrounding vehicles based on the relative position between the vehicle 100 and the surrounding vehicles.

[0149] Thereby, the traffic control system 1 can maintain the relative position between the vehicle 100 and the surrounding vehicles by controlling at least one of the vehicle 100 and the surrounding vehicles. As a result, the traffic control system 1 can improve safety even when a plurality of vehicles 100 with different driving levels are mixed by controlling at least one of the vehicle 100 and the surrounding vehicles to maintain the relative position.

[0150] In the traffic control system 1, the position control unit 235 determines the characteristics of surrounding vehicles based on predetermined conditions, and sets the relative position between the vehicle and the surrounding vehicles based on the determined characteristics.

[0151] Thereby, the traffic control system 1 can set the relative position between the vehicle and the surrounding vehicles according to the characteristics of the surrounding vehicles of the specified vehicle. As a result, the traffic control system 1 can improve safety even when a plurality of vehicles 100 with different driving levels are mixed by considering the characteristics of the surrounding vehicles.

[0152] In the traffic control system 1, when the surrounding vehicle satisfies a predetermined condition, the position control unit 235 sets a first inter-vehicle distance, and when the surrounding vehicle does not satisfy the predetermined condition, the position control unit 235 sets a second inter-vehicle distance.

[0153] Thereby, the traffic control system 1 can determine the characteristics of the surrounding vehicles based on a predetermined condition, set a first inter-vehicle distance when the predetermined condition is satisfied, and set a second inter-vehicle distance when the predetermined condition is not satisfied. As a result, the traffic control system 1 can set an inter-vehicle distance suitable for the characteristics of the surrounding vehicles only by determining whether the surrounding vehicle satisfies the predetermined condition, so that the relative positions of the plurality of vehicles 100 can be easily set.

[0154] In the traffic control system 1, the first inter-vehicle distance is an inter-vehicle distance narrower than the second inter-vehicle distance.

[0155] Thereby, the traffic control system 1 can set an inter-vehicle distance narrower than when the predetermined condition is not satisfied when the predetermined condition is satisfied. As a result, the traffic control system 1 can change the inter-vehicle distance according to the safety of the plurality of vehicles 100 by setting a condition related to the safety of the vehicle 100 as the predetermined condition.

[0156] In the traffic control system 1, the first inter-vehicle distance and the second inter-vehicle distance are inter-vehicle distances that become wider as the legal speed of the road on which the vehicle is traveling increases. Also, the first inter-vehicle distance and the second inter-vehicle distance may be dynamically changed according to the time zone and weather. For example, at night, the first inter-vehicle distance and the second inter-vehicle distance that are wider than during the day are set, and in a rainy weather environment, the first inter-vehicle distance and the second inter-vehicle distance that are wider than in a sunny weather environment are set.

[0157] As a result, the traffic control system 1 can increase the inter-vehicle distance between the vehicle 100 and surrounding vehicles as the legal speed increases. As a result, the traffic control system 1 can perform dynamic control of the vehicle 100 to maintain an appropriate relative position with surrounding vehicles even when the vehicle 100 travels in sections with different legal speeds, so that the safety can be improved.

[0158] In the traffic control system 1, the predetermined condition is a condition for identifying a vehicle that does not transmit a message including at least the position information of the vehicle.

[0159] As a result, the traffic control system 1 can identify the vehicle 100 that does not transmit a message including the position information. As a result, the traffic control system 1 can set a dedicated inter-vehicle distance from surrounding vehicles that do not have a specific function, so that the safety can be improved.

[0160] In the traffic control system 1, the predetermined condition is a condition for identifying a vehicle that is not insured.

[0161] As a result, the traffic control system 1 can identify, for example, the vehicle 100 that is not insured such as above a certain compensation amount. As a result, the traffic control system 1 can set a dedicated inter-vehicle distance from surrounding vehicles that are not insured, so that the possibility of preventing an accident with a vehicle that is not insured can be improved.

[0162] In the traffic control system 1, an evaluation unit 241 for evaluating driving characteristics is further provided. The predetermined condition is a condition for determining whether the preset driving characteristics are satisfied. The specifying unit 234 specifies a vehicle 100 that does not satisfy the driving characteristics based on the evaluation result of the evaluation unit 241.

[0163] Thereby, the traffic control system 1 can specify a vehicle 100 that does not satisfy the driving conditions based on the evaluation result of the evaluation unit 241. As a result, the traffic control system 1 can set an inter-vehicle distance suitable for the driving characteristics, so that even if vehicles 100 with different driving characteristics are mixed, the safety can be improved.

[0164] In the traffic control system 1, the position control unit 235 sets a travel route of the vehicle 100 that does not include an area where the ratio in the area of the vehicle 100 corresponding to the predetermined condition is equal to or greater than a preset threshold value.

[0165] Thereby, the traffic control system 1 can set the travel route of the vehicle 100 so as not to include an area where many vehicles 100 with low driving characteristics are distributed. As a result, the traffic control system 1 can support more appropriate driving of the vehicle 100 by suppressing travel in an area where many vehicles 100 with low driving characteristics are distributed.

[0166] In the traffic control system 1, the position control unit 235 instructs the vehicle 100 to increase the transmission frequency of information related to the sensor mounted on the vehicle 100 for a vehicle 100 traveling inside an area where the ratio is equal to or greater than a preset threshold value.

[0167] Thereby, the traffic control system 1 can collect more information related to the sensor from the vehicle 100 traveling inside an area where the ratio is equal to or greater than a preset threshold value. As a result, the traffic control system 1 can improve the setting of the relative position of the appropriate vehicle 100 leading to risk reduction by obtaining more information related to the sensor from an area where many vehicles 100 with low driving skills are distributed.

[0168] The traffic control system 1 further includes an insurance premium calculation unit 239 that calculates the insurance premium of the vehicle 100 based on the driving result of whether the vehicle 100 has traveled inside the area.

[0169] Thereby, the traffic control system 1 can calculate the insurance premium based on the driving result for each area where the distribution of the vehicles 100 with different driving characteristics is different. As a result, the traffic control system 1 can calculate the insurance premium according to the risk of the vehicle 100 for each area.

[0170] In the traffic control system 1, the insurance premium calculation unit 239 calculates so that the insurance premium of the vehicle 100 that has traveled inside the area becomes higher than the insurance premium of the vehicle 100 that has not traveled inside the area.

[0171] Thereby, the traffic control system 1 can calculate so that the insurance premium of the vehicle 100 that has traveled inside the area becomes higher than the insurance premium of the vehicle 100 that has not traveled inside the area. As a result, the traffic control system 1 can assist in setting the insurance premium of the vehicle 100 by calculating the insurance premium suitable for the driving result of the vehicle 100.

[0172] In the traffic control system 1, the predetermined condition is a condition for determining the low fuel consumption driving of the vehicle 100, and the position control unit 235 sets the relative position between the specified vehicle 100 and the surrounding vehicles to a relative position corresponding to the low fuel consumption driving.

[0173] Thereby, when the traffic control system 1 identifies the vehicle 100 corresponding to the low fuel consumption driving, it can change the relative position between the vehicle 100 and the surrounding vehicles so that the fuel consumption of the vehicle 100 is improved. As a result, the traffic control system 1 can assist in driving to maintain the relative positions of the plurality of vehicles 100 and can also assist in improving the fuel consumption of the vehicle 100.

[0174] In the traffic control system 1, a predetermined condition is a condition for determining a vehicle in which a value indicating the environment of the vehicle 100 is equal to or greater than a preset threshold value. The position control unit 235 changes the relative position between the identified vehicle 100 and the vehicle 100 traveling ahead according to the environment of the vehicle 100.

[0175] Thereby, when the traffic control system 1 identifies a vehicle 100 in which a value indicating the environment of the vehicle 100 is equal to or greater than a preset threshold value, the traffic control system 1 can change the relative position between the vehicle 100 and the vehicle 100 traveling ahead according to the environment of the vehicle 100. For example, the traffic control system 1 can change to a relative position according to the environment based on the value of the air resistance of the vehicle 100. As a result, the traffic control system 1 can assist in driving to maintain the relative positions of a plurality of vehicles 100 and can assist in improving the fuel efficiency of the vehicle 100.

[0176] The traffic control method includes a computer identifying a vehicle 100 that meets a set predetermined condition, setting a relative position between the vehicle 100 and a surrounding vehicle based on the relative distance between the identified vehicle 100 and the surrounding vehicles around the vehicle 100, and generating control information for controlling the movement of the vehicle 100 according to the relative position.

[0177] Thereby, when the computer identifies a vehicle 100 that meets a set predetermined condition, the traffic control method can set an appropriate relative position according to the relative distance from the surrounding vehicles. The traffic control system 1 can control the movement of the vehicle 100 based on the control information by generating the control information according to the set relative distance. As a result, even when vehicles 100 with different driving levels are mixed, the traffic control method can assist in driving to maintain the relative positions of a plurality of vehicles 100, so that safety can be improved.

[0178] The control device 200 includes a specifying unit 234 that specifies the vehicle 100 that meets the set predetermined conditions, and a position control unit 235 that sets the relative position between the vehicle 100 and the surrounding vehicles based on the relative distance between the specified vehicle 100 and the surrounding vehicles around the vehicle 100. The position control unit 235 controls the movement of the vehicle 100 so as to achieve the set relative position.

[0179] Thereby, when the control device 200 specifies the vehicle 100 that meets the set predetermined conditions, it can set an appropriate relative position according to the relative distance from the surrounding vehicles. The control device 200 can control the movement of the vehicle 100 so as to achieve the set relative position. As a result, even when vehicles 100 with different driving levels are mixed, the control device 200 can control the driving to maintain the relative positions of the plurality of vehicles 100, thus improving safety.

[0180] In the control device 200, the position control unit 235 controls at least one of the vehicle 100 and the surrounding vehicles based on the relative position between the vehicle 100 and the surrounding vehicles.

[0181] Thereby, the control device 200 can maintain the relative position between the vehicle 100 and the surrounding vehicles by controlling at least one of the vehicle 100 and the surrounding vehicles. As a result, even when a plurality of vehicles 100 with different driving levels are mixed, the control device 200 can improve safety by controlling at least one of the vehicle 100 and the surrounding vehicles to maintain the relative position.

[0182] In the control device 200, the position control unit 235 determines the characteristics of the surrounding vehicles based on predetermined conditions, and sets the relative position between the vehicle 100 and the surrounding vehicles based on the determined characteristics.

[0183] Thereby, the control device 200 can set the relative position between the vehicle 100 and the surrounding vehicles according to the characteristics of the surrounding vehicles of the specified vehicle 100. As a result, even when a plurality of vehicles 100 with different driving levels are mixed, the control device 200 can improve safety by considering the characteristics of the surrounding vehicles.

[0184] Note that the following configurations also fall within the technical scope of the present disclosure. (1) A specifying unit that specifies a vehicle that meets a set predetermined condition, A position control unit that sets a relative position between the vehicle and the surrounding vehicles based on the relative distance between the specified vehicle and the surrounding vehicles around the vehicle, A control unit that generates control information for controlling the movement of the vehicle according to the relative position. A traffic control system comprising the above. (2) The control unit generates the control information for controlling at least one of the vehicle and the surrounding vehicles based on the relative position between the vehicle and the surrounding vehicles. The traffic control system according to (1) above. (3) The position control unit determines the characteristics of the surrounding vehicles based on the predetermined conditions, and sets the relative position between the vehicle and the surrounding vehicles based on the determined characteristics. The traffic control system according to (1) or (2) above. (4) When the surrounding vehicle meets the predetermined conditions, the position control unit sets a first inter-vehicle distance, and when the surrounding vehicle does not meet the predetermined conditions, the position control unit sets a second inter-vehicle distance. The traffic control system according to any one of (1) to (3) above. (5) The first inter-vehicle distance is a narrower inter-vehicle distance than the second inter-vehicle distance. The traffic control system according to (4) above. (6) The first inter-vehicle distance and the second inter-vehicle distance are inter-vehicle distances that become wider as the legal speed of the road on which the vehicle travels increases. The traffic control system according to (4) or (5) above. (7) The predetermined condition is a condition for specifying a vehicle that does not transmit a message including at least the position information of the vehicle. The traffic control system according to any one of (1) to (6) above. (8) The predetermined condition is a condition for identifying a vehicle that is not insured. The traffic control system according to any one of (1) to (7) above. (9) Further comprising an evaluation unit for evaluating driving characteristics, The predetermined condition is a condition for determining whether the preset driving characteristics are satisfied, The specifying unit specifies the vehicle that does not satisfy the driving characteristics based on the evaluation result of the evaluation unit. The traffic control system according to any one of (1) to (8) above. (10) The position control unit sets a driving route of the vehicle that does not include an area where the ratio in the area of the vehicle corresponding to the predetermined condition is equal to or greater than a preset threshold value. The traffic control system according to any one of (1) to (9) above. (11) The position control unit instructs the vehicle to increase the transmission frequency of information related to the sensor mounted on the vehicle for a vehicle traveling inside the area where the ratio is equal to or greater than a preset threshold value. The traffic control system according to (10) above. (12) Further comprising an insurance premium calculation unit for calculating an insurance premium of the vehicle based on a driving result of whether the vehicle has traveled inside the area. The traffic control system according to (10) or (11) above. (13) The insurance premium calculation unit calculates the insurance premium of the vehicle that has traveled inside the area to be higher than the insurance premium of the vehicle that has not traveled inside the area. The traffic control system according to (12) above. (14) The predetermined condition is a condition for determining low fuel consumption driving of the vehicle, The position control unit sets the relative position between the identified vehicle and the surrounding vehicles to the relative position according to the low fuel consumption driving. The traffic control system according to any one of (1) to (13) above. (15) The predetermined condition is a condition for determining a vehicle in which a value indicating the environment of the vehicle is equal to or greater than a preset threshold value. The position control unit changes the relative position between the identified vehicle and the vehicle traveling ahead according to the environment of the vehicle. The traffic control system according to any one of (1) to (14) above. (16) In a computer, identifying a vehicle that meets a set predetermined condition, setting the relative position between the vehicle and the surrounding vehicles based on the relative distance between the identified vehicle and the surrounding vehicles around the vehicle, generating control information for controlling the movement of the vehicle according to the relative position, A traffic control method including the above. (17) An identifying unit that identifies a vehicle that meets a set predetermined condition, A position control unit that sets the relative position between the vehicle and the surrounding vehicles based on the relative distance between the identified vehicle and the surrounding vehicles around the vehicle, Comprising, The position control unit is a control device that controls the movement of the vehicle so as to achieve the set relative position. (18) The position control unit controls at least one of the vehicle and the surrounding vehicles based on the relative position between the vehicle and the surrounding vehicles. The control device according to (17) above. (19) The position control unit determines the characteristics of the surrounding vehicles based on the predetermined conditions, and sets the relative position between the vehicle and the surrounding vehicles based on the determined characteristics. The control device according to (17) or (18) above.

Description of Signs

[0185] 1 Traffic control system 100 Vehicles 130 On-board device 140 Communication unit 150 Memory unit 160 Driving support device 161 Input / output unit 162 Acquisition unit 163 Generation unit 164 Processing unit 165 Detection unit 166 Judgment unit 167 Setting unit 168 Decision unit 169 Execution unit 170 Setting acquisition unit 200 Control device 210 Communication unit 220 Memory unit 230 Control unit 231 Transmission / reception unit 232 Acquisition unit 233 Setting unit 234 Identification unit 235 Position control unit 236 Ratio calculation unit 237 Route calculation unit 238 Route acquisition unit 239 Insurance premium calculation unit 240 Second acquisition unit 241 Evaluation unit

Claims

1. A traffic control system including a plurality of vehicles and a control device, The control device includes: A specifying unit that specifies a vehicle among the plurality of vehicles that meets a predetermined condition set in advance in a storage unit as a condition for specifying the vehicle; A position control unit that sets a relative position between the specified vehicle and a surrounding vehicle, which is a position where the specified vehicle and the surrounding vehicle have a certain inter-vehicle distance, based on the respective relative distances between the specified vehicle and the surrounding vehicles around the specified vehicle; A control unit that generates control information for controlling the movement of any one of the plurality of vehicles according to the relative position; and is provided with: The specifying unit: As one of the predetermined conditions, based on a condition related to air resistance received by the vehicle during driving, specifies a vehicle that meets the predetermined condition; The position control unit: Controls the movement of any one of the plurality of vehicles based on the generated control information and the set relative position. Traffic control system.

2. The position control unit controls the movement of at least one of the specified vehicle and the surrounding vehicle based on the relative position between the specified vehicle and the surrounding vehicle. The traffic control system according to claim 1.

3. The specifying unit: Determines whether the characteristic that the vehicle is insured or the characteristic that the vehicle is equipped with a driving support processing system at a certain technical level or higher corresponds to the characteristics of any of the surrounding vehicles, and based on the determination result, sets the relative position between the specified vehicle and the surrounding vehicle. The traffic control system according to claim 2.

4. When any of the surrounding vehicles satisfies the characteristic, the position control unit sets a first inter-vehicle distance as the relative position between the specified vehicle and the surrounding vehicle that satisfies the characteristic. When any of the surrounding vehicles does not satisfy the characteristic, the position control unit sets a second inter-vehicle distance as the relative position between the specified vehicle and the surrounding vehicle that does not satisfy the characteristic. The traffic control system according to claim 3.

5. The first inter-vehicle distance is an inter-vehicle distance narrower than the second inter-vehicle distance. The traffic control system according to claim 4.

6. The first inter-vehicle distance and the second inter-vehicle distance are inter-vehicle distances that become wider as the legal speed of the road on which the vehicle is traveling increases. The traffic control system according to claim 5.

7. In a traffic control system including a plurality of vehicles and a control device, the control device identifies a vehicle among the plurality of vehicles that meets a predetermined condition set in advance in a storage unit as a condition for identifying the vehicle, sets a relative position between the specified vehicle and the surrounding vehicle, which is a position where the specified vehicle and the surrounding vehicle have a certain inter-vehicle distance, based on the respective relative distances between the specified vehicle and the surrounding vehicles around the specified vehicle, generates control information for controlling the movement of any of the plurality of vehicles according to the relative position, including the identifying further includes identifying a vehicle that meets the predetermined condition based on a condition related to the air resistance that the vehicle is receiving during travel as one of the predetermined conditions, the setting of the relative position further includes controlling the movement of any of the plurality of vehicles based on the generated control information and the set relative position, and including a traffic control method.

Images