Vehicle driving control system

Abstract

[Problem] To ensure that vehicle travel is controlled not only to merely enable the avoidance or suppression of collisions, but also so that a sense of safety and security is given to vehicle travel. [Solution] A travel control system 1 for vehicles 7 includes: a plurality of vehicles 7 that are capable of executing travel control for autonomous driving or for driving assistance during travel on a road; and a server device 6 that generates travel control information for the plurality of vehicles 7 according to priority levels that conform to traffic priority rules. The system executes travel control by transmitting the travel control information generated by the server device 6 to at least one vehicle 7. The travel control system 1 includes a determination unit 14 that determines the priority levels of the plurality of vehicles 7, including a first vehicle 8, that are going to travel on a road. If it is determined that the first vehicle 7 is to be given priority, the server device 6 generates travel control information so as to prioritize the travel of the first vehicle 8 over the travel of the other vehicles 7, the first vehicle 8 having a subordinate priority level based on the traffic priority rules when compared to the other vehicles 7.

Description

[Technical Field]

[0001] The present invention relates to a vehicle cruise control system, a server device used therein, and a vehicle. [Background technology]

[0002] The control system provided in the vehicle of Patent Document 1 transmits a plan of no-go areas, which are defined as areas where an autonomous vehicle will not travel, between vehicles. Patent Document 2 discloses a vehicle-to-vehicle communication system for communicating between moving vehicles. When changing lanes, a sensor mounted on the vehicle identifies a following vehicle traveling straight in the lane to which the vehicle is to change, and transmits information requesting a lane change to the following vehicle traveling straight by unicast using the identification number of the following vehicle traveling straight. After the on-board communication device receives a reply from the following vehicle traveling straight by unicast, agreeing to the lane change, the vehicle controls the traveling of the vehicle to change lanes. These technologies are believed to be somewhat effective in avoiding or suppressing collisions because each vehicle notifies other vehicles around it of the details of its autonomous driving control. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2018 / 179237 [Patent Document 2] International Publication No. 2016 / 147622 Summary of the Invention [Problem to be solved by the invention]

[0004] However, simply having each vehicle autonomously control its driving and notify other vehicles around it does not guarantee that each vehicle performing automated or driver-assisted driving control will drive appropriately. For example, line-of-sight communication such as V2V communication is used to notify other surrounding vehicles, but an environment where good line-of-sight communication is not possible can be imagined in a real road environment.

[0005] Furthermore, even when multiple vehicles are autonomously controlled, it is generally desirable for them to travel smoothly in a priority order that complies with traffic priority rules. If a vehicle routinely travels in a priority order that does not comply with traffic priority rules, as determined by notifications to other surrounding vehicles, the occupants of the vehicle may feel uncomfortable or uneasy about the vehicle's travel.

[0006] As such, it is difficult to say that vehicle driving control is sufficient simply to avoid or suppress collisions; it is also required to provide safety and a sense of security when driving the vehicle. [Means for solving the problem]

[0007] A vehicle driving control system according to one aspect of the present invention includes a plurality of vehicles each having a control unit capable of executing automated driving or driving assistance driving control when the vehicles are driving on a road, and a server device having a generation unit that generates driving control information for each of the plurality of vehicles so that the plurality of vehicles drive with a priority in accordance with traffic priority rules, the generation unit of the server device transmitting the driving control information generated for each of the plurality of vehicles to each of the plurality of vehicles, and causing the control unit of each of the plurality of vehicles to execute driving control using each of the driving control information, the vehicle driving control system including a determination unit provided in the server device that determines the priority of the plurality of vehicles including a first vehicle that is about to drive on the road, the determination unit determines that the first vehicle is to be given temporary priority when a request is received from the first vehicle that is stopped due to a traffic jam; When the judgment unit determines that the first vehicle should be given priority, the generation unit of the server device generates driving control information for each of the multiple vehicles so that the first vehicle is given priority over the other vehicles, even if the first vehicle has a lower priority than the other vehicles in the traffic priority rules.

[0009] Preferably, when the first vehicle is stopped on the first road heading toward a location where a first road and a second road having a higher priority than the first road in the traffic priority rules merge or connect, just before the congested second road, the judgment unit judges that the first vehicle on the subordinate side will be given temporary priority, and the generation unit of the server device generates driving control information that causes the first vehicle on the first road, which has a lower priority in the traffic priority rules, to drive toward the location where the first road merges or connects with the first road on the second road, which has a higher priority in the traffic priority rules, before other vehicles heading toward the location where the first road merges or connects with the first road.

[0010] Preferably, when a first vehicle traveling in the first lane on a road having a first lane and a second lane adjacent to the first lane is about to change lanes to the congested second lane, the judgment unit judges that priority should be given to the first vehicle on the subordinate side, and the generation unit of the server device generates driving control information that causes the first vehicle in the first lane involved in the lane change, which has a low priority on the subordinate side according to the traffic priority rules, to drive in between multiple vehicles traveling in the second lane, which has a high priority according to the traffic priority rules. [Effects of the Invention]

[0013] In the present invention, a server device of a vehicle cruise control system generates cruise control information for multiple vehicles and transmits it to at least one vehicle. The vehicle uses the cruise control information for cruise control in automated driving or driver assistance. By controlling the basic cruise of at least one vehicle using the vehicle cruise control system in this manner, multiple vehicles including that vehicle can essentially avoid or suppress collisions, enabling them to travel while ensuring high safety and a sense of security. In particular, the generation unit of the server device generates the cruise control information for the multiple vehicles so that the multiple vehicles basically travel with priority in accordance with traffic priority rules, which makes it less likely that occupants will feel uncomfortable when driving each of the multiple vehicles, and allows the multiple vehicles to travel smoothly in accordance with traffic priority rules. Furthermore, the vehicle driving control system of the present invention includes a determination unit that determines the priority of multiple vehicles, including a first vehicle, that are about to travel on a road. When the determination unit determines that the first vehicle should have priority, the generation unit of the server device generates driving control information for the multiple vehicles so that the first vehicle is given priority over the other vehicles, even if the first vehicle has a lower priority than the other vehicles under traffic priority rules. Thus, in the present invention, the priorities for the multiple vehicles are switched based on the determination of the determination unit, so that the first vehicle, which has a lower priority under traffic priority rules, is given priority over the other vehicles. In this way, the present invention not only makes it possible to avoid or suppress a collision, but also makes it possible to provide safety and a sense of security when driving a vehicle. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 1 is a configuration diagram of an automobile driving control system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a hardware configuration diagram of the server device of FIG. [Figure 3] FIG. 3 is a configuration diagram of a vehicle system that controls the running of the automobile of FIG. [Figure 4]FIG. 4 is a flowchart of a process in which the vehicle system of the automobile of FIG. 3 transmits vehicle information. [Figure 5] FIG. 5 is a flowchart of a process in which the server device of FIG. 2 collects field information such as vehicle information of a plurality of automobiles. [Figure 6] FIG. 6 is a flowchart of a process in which the server device of FIG. 2 generates driving control information to be used in a plurality of automobiles. [Figure 7] FIG. 7 is an explanatory diagram of the current road map used for the mapping in FIG. [Figure 8] FIG. 8 is a flowchart of a process in which the server device of FIG. 2 transmits information to a plurality of vehicles. [Figure 9] FIG. 9 is a flowchart of a process for receiving information from a server device in each of a plurality of automobiles. [Figure 10] FIG. 10 is a flowchart of the automatic driving control executed by each of the plurality of automobiles in the embodiment. [Figure 11] FIG. 11 is an explanatory diagram of a first specific example of a driving situation in which a first vehicle on a merging road is driving toward a congested main road. [Figure 12] FIG. 12 is an explanatory diagram of a second specific example of a driving situation in which a first vehicle traveling in a carpool lane is about to change lanes into an adjacent lane that is congested. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0016] FIG. 1 is a configuration diagram of a cruise control system 1 for an automobile 7 according to an embodiment of the present invention. The driving control system 1 in FIG. 1 includes a vehicle system 2 for a plurality of automobiles 7 and a management system 3 for managing the driving of the plurality of automobiles 7. 1 also shows GNSS (Global Navigation Satellite System) satellites. GNSS satellites 110 are located in satellite orbits around the Earth and emit radio waves toward the Earth's surface. The radio waves from the GNSS satellites 110 include latitude, longitude, and altitude information that indicates the position of each satellite, as well as absolute time information that is synchronized between multiple satellites. By receiving radio waves from multiple GNSS satellites 110, it is possible to obtain latitude, longitude, and altitude information that accurately indicates the position of the receiving point, as well as the accurate time at the receiving point.

[0017] The automobile 7 is an example of a vehicle. Other examples of vehicles include motorcycles, carts, and personal mobility vehicles. The automobile 7 may be a vehicle that travels using the driving force of an engine or motor as a power source under the travel control of a vehicle system 2 provided in the automobile 7, changes its direction of travel by operating a steering device, and decelerates and stops by operating a braking device. The automobile 7 travels on a road, for example, under the automatic driving control of the vehicle system 2. When the occupant manually controls the driving, the automobile 7 may travel on a road under the driving assistance control of the vehicle system 2. Furthermore, the vehicle system 2 may be capable of controlling the driving of the automobile 7 through manual operation by the occupant itself.

[0018] The management system 3 includes a plurality of wireless base stations 4 , a communication network 5 , and a server device 6 .

[0019] The multiple wireless base stations 4 may be, for example, wireless base stations 4 for mobile communication network services for mobile terminals and the like, or base stations for ITS services for automobiles 7. The wireless base stations 4 for mobile communication network services include, for example, fourth-generation base stations and fifth-generation base stations. The wireless base stations 4 may be fixedly installed on roadsides, road surfaces, or buildings, or may be installed on moving objects such as automobiles 7, ships, drones, and airplanes. The wireless base station 4 establishes a wireless communication path for transmitting and receiving information with the AP communication device 70 of the vehicle system 2 of the automobile 7 located within its radio wave coverage area. When the automobile 7 travels along a road and moves out of its radio wave coverage area, the wireless base station 4 with which the wireless communication path is established switches among the multiple wireless base stations 4. This allows the automobile 7 to continuously establish a wireless communication path while traveling, for example, with multiple wireless base stations 4 lined up along the road. Wireless communication paths established with fifth-generation base stations can transmit and receive significantly more information than those established with fourth-generation base stations. Furthermore, fifth-generation base stations can have advanced information processing capabilities and the ability to transmit and receive information between base stations. In V2V communication between automobiles 7, automobiles 7 may transmit and receive information directly to each other, or they may transmit and receive information via fifth-generation base stations.

[0020] A plurality of wireless base stations 4 and a server device 6 are connected to the communication network 5. The communication network 5 may be configured, for example, by a communication network 5 dedicated to mobile communication network services, a communication network 5 dedicated to ITS services, the Internet connecting the communication networks 5, etc. The communication network 5 may include a new dedicated communication network 5 provided for the cruise control system 1. The Internet is a public, open wide-area communication network. Other examples of wide-area communication networks include dedicated communication networks 5 used in intelligent transportation systems such as ADAS (Advanced Driver Assistance Systems) and ATM switching networks used exclusively for telephone switching. The cruise control system 1 may use these wide-area communication networks instead of or in addition to a dedicated network. Open networks tend to have larger transmission delays than closed networks, but a certain degree of confidentiality can be maintained by encoding data, such as by encrypting it. However, using a dedicated network enables stable, high-capacity, high-speed data communication with multiple wireless base stations 4 and server devices 6, with low latency, compared to the Internet. Dedicated networks transmit and receive information using asynchronous frames based on protocols such as TCP / IP, and even if frames are retransmitted due to collision detection, transmission delays caused by these mechanisms are unlikely to be excessive. Dedicated networks can minimize transmission delays compared to the Internet, where large amounts of data are often transmitted and received asynchronously.

[0021] The server device 6 is a computer device that manages the traveling of a plurality of automobiles 7 . Unlike the server device 6 shown in FIG. 1, the server device 6 may be configured from multiple computer devices. The server device 6 may be configured with a plurality of computer devices for each function of the server device 6 . The plurality of computer devices serving as the server device 6 may be distributed among the plurality of wireless base stations 4, for example. The plurality of computer devices serving as the server device 6 may be multi-tiered. The plurality of computer devices serving as the server device 6 may be configured with lower-level devices that are distributed and placed in multiple wireless base stations 4, for example, and a higher-level device that manages the distributed devices in an integrated manner. In any case, by having a plurality of computers cooperate to function as the server device 6, the processing load on each computer can be reduced. Furthermore, by distributing a plurality of server devices 6 appropriately across the communication network 5, the range within which each piece of information is transmitted can be limited, thereby reducing the transmission load and transmission delay. The server devices 6, which are distributed to correspond to the wireless base stations 4, may be integrated with the wireless base stations 4 and may be provided as one of the functions of the wireless base stations 4. A wireless base station 4 having the functions of such a distributed server device 6 can minimize information transmission delays. A wireless base station 4 having the functions of a distributed server device 6 can, for example, perform part of the processing of the vehicle system 2 of the automobile 7 on behalf of the automobile 7 and function as a part of the components of the vehicle system 2 of the automobile 7. The multiple wireless base stations 4 may, for example, realize the processing of the server device 6 or the processing of the vehicle system 2 of the automobile 7 by cooperative processing through communication with each other without going through the server device 6. In this case, the multiple wireless base stations 4 fixedly installed relative to the roads may, for example, classify information on the multiple automobiles 7 accommodated in their respective communication areas into multiple road maps based on their locations within the communication areas, group the automobiles 7 based on the road classifications, and relay the grouped information to multiple other wireless base stations 4. A server device 6 separate from the multiple wireless base stations 4 may not be necessary. Furthermore, the processing of the server device 6 may be distributed and realized by cooperative processing between a plurality of wireless base stations 4 and the server device 6.

[0022] In such a driving control system 1, each automobile 7 establishes a wireless communication path with at least one wireless base station 4. Each automobile 7 can keep the wireless communication path established by switching wireless base stations 4 even while traveling. This allows information to be sent and received between multiple automobiles 7 and the server device 6. Each of the multiple automobiles 7 can repeatedly transmit information about its own driving situation to the server device 6 at relatively short intervals. The information about the driving situation transmitted by each automobile 7 includes, for example, driving information about each automobile 7, passenger information about the user, and information about the surroundings of each automobile 7. The driving information about each automobile 7 includes, for example, not only the direction of travel and traveling speed, but also the current location, destination, and vehicle body attitude and movement. The vehicle body attitude includes, for example, yaw rate. The server device 6 can repeatedly receive and collect field information including the driving conditions of each of the multiple automobiles 7 at relatively short intervals from the multiple automobiles 7. In addition to the vehicle information transmitted by each of the multiple automobiles 7, the field information may include, for example, road monitoring information obtained from cameras installed on the road, information indicating the driving conditions of the multiple automobiles 7 obtained from other server devices 6, local traffic information, and the like. The server device 6 can map the collected driving conditions of the multiple automobiles 7 onto a current road map 80 or the like, and generate driving control information for each of the multiple automobiles 7. Here, the driving control information may be, for example, the path (travel distance) or driving range of the automobile 7 over a short period of time or a short section. The driving control information may also include the speed or acceleration / deceleration amount, steering amount, or direction of travel of the automobile 7. The server device 6 can repeatedly transmit the driving control information of each of the multiple automobiles 7 at relatively short intervals to the multiple automobiles 7. Furthermore, the server device 6 may transmit the driving control information of the multiple automobiles 7 to other server devices 6. Each of the plurality of automobiles 7 can repeatedly receive its own driving control information from the server device 6 at relatively short intervals. Each of the plurality of automobiles 7 can use the driving control information received from the server device 6 to execute its own driving control. As a result, each of the multiple automobiles 7 can continue traveling using the travel control information that is repeatedly received from the server device 6 at relatively short intervals. The server device 6 continues to generate driving control information for the plurality of automobiles 7 that, for example, will not cause collisions or close encounters with other automobiles, so that the plurality of automobiles 7 can continue to execute driving control that is basically safe and gives passengers peace of mind. Each automobile 7 continuously and repeatedly acquires driving control information for each small section and controls its driving accordingly, thereby enabling it to execute driving from its current position to a desired destination in a safe manner that gives passengers peace of mind.

[0023] FIG. 2 is a diagram showing the hardware configuration of the server device 6 shown in FIG. The server device 6 in FIG. 2 includes a server communication device 11, a server GNSS receiver 12, a server memory 13, a server CPU 14, and a server bus 15 to which these are connected.

[0024] The server communication device 11 is connected to the communication network 5. The server communication device 11 transmits and receives information to and from other devices connected to the communication network 5, such as the wireless base station 4 and the vehicle system 2 of the automobile 7. The server GNSS receiver 12 receives radio waves from the GNSS satellites 110 to obtain the current time. The server device 6 may include a server timer (not shown) that is calibrated using the current time of the server GNSS receiver 12. The server memory 13 stores programs and data executed by the server CPU 14 . The server CPU 14 reads and executes the program from the server memory 13. In this way, the server device 6 realizes a server control unit. The server CPU 14 as a server control unit manages the overall operation of the server device 6 . Furthermore, the server CPU 14 as a server control unit functions as an overall control unit of the driving control system 1. The server CPU 14 manages and controls the driving of the multiple automobiles 7. The server CPU 14 collects field information including the driving conditions of the multiple automobiles 7, generates driving control information for the multiple automobiles 7 basically to ensure smooth driving of the multiple automobiles 7 and maximize the safety and security of the driving of the multiple automobiles 7, and transmits this information to each of the multiple automobiles 7.

[0025] FIG. 3 is a configuration diagram of a vehicle system 2 that controls the running of the automobile 7 of FIG. In the vehicle system 2 provided in the automobile 7 in Fig. 3, a plurality of control devices are represented by a control ECU (Electronic Control Unit) incorporated therein. Similar to the server device 6 in Fig. 2, the control device may have, in addition to the control ECU, for example, a memory for recording control programs and data, an input / output port, a timer for measuring time and clock time, and an internal bus to which these are connected. 3 shows, for example, a drive ECU 21, a steering ECU 22, a braking ECU 23, a cruise control ECU 24, a driving operation ECU 25, a detection ECU 26, an AP communication ECU 27, and a V2V communication ECU 28 as a plurality of control ECUs for the vehicle system 2 of the automobile 7. The vehicle system 2 of the automobile 7 may include other control ECUs not shown.

[0026] The multiple control ECUs are connected to a vehicle network 30, such as a Controller Area Network (CAN) or a Local Interconnect Network (LIN), which is used in the automobile 7. The vehicle network 30 may be composed of multiple bus cables 31 that can connect the multiple control ECUs, and a central gateway (CGW) 32 that serves as a relay device to which the multiple bus cables 31 are connected. The multiple control ECUs are assigned IDs as mutually distinct identification information. Basically, a control ECU periodically outputs data to another control ECU. The data is accompanied by the ID of the control ECU that is the output source and the ID of the control ECU that is the output destination. The other control ECUs monitor the bus cable 31, and if the ID of the output destination is, for example, their own, acquire the data and perform processing based on the data. The central gateway 32 monitors each of the multiple connected bus cables 31, and when it detects a control ECU connected to a bus cable 31 different from the control ECU that is the output source, it outputs the data to that bus cable 31. Such relay processing by the central gateway 32 allows a plurality of control ECUs to input and output data to and from other control ECUs connected to bus cables 31 different from the bus cables 31 to which they are connected.

[0027] The driving operation ECU 25 is connected to operation members such as a steering wheel 51, a brake pedal 52, an accelerator pedal 53, and a shift lever 54 that allow the user to control the driving of the automobile 7. When an operation member is operated, the driving operation ECU 25 outputs data including whether or not the operation was performed and the amount of operation to the vehicle network 30. The driving operation ECU 25 may also execute processing on the operation of the operation member and include the processing results in the data. For example, if the accelerator pedal 53 is operated when there is another automobile or a fixed object in the direction of travel of the automobile 7, the driving operation ECU 25 may determine that the operation is abnormal and include the determination results in the data.

[0028] The detection ECU 26 is connected to various detectors for detecting the traveling state of the automobile 7, including a speed sensor 61 for detecting the speed of the automobile 7, an acceleration sensor 62 for detecting the acceleration of the automobile 7, a stereo camera 63 for capturing images of the surroundings of the automobile 7, a LIDAR 64 for detecting objects around the automobile 7 by emitting laser light, a 360-degree camera 65 for capturing images of the surroundings of the automobile 7 in a 360-degree angle, and a GNSS receiver 66 for detecting the position of the automobile 7. The GNSS receiver 66 receives radio waves from multiple GNSS satellites 110, similar to those of the server GNSS receiver 12, and obtains the latitude, longitude, and altitude of the automobile's current position, as well as the current time. This allows the current time of the automobile 7 to be expected to match the current time measured by the server GNSS receiver 12 of the server device 6 with high accuracy. The detection ECU 26 acquires detection information from the detectors and outputs data including the detection information to the vehicle network 30. The detection ECU 26 may also perform processing based on the detection information and include the processing results in the data. For example, when the acceleration sensor 62 detects acceleration exceeding a collision detection threshold, the detection ECU 26 may determine that a collision has been detected and include the collision detection result in the data. The detection ECU 26 may extract automobiles 7, such as pedestrians and other automobiles, present around the vehicle based on images from the stereo camera 63, determine the type and attributes of the automobiles 7, estimate the relative direction, relative distance, and traveling direction of the automobiles 7 based on the position, size, and changes of the automobiles 7 in the images, and include information on these estimation results in the data and output the data to the vehicle network 30.

[0029] An AP communication device 71 and an AP communication memory 72 are connected to the AP communication ECU 27. The AP communication ECU 27, the AP communication device 71, and the AP communication memory 72 constitute an AP communication apparatus 70 that establishes a wireless communication link with the wireless base station 4 in the automobile 7. The AP communication device 71 transmits and receives data to and from the wireless base station 4 outside the vehicle, to and from the AP communication ECU 27. The AP communication memory 72 is a computer-readable recording medium that records programs executed by the AP communication ECU 27, setting values, and data transmitted and received by the AP communication ECU 27. The AP communication ECU 27 transmits and receives data to and from the server device 6 using the AP communication device 71. The AP communication ECU 27 collects vehicle information, for example, via the vehicle network 30, and transmits the information to the server device 6. The AP communication ECU 27 obtains, for example, driving control information transmitted to the vehicle by the server device 6 from the AP communication device 71 and records the information in the AP communication memory 72. The host vehicle information collected by the AP communication ECU 27 includes, for example, vehicle interior information such as the status of the occupant, information about the vehicle's driving state, surrounding information such as the vehicle's driving environment, and information about the area in which the vehicle is traveling. The surrounding information may include information about other vehicles in the vicinity. The host vehicle's driving state information may include, for example, the above-mentioned autonomous sensors (vehicle-mounted sensors: acceleration, GPS, gyro, electronic compass, air pressure, camera, radar, ultrasonic waves, infrared, etc.) installed in the host vehicle. The autonomous sensors may detect information indicating the vehicle's driving status, vehicle information such as the vehicle's user information and vehicle number, and surrounding or regional information about the vehicle. The host vehicle's driving state information may also include driving state information that can be calculated based on the detection by these sensors, such as yaw rate. The host vehicle information transmitted by the AP communication ECU 27 may be the host vehicle information collected by the AP communication ECU 27 as is, or may be information that has been processed, filtered, encoded, or quantized from the collected information. The AP communication ECU 27 periodically and repeatedly transmits the vehicle information to be transmitted to the server device 6 to the wireless base station 4 . The information that the AP communication ECU 27 acquires from the server device 6 includes driving control information used to control driving of the host vehicle. The AP communication ECU 27 periodically and repeatedly receives the driving control information acquired from the server device 6 from the wireless base station 4.

[0030] A V2V communication device 41 and a V2V communication memory 42 are connected to the V2V communication ECU 28. The V2V communication ECU 28, the V2V communication device 41, and the V2V communication memory 42 configure a V2V communication device 40 in the automobile 7 that performs direct communication with other automobiles. The V2V communication device 41 transmits and receives data transmitted and received by the V2V communication ECU 28 to and from the V2V communication device 40 of the other automobile via vehicle-to-vehicle communication. The V2V communication memory 42 is a computer-readable recording medium that stores programs executed by the V2V communication ECU 28, setting values, and data transmitted and received by the V2V communication ECU 28. The V2V communication ECU 28 transmits and receives data to and from the V2V communication device 40 of the other automobile using the V2V communication device 41. The V2V communication ECU 28 collects V2V communication information generated in the vehicle system 2, for example, via the vehicle network 30, and transmits the information to the V2V communication device 40 of the other automobile. The V2V communication ECU 28 acquires, for example, information transmitted to its own vehicle by a V2V communication device 40 of another vehicle from a V2V communication device 41 and records the information in a V2V communication memory 42. It should be noted that a mobile terminal or the like can be used as the AP communication device 70 or the V2V communication device 40. In this case, the mobile terminal may be connected to the vehicle network 30 by a bus cable 31, or may be connected via a wireless router (not shown) connected to the vehicle network 30.

[0031] A control memory 79 is connected to the cruise control ECU 24. The control memory 79 is a computer-readable recording medium that stores programs executed by the cruise control ECU 24, setting values, and the like. Information on the control content performed by the cruise control ECU 24 may be stored in the control memory 79. The cruise control ECU 24 reads and executes the programs from the control memory 79. This allows the cruise control ECU 24 to function as a control unit for controlling the cruise of the automobile 7. The cruise control ECU 24 acquires information from, for example, the AP communication ECU 27, the V2V communication ECU 28, the detection ECU 26, the driving operation ECU 25, etc. via the vehicle network 30, and controls the driving of the automobile 7 in an automated driving or manual driving assistance manner. The cruise control ECU 24 generates cruise control data for controlling the driving of the automobile 7 based on the acquired information. For example, the cruise control ECU 24 generates cruise control data based on the driving control information acquired from the AP communication ECU 27, etc., that basically controls the driving of the automobile 7 in accordance with the driving control information. The cruise control ECU 24 outputs the generated cruise control data to the drive ECU 21, the steering ECU 22, and the braking ECU 23. The drive ECU 21, the steering ECU 22, and the braking ECU 23 control the driving of the automobile 7 in accordance with the input cruise control data.

[0032] In this way, a plurality of automobiles 7 having the vehicle system 2 of FIG. 3 can perform automatic driving or driving assistance driving control when traveling on a road.

[0033] FIG. 4 is a flowchart of a process in which the vehicle system 2 of the automobile 7 in FIG. 3 transmits its own vehicle information. In the vehicle system 2 of the automobile 7 in Fig. 3, for example, the AP communication ECU 27 may execute the process of transmitting the vehicle information in Fig. 4. When the AP communication ECU 27 is in a state where it can communicate with the wireless base station 4, for example, it periodically and repeatedly executes the process of transmitting the vehicle information in Fig. 4. The period in which the AP communication ECU 27 transmits the vehicle information may be in the range of, for example, several tens of milliseconds to several seconds.

[0034] In step ST1, the AP communication ECU 27 collects and acquires vehicle information from various parts of the automobile 7. The AP communication ECU 27 collects the vehicle information from the cruise control ECU 24, the detection ECU 26, the driving operation ECU 25, and the like, for example, via the vehicle network 30. The vehicle information may include, for example, the vehicle's current location, current time, traveling direction, traveling speed, yaw rate, and other vehicle traveling conditions, the status of the passenger, information about the vehicle's surroundings, and information about the area in which the vehicle is traveling. The AP communication ECU 27 records the collected vehicle information in the AP communication memory 72.

[0035] In step ST2, the AP communication ECU 27 determines whether it is time to transmit the vehicle information. The transmission timing of the vehicle information may occur at regular intervals. The AP communication ECU 27 may determine whether the time elapsed since the previous transmission timing has exceeded a predetermined transmission period, for example, based on the current time of the GNSS receiver 66 or the time of a timer installed in the automobile 7, and may determine that it is time to transmit the vehicle information if the transmission period has passed. In this case, the AP communication ECU 27 proceeds to step ST3. If it is not time to transmit the vehicle information, the AP communication ECU 27 returns the processing to step ST1.

[0036] In step ST3, the AP communication ECU 27 transmits the information collected in step ST1 from the AP communication device 71 to the server device 6. The AP communication device 71 reads its own vehicle information from the AP communication memory 72 and transmits it to the server device 6 via the base station with which a wireless communication path has been established. The information transmitted by the AP communication device 71 of the automobile 7 is received by the wireless base station 4 and then transmitted to the server device 6 via the communication network 5. The information transmitted by the AP communication device 71 may include information such as the position, time, and ID of the automobile 7 when the AP communication device 71 performs transmission.

[0037] FIG. 5 is a flowchart of a process in which the server device 6 of FIG. 2 collects field information such as vehicle information of a plurality of automobiles 7. In FIG. The server CPU 14 of the server device 6 in FIG. 2 may execute the field information collection process in FIG. 5 every time the server communication device 11 receives new information.

[0038] In step ST11, the server CPU 14 determines whether the server communication device 11 has received new field information, such as vehicle information for multiple automobiles 7. If the server communication device 11 has not received any field information, the server CPU 14 repeats this process. If the server communication device 11 has received the field information, the server CPU 14 proceeds to step ST12.

[0039] In step ST12, the server CPU 14 stores the received field information in the server memory 13. The server CPU 14 may classify the received field information, for example, by vehicle 7, and store it in the server memory 13. As a result, information indicating the driving status of multiple vehicles 7 whose driving is managed by the server device 6 is stored in the server memory 13 of the server device 6. Furthermore, the information stored in the server memory 13 may be continuously updated to the latest information, for example, at each transmission period of the vehicle information of the vehicle system 2 of the vehicle 7.

[0040] FIG. 6 is a flowchart of a process in which the server device 6 of FIG. 2 generates driving control information to be used in a plurality of automobiles 7. In FIG. The server CPU 14 of the server device 6 of FIG. 2 may execute the process of generating the driving control information of FIG. 6 at each predetermined generation timing.

[0041] In step ST21, the server CPU 14 determines whether it is time to generate new cruise control information for the multiple vehicles 7. The server CPU 14 may determine whether the time elapsed since the previous generation timing has passed a predetermined generation period, based on the current time of the server GNSS receiver 12. If the generation period has not passed, the server CPU 14 repeats the determination process of step ST21. If the generation period has passed, the server CPU 14 determines that it is time to generate new cruise control information, and proceeds to step ST22.

[0042] In step ST22, the server CPU 14 acquires from the server memory 13 the latest field information about the driving conditions of the multiple automobiles 7 that has been received by the server communication device 11 and accumulated.

[0043] In step ST23, the server CPU 14 identifies the current positions of the multiple vehicles 7 using the latest field information, and maps the current driving conditions of the multiple vehicles 7 onto a current road map 80. In addition to this, the current road map 80 may also map future driving conditions predicted based on current information about each vehicle 7, such as a trajectory based on the current speed. In this case, the current road map 80 maps not only the current position of each vehicle 7, but also the predicted future position. The server CPU 14 may record the current road map 80, on which the current driving conditions of the multiple vehicles 7 are mapped, into the server memory 13.

[0044] In step ST24, the server CPU 14 uses a current road map 80 on which the current driving conditions of the multiple automobiles 7 are mapped to generate driving control information to be used for driving control by each of the multiple automobiles 7 managed by the driving control system 1. The server CPU 14 generates driving control information for each automobile 7 that basically drives with priority in accordance with traffic priority rules (priority given to going straight) to achieve driving that is as safe and secure as possible. The server CPU 14 may generate driving control information that drives with a sufficient distance between the automobiles, for example, by keeping a predetermined distance or more from other automobiles driving in front and behind in the same lane. The server CPU 14 may record the driving control information generated for the multiple automobiles 7 in the server memory 13.

[0045] FIG. 7 is an explanatory diagram of a current road map 80 used for the mapping of FIG.

[0046] FIG. 7(A) is an explanatory diagram of a driving situation in which a plurality of automobiles 7 are driving in a line on a single-lane road. FIG. 7(B) is a current road map 80 for the single lane road of FIG. 7(A). The current road map 80 may be provided for each lane of the area or road where the cruise control system 1 manages the travel of the automobile 7. In other words, for a road with multiple lanes, there may be multiple current road maps 80, one for each lane. Furthermore, if a merging road is connected to a main road, there may be a current road map 80 corresponding to the main road and a current road map 80 corresponding to the merging road. In the current road map 80 of FIG. 7(B), the horizontal axis 81 represents the position on the lane (road). The vertical axis represents time. Time flows from bottom to top. The origin is the current point.

[0047] In FIG. 7(A), three cars 7 are traveling on a single lane road. In this case, the server CPU 14 generates the current road map 80 of Fig. 7(B) in step ST23 of Fig. 6. Three trajectories 82 to 84 corresponding to the three automobiles 7 are mapped on the current road map 80 of Fig. 7(B). A trajectory 84 corresponding to the car 7 at the left end of Fig. 7(A) is mapped to the left portion close to the origin of Fig. 7(B). The car 7 at the left end of Fig. 7(A) is traveling at a non-zero speed, so the trajectory 84 is tilted. The tilt of the trajectory 84 increases or decreases depending on the current speed of the car 7. A trajectory 83 corresponding to the center car 7 in Figure 7(A) is mapped to the central portion of Figure 7(B). The center car 7 in Figure 7(A) is traveling at a non-zero speed, so the trajectory 83 is tilted. Because the speed of the center car 7 is high, the trajectory 83 is tilted significantly relative to the vertical axis. The trajectory 82 corresponding to the car 7 at the right end of Fig. 7(A) is mapped to the right part of Fig. 7(B). Since the car 7 at the right end of Fig. 7(A) is stopped and its speed is 0, the trajectory 82 is parallel to the vertical axis.

[0048] In this case, the server CPU 14 may generate, in step ST24 of FIG. 6, driving control information for the automobile 7 on the left side of FIG. 7(A) to continue driving while maintaining the current speed. In addition, if the vehicle 7 in the middle of Figure 7(A) continues to drive in its current state, it is predicted that it will reach the deceleration and stop section 85 for the vehicle 7 at the right end of Figure 7(A), which is stopped, so the server CPU 14 may generate driving control information to decelerate so that the vehicle can stop in the deceleration and stop section 85 just before the vehicle 7 at the right end of Figure 7(A). In this way, the server CPU 14 generates, based on the collected field information, driving control information for the plurality of automobiles 7, which can suppress abnormal closeness and merging interference and ensure safety and security as much as possible.

[0049] FIG. 8 is a flowchart of a process in which the server device 6 of FIG. The server CPU 14 of the server device 6 in FIG. 2 may execute the transmission process in FIG. 8 at each predetermined transmission timing.

[0050] In step ST31, the server CPU 14 acquires the latest driving control information of the automobile 7 recorded in the server memory 13.

[0051] In step ST32, the server CPU 14 transmits the acquired driving control information to the corresponding vehicle 7. The server communication device 11 transmits the driving control information acquired by the server CPU 14 to the vehicle 7 via the communication network 5 and the wireless base station 4.

[0052] In step ST33, the server CPU 14 determines whether the process of transmitting driving control information to the multiple automobiles 7 under its management has been completed. If the process of transmitting driving control information to the multiple automobiles 7 has not been completed, the server CPU 14 returns the process to step ST31. The server CPU 14 repeats the processes from step ST31 to step ST33 for the next automobile 7. When the process of transmitting driving control information to the multiple automobiles 7 has been completed, the server CPU 14 ends this process.

[0053] FIG. 9 is a flowchart of a process for receiving information from the server device 6 in each of the plurality of automobiles 7. In the vehicle system 2 of the automobile 7 in Fig. 3, for example, the AP communication ECU 27 may execute the reception process in Fig. 9. The AP communication ECU 27 can receive information from the server device 6 when it is in a state where it can communicate with the wireless base station 4, for example.

[0054] In step ST41, the AP communication ECU 27 determines whether the AP communication device 71 has received new information addressed to its own vehicle. The AP communication device 71 can receive new information from the server device 6. If the AP communication device 71 has not received new information from the server device 6, the AP communication ECU 27 determines that new information has not been received and repeats this process. If the AP communication device 71 has received new information from the server device 6, the AP communication ECU 27 proceeds to step ST42.

[0055] In step ST42, the AP communication ECU 27 stores the received information in the AP communication memory 72. As a result, the AP communication memory 72 stores and records the information that the AP communication device 71 receives from the server apparatus 6, such as the above-mentioned driving control information and predicted results of merging interference. The AP communication ECU 27 may overwrite previously received information already recorded in the AP communication memory 72 with newly received information.

[0056] FIG. 10 is a flowchart of the automatic driving control executed by each of the plurality of automobiles 7 in the embodiment. In the vehicle system 2 of the automobile 7 in Fig. 3, for example, the cruise control ECU 24 may execute the automatic driving control of Fig. 10. The cruise control ECU 24 may repeatedly execute the automatic driving control of Fig. 10, for example, at the cycle in which the server device 6 generates cruise control information.

[0057] In step ST51, the cruise control ECU 24 determines whether it is time to update the control. The cruise control ECU 24 may determine whether the time elapsed since the previous control timing has exceeded a predetermined update period, based on the current time of the GNSS receiver 66. The cruise control ECU 24 may also estimate the end time of the currently executed control on the route, and determine whether the remaining time until the estimated end time is less than a threshold. If it is not time to update the control, the cruise control ECU 24 repeats this process. If the control update timing has passed, the cruise control ECU 24 proceeds to step ST52.

[0058] In step ST52, the cruise control ECU 24 acquires the latest information. The cruise control ECU 24 acquires the latest cruise control information, etc. from the AP communication memory 72. The cruise control ECU 24 may acquire information detected by the autonomous sensor of the host vehicle, etc. The information detected by the autonomous sensor of the host vehicle may include, for example, the current position of the vehicle 7, the current time, the current speed of the vehicle 7 as a result of the previous cruise control, the driving direction, and information on other vehicles in the vicinity.

[0059] In step ST53, the cruise control ECU 24 executes cruise control of the host vehicle based on the latest information acquired in step ST52. For example, if an autonomous sensor indicates that there are no problems with the vehicle's driving conditions, the driving control ECU 24 may perform driving control of the vehicle in accordance with the latest driving control information obtained so that the vehicle travels along the route indicated in the latest driving control information. The driving control ECU 24 generates driving control data for controlling the driving of the automobile 7 based on the acquired information, and outputs the data to the drive ECU 21, the steering ECU 22, and the braking ECU 23. The drive ECU 21, the steering ECU 22, and the braking ECU 23 control the driving of the automobile 7 in accordance with the input driving control data.

[0060] In this way, the plurality of automobiles 7 each receive the driving control information generated by the server device 6 and transmitted to the plurality of automobiles 7, and perform driving control using the driving control information. Note that the server device 6 may transmit the driving control information to at least one automobile 7 among the plurality of automobiles 7. In this way, each of the multiple automobiles 7, or at least one automobile 7 that has received the driving control information, controls its own driving to comply with the driving control information generated for it by the server device 6, making it less likely that collisions or abnormal close approaches will occur between the multiple automobiles 7. On the other hand, if multiple automobiles 7 were to each independently control their own driving, the possibility of collisions or close encounters between the multiple automobiles 7 would increase due to, for example, differences in decisions between the multiple automobiles 7. In this case, it would be difficult to achieve a high level of safety and security, even if each automobile 7 were driving autonomously or using driving assistance. Even if multiple automobiles 7 were to communicate their own decisions and driving control details to each other through V2V communication, there is a significant possibility that the automobiles 7 would approach each other in merging sections, or even come into contact with each other in some cases. It would be difficult to say that the driving of automobiles 7, such as automobiles 7, would be sufficiently safe. Furthermore, occupants would feel uneasy about other automobiles approaching each other.

[0061] By generating driving control information for multiple automobiles 7 so that they travel in accordance with traffic priority rules, and controlling the driving of each automobile 7 in accordance with its own driving control information, it is believed that the multiple automobiles 7 can basically travel safely, securely, and smoothly. However, there are traffic priority rules, such as giving priority to the main lane where multiple roads or lanes converge, giving priority to going straight where multiple roads connect at an intersection, and giving priority to going straight for each lane on a road with multiple lanes. If the server device 6 generates driving control information for multiple automobiles 7 strictly in accordance with any of these rules, it is possible that safety and security may be ensured, but smooth driving may not be possible. In addition, a place where multiple roads converge or multiple lanes converge may include not only a section where two roads or two lanes are parallel, but also a place where two roads or two lanes converge temporarily due to lane restrictions caused by construction work, etc. Next, a countermeasure in this embodiment against this will be described.

[0062] 6, the server CPU 14 of the server device 6 generates driving control information for the multiple automobiles 7 managed by the driving control system 1. At this time, the server CPU 14, as a determination unit, determines the priority of the driving order for the multiple automobiles 7 that are about to travel on the road in steps ST25 to ST27. Furthermore, depending on the priority determination result, if necessary to ensure smooth driving, the server CPU 14 temporarily suspends the priority in the traffic priority rules and changes the priority of the driving order when generating driving control information for the multiple automobiles 7.

[0063] In step ST25, the server CPU 14 determines whether a first vehicle is stopped before a congested second road on a first road leading to a location where the first road and a second road, which has a higher priority than the first road in traffic priority rules, merge or intersect. The server CPU 14 may also make the determination in step ST25 if there is no traffic light or gate at the merging or connecting location, or if there are a predetermined number or more following vehicles 7 behind the first vehicle. If a first vehicle on the subordinate side is stopped before the congested second road, the server CPU 14 proceeds to step ST29 to generate driving control information that temporarily prioritizes the driving order of the first vehicle on the subordinate side. If a stopped first vehicle on the subordinate side is not present, the server CPU 14 proceeds to step ST26.

[0064] In step ST26, the server CPU 14 determines whether a first vehicle traveling in the first lane on a road having a first lane and a second lane adjacent to the first lane is attempting to change lanes into a congested second lane. The server CPU 14 may also perform the determination in step ST26 when the first vehicle is traveling slowly or stopped in the first lane, or when a predetermined number or more of following vehicles 7 are present behind the first vehicle in the first lane. If a first vehicle is attempting to change lanes into a congested second lane, the server CPU 14 proceeds to step ST29 to generate driving control information that temporarily prioritizes the travel order of the first vehicle on the subordinate side in the lane change. If a first vehicle is not attempting to change lanes, the server CPU 14 proceeds to step ST27.

[0065] In step ST27, the server CPU 14 determines whether there is a request from a first vehicle that is stopped to cut in due to a traffic jam. If there is a first vehicle that is trying to cut in due to a traffic jam, the server CPU 14 proceeds to step ST29 to generate driving control information that temporarily prioritizes the driving order of the first vehicle that is behind the vehicle in the lane change. If there is no first vehicle that is trying to cut in due to a traffic jam, the server CPU 14 proceeds to step ST28 to generate driving control information according to traffic priority rules.

[0066] In step ST28, the server CPU 14 generates driving control information for the plurality of automobiles 7 according to the priority in the traffic priority rules.

[0067] In step ST29, the server CPU 14 generates driving control information for the plurality of vehicles 7 so as to temporarily prioritize the driving order of the first vehicle on the subordinate side. The server CPU 14 generates driving control information for the plurality of vehicles 7 that is not based on priority in the traffic priority rules so as to give priority to the first vehicle over the other vehicles, even if the first vehicle has a subordinate priority in the traffic priority rules compared to the other vehicles. Next, specific examples of various driving situations of the automobile 7 in this embodiment will be described.

[0068] [First example] FIG. 11 is an explanatory diagram of a first specific example of a driving situation in which a first vehicle 8 on a merging road is driving toward a congested main road. Figure 11 shows a section where a merging road and a main road merge. On the main road, multiple second vehicles 9 are continuously traveling due to traffic congestion. On the merging road, multiple vehicles 7 are stopped, led by a first vehicle 8.

[0069] FIG. 11(A) illustrates an example of a driving control instruction for a first vehicle 8 on a merging road and a second vehicle 9 on a main road based on traffic priority rules. The traffic priority rule is that the main road has priority. The second vehicle 9 on the main road has priority over the first vehicle 8 on the merging road. Therefore, in step ST28, the server CPU 14 generates a driving control instruction to stop the first vehicle 8 on the merging road. The server CPU 14 generates a driving control instruction to continue driving the second vehicle 9 on the main road. As a result, multiple second vehicles 9 continue to travel on the main road while being congested. First vehicle 8 on the merging road remains stopped on the merging road and cannot travel smoothly.

[0070] FIG. 11(B) illustrates an example of a driving control instruction for a first vehicle 8 on the merging road and a second vehicle 9 on the main road, which are subordinate in terms of traffic priority rules. The first vehicle 8 on the merging road is stopped on the merging road and is unable to drive smoothly. Therefore, in step ST25, the server CPU 14 determines that the driving order of the first vehicle 8 on the subordinate side that is stopped on the merging road is temporarily prioritized, and in step ST29, generates a driving control instruction for the first vehicle 8 on the merging road to resume driving and merge. The server CPU 14 generates a driving control instruction for the second vehicle 9 on the main road to slow down or stop driving. As a result, the second vehicle 9, which is congested on the main road, stops. The first vehicle 8 on the merging road travels to merge onto the main road before the stopped second vehicle 9, and can merge into the line of vehicles on the main road in front of the slowing or stopped second vehicle 9.

[0071] [Second specific example] FIG. 12 is an explanatory diagram of a second specific example of a driving situation in which a first vehicle 8 traveling in a carpool lane is about to change lanes into an adjacent lane that is congested. Figure 12 shows a road with a carpool lane and an adjacent lane. In the adjacent lane, multiple second vehicles 9 are continuously traveling due to congestion. On the merging road, a first vehicle 8 is stopped while changing lanes. Behind the first vehicle 8, another vehicle 7 is traveling smoothly.

[0072] Figure 12(A) illustrates an example of driving control instructions based on traffic priority rules for a first vehicle 8 in the carpool lane that is about to change lanes and a second vehicle 9 traveling in an adjacent lane that is congested. The traffic priority rule is that vehicles traveling straight ahead have priority for each lane. The second vehicle 9 traveling in the congested adjacent lane has priority over the first vehicle 8 attempting to change lanes into the congested adjacent lane. Therefore, in step ST28, the server CPU 14 generates a driving control instruction to stop the first vehicle 8 involved in the lane change. The server CPU 14 generates a driving control instruction to continue driving the second vehicle 9 traveling in the congested adjacent lane. As a result, multiple second vehicles 9 continue to travel in the adjacent lane, creating a traffic jam. The first vehicle 8 involved in the lane change remains stopped in the carpool lane, preventing it from traveling smoothly. In addition, other vehicles 7 traveling behind the first vehicle 8 in the carpool lane also stop behind the first vehicle 8, preventing it from traveling smoothly.

[0073] FIG. 12(B) illustrates an example of a driving control instruction for a first vehicle 8 that is changing lanes and is subordinate to the traffic priority rule, and a second vehicle 9 that is traveling in an adjacent lane. The first vehicle 8 involved in the lane change is stopped in the carpool lane and is unable to travel smoothly. Therefore, in step ST26, the server CPU 14 determines that priority is temporarily given to the driving order of the first vehicle 8 on the subordinate side involved in the lane change, and in step ST29 generates a driving control instruction to instruct the second vehicle 9 in the adjacent lane to stop driving. The server CPU 14 generates a driving control instruction to cause the first vehicle 8 involved in the lane change to resume driving and change lanes. As a result, the first vehicle 8 involved in the lane change can execute the lane change so as to cut in front of the stopped second vehicle 9. The first vehicle 8 involved in the lane change can cut in between multiple vehicles 9 traveling in adjacent lanes.

[0074] As described above, in this embodiment, the server device 6 of the vehicle 7 cruise control system 1 generates cruise control information for the multiple vehicles 7 and transmits it to the multiple vehicles 7. The multiple vehicles 7 use the cruise control information in their respective autonomous driving or driving assistance cruise control. By controlling the basic cruise of the multiple vehicles 7 using the vehicle 7 cruise control system 1 in this manner, the multiple vehicles 7 can essentially avoid or suppress collisions, enabling them to travel while ensuring high safety and a sense of security. In particular, because the server device 6 generates the cruise control information for the multiple vehicles 7 so that the multiple vehicles 7 basically travel with priority in accordance with traffic priority rules, the multiple vehicles 7 are less likely to cause discomfort to occupants in their respective driving, and can travel smoothly in accordance with traffic priority rules. Furthermore, the vehicle 7 driving control system 1 of this embodiment determines the priority of the driving order for multiple vehicles 7, including a first vehicle 8, that are about to travel on a road. Then, when the server device 6 determines that the driving order of the first vehicle 8 should be prioritized, it generates driving control information for the multiple vehicles 7 that is not based on the priority in the traffic priority rules, so that the first vehicle 8 is given priority over the other vehicles 9, even if the first vehicle 8 has a lower priority in the traffic priority rules compared to the other vehicles 9. As a result, in this embodiment, the priority of the driving of the multiple vehicles 7 is temporarily switched based on the priority determination result, so that the first vehicle 8, which has a lower priority in the traffic priority rules, is given priority over the other vehicles 9.

[0075] As described above, this embodiment not only makes it possible to avoid or suppress collisions, but also provides a high level of safety and security when driving the automobile 7, and furthermore, makes it possible to realize smooth driving of multiple automobiles 7. By using the driving control system 1 for the automobile 7 of this embodiment, each automobile 7 that performs automatic driving or driving assistance driving control can basically drive smoothly in order of priority in accordance with traffic priority rules. Each vehicle 7 can drive with a high level of safety that cannot be achieved by simply autonomously controlling its own driving and notifying other surrounding vehicles 7 of that control. Passengers are less likely to feel uncomfortable or uneasy about the driving of the vehicle 7.

[0076] The above-described embodiment is an example of a preferred embodiment of the present invention, but the present invention is not limited to this, and various modifications and changes are possible within the scope of the gist of the invention. In the above-described embodiment, the priority is determined only by the server device 6. Alternatively, the priority determination may be performed by the vehicle system 2 of each vehicle 7, or by both the server device 6 and the vehicle system 2 of each vehicle 7, for example. [Explanation of symbols]

[0077] 1...cruising control system, 2...vehicle system, 3...management system, 4...wireless base station, 5...communication network, 6...server device, 7...automobile (vehicle), 8...first automobile, 9...second automobile, 11...server communication device, 12...server GNSS receiver, 13...server memory, 14...server CPU, 15...server bus, 21...driving ECU, 22...steering ECU, 23...braking ECU, 24...cruising control ECU, 25...driving operation ECU, 26...detection ECU, 27...AP communication ECU, 28...communication ECU, 30...vehicle network, 31...bus cable, 32...cell Central gateway, 40...V2V communication equipment, 41...V2V communication device, 42...V2V communication memory, 51...steering wheel, 52...brake pedal, 53...accelerator pedal, 54...shift lever, 61...speed sensor, 62...acceleration sensor, 63...stereo camera, 64...LIDAR, 65...360-degree camera, 66...GNSS receiver, 70...AP communication equipment, 71...AP communication device, 72...AP communication memory, 79...control memory, 80...current road map, 81...horizontal axis, 82-84...trajectory, 85...deceleration and stop section, 110...GNSS satellite

Claims

1. A plurality of vehicles each having a control unit capable of executing autonomous driving or driving assistance driving control when traveling on a road; a server device having a generation unit that generates driving control information for each of the plurality of vehicles so that the plurality of vehicles travel with priority in accordance with traffic priority rules; A vehicle driving control system in which the generation unit of the server device transmits the driving control information generated for each of the plurality of vehicles to each of the plurality of vehicles, and the control unit of each of the plurality of vehicles can execute driving control using the respective driving control information, a determination unit that is provided in the server device and determines priorities of a plurality of the vehicles including a first vehicle that is about to travel on the road; The determination unit When a request is received from the first vehicle that is stopped due to a traffic jam, the first vehicle is determined to be given temporary priority; The generation unit of the server device When the determination unit determines that the first vehicle is to be given priority, generate driving control information for each of the plurality of vehicles so that the first vehicle is given priority over the other vehicles, even if the first vehicle has a lower priority than the other vehicles in the traffic priority rule. Vehicle driving control system.

2. The determination unit When the first vehicle is stopped on a first road heading toward a location where a first road and a second road having a higher priority than the first road in the traffic priority rule merge or connect, and the first vehicle is stopped before the second road that is congested, it is determined that the first vehicle on the subordinate side is given temporary priority; The generation unit of the server device generate driving control information that causes the first vehicle on the first road, which has a lower priority on the subordinate side in the traffic priority rule, to travel toward a place where the first road merges with or connects to the second road, before other vehicles on the second road, which has a higher priority in the traffic priority rule, head toward the place where the first road merges with or connects to the second road; 2. The vehicle cruise control system according to claim 1.

3. The determination unit On a road having a first lane and a second lane adjacent to the first lane, when the first vehicle traveling in the first lane is about to change lanes to the second lane which is congested, determining that priority is given to the first vehicle on the inferior side, The generation unit of the server device generate driving control information for causing the first vehicle in the first lane involved in the lane change, which has a lower priority on the subordinate side in the traffic priority rule, to cut in between the plurality of vehicles traveling in the second lane, which has a higher priority in the traffic priority rule; 3. A vehicle driving control system according to claim 1 or 2.

Images