Virtual dedicated lane construction system, virtual dedicated lane construction method and program

Abstract

Provided are: a virtual-dedicated-lane construction method that makes it possible to give priority to a specific vehicle as necessary without requiring each mobile body to be equipped with a dedicated device; and a recording medium. This virtual-dedicated-lane construction system comprises: an entry detection means for detecting an entry of a prescribed priority vehicle into a prescribed road section; a pathway direction identification means for detecting an object present ahead of said priority vehicle; and a pathway securing means for executing processing according to the object present ahead of the priority vehicle so that said object does not obstruct the pathway of the priority vehicle.

Description

[Technical Field]

[0001] The present invention relates to a virtual dedicated lane construction system, a virtual dedicated lane construction method, and program Regarding. [Background technology]

[0002] Patent Document 1 discloses a communication method that enables appropriate passage of each mobile object in a traffic situation where mobile objects operating in different operation modes, such as manual driving mode and automatic driving mode, coexist. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2015-228152 Summary of the Invention [Problem to be solved by the invention]

[0004] The method of Patent Document 1 requires each mobile object to have the function of sending and receiving a communication frame including identification information of the mode type. Also, with the method of Patent Document 1, if there is even one mobile object that does not have the function of sending and receiving this communication frame, it becomes necessary to take other measures to prevent accidents with this mobile object.

[0005] The present disclosure provides a method for constructing a virtual dedicated lane that allows a specific vehicle to have priority when necessary without installing a dedicated device on each moving body, and program The purpose is to provide the following. [Means for solving the problem]

[0006] According to a first aspect, a virtual dedicated lane construction system is provided that includes an entry detection means for detecting when a predetermined priority vehicle enters a predetermined road section, a route direction confirmation means for detecting an object ahead of the priority vehicle, and a route securing means for performing processing according to the object ahead of the priority vehicle so that the object does not block the route of the priority vehicle.

[0007] According to a second aspect, a virtual exclusive lane configuration method is provided that detects that a predetermined priority vehicle has entered a predetermined road section, detects an object ahead of the priority vehicle, and performs processing according to the object so that the object ahead of the priority vehicle does not block the path of the priority vehicle.

[0008] According to a third aspect, there is provided a recording medium having recorded thereon a program that causes a computer to execute the following processes: detecting that a predetermined priority vehicle has entered a predetermined road section; detecting an object ahead of the priority vehicle; and performing processing according to the object ahead of the priority vehicle so that the object does not block the path of the priority vehicle. [Effects of the Invention]

[0009] According to the present disclosure, a virtual dedicated lane construction method and a method for providing priority to specific vehicles only when necessary are provided. program is provided. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram illustrating a configuration of an embodiment of the present disclosure. [Figure 2] 1 is a flow chart illustrating the operation of one embodiment of the present disclosure. [Figure 3] FIG. 10 is a diagram for explaining the operation of an embodiment of the present disclosure. [Figure 4] FIG. 10 is a diagram for explaining the operation of an embodiment of the present disclosure. [Figure 5] FIG. 10 is a diagram for explaining another operation of the embodiment of the present disclosure. [Figure 6] FIG. 10 is a diagram for explaining another operation of the embodiment of the present disclosure. [Figure 7] 1 is a diagram illustrating a configuration of a first embodiment of the present disclosure. [Figure 8] 1 is a diagram for explaining the concept of a range monitored by the virtual dedicated lane construction system according to the first embodiment of the present disclosure. [Figure 9] 3 is a flowchart illustrating the operation of the virtual dedicated lane construction system according to the first embodiment of the present disclosure. [Figure 10] FIG. 2 is a diagram for explaining the operation of the virtual dedicated lane construction system according to the first embodiment of the present disclosure. [Figure 11] FIG. 10 is a diagram illustrating a configuration of a second embodiment of the present disclosure. [Figure 12] FIG. 10 is a diagram for explaining the operation of the virtual dedicated lane construction system according to the second embodiment of the present disclosure. [Figure 13] FIG. 2 is a diagram illustrating the configuration of a computer that constitutes a communication terminal according to the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0011] First, an overview of one embodiment of the present disclosure will be described with reference to the drawings. Note that the reference numerals in this overview are added to each element for convenience as an example to facilitate understanding, and are not intended to limit the present disclosure to the illustrated form. Furthermore, connecting lines between blocks in the drawings and the like referred to in the following description include both bidirectional and unidirectional lines. Unidirectional arrows are used to schematically indicate the flow of main signals (data) and do not exclude bidirectionality. A program is executed via a computer device, which includes, for example, a processor, a storage device, an input device, a communication interface, and, if necessary, a display device. Furthermore, this computer device is configured to be able to communicate with internal or external devices (including computers) via the communication interface, whether wired or wireless. Furthermore, ports or interfaces are present at the input / output connection points of each block in the drawings, but are not shown.

[0012] In one embodiment, the present disclosure can be realized by a virtual dedicated lane construction system 10 including an entry detection means 11, a route direction confirmation means 12, and a route securing means 13, as shown in FIG.

[0013] More specifically, the entry detection means 11 detects that a predetermined priority vehicle TV has entered a predetermined road section. Examples of the predetermined priority vehicle TV include vehicles that require highly punctual operation, such as public buses and road maintenance vehicles. A method for identifying these vehicles can be adopted in which a road-to-vehicle communication device (gate device) G is installed at the start of the predetermined road section, and the device detects the entry of the target vehicle TV. Another method can be adopted in which a camera C is installed at the start of the target section, and the entry of the target vehicle is detected by object recognition. Alternatively, the camera C can be an in-vehicle camera mounted on a vehicle traveling nearby.

[0014] In addition, if there is a location management system that manages the location of the priority vehicle TV or a remote management system that controls the priority vehicle TV from a remote location, the entry detection means 11 can acquire the location of the priority vehicle TV from these systems and detect that the priority vehicle TV has entered a predetermined road section. In this case, there is an advantage that the installation of the road-to-vehicle communication device (gate device) G and the like can be omitted.

[0015] The route direction confirmation means 12 detects an object ahead of the priority vehicle TV from the image obtained by the camera C. Note that, as a method for detecting an object, a method of detecting an object from a difference with a reference image of a road without an object can be adopted. Also, a method of detecting an object ahead of the priority vehicle TV using object recognition technology can be adopted. Specifically, a method of detecting an object (vehicle or foreign object) in an image can be adopted, using a classifier or the like obtained by performing machine learning or the like using learning data prepared in advance.

[0016] The route securing means 13 carries out processing according to the object ahead of the priority vehicle so that the object does not block the route of the priority vehicle. A specific example of this will be described later.

[0017] The virtual dedicated lane construction system 10 configured as above operates as follows: First, the virtual dedicated lane construction system 10 detects that a priority vehicle has entered a predetermined road section (step S01 in FIG. 2).

[0018] Next, the virtual dedicated lane construction system 10 checks the condition of the road ahead of the priority vehicle from the image obtained by the camera C (step S02).

[0019] If the result of the check shows that there is an object (obstacle) ahead of the priority vehicle (Yes in step S03), the virtual dedicated lane construction system 10 performs a predetermined process to ensure the path of the priority vehicle (step S04). If there is no object (obstacle) ahead of the priority vehicle (No in step S03), the virtual dedicated lane construction system 10 returns to step S02 and continues monitoring.

[0020] Here, an example of the predetermined processing performed by the virtual dedicated lane construction system 10 in step S04 will be described. FIG. 3 is a diagram for explaining this example. As shown in FIG. 3, when a vehicle V1 is traveling in an adjacent lane ahead of the priority vehicle TV, if the vehicle V1 moves into the same lane as the priority vehicle TV, the travel of the priority vehicle TV may be obstructed. In this case, the virtual dedicated lane construction system 10 transmits a message to the vehicle V1 via the network 20 as shown in FIG. 3, requesting the vehicle V1 not to change lanes. Note that this message may include content indicating that a specific lane is being used as a bus-only lane, as shown in FIG. 3. This can enhance the effectiveness of the message.

[0021] FIG. 4 is a diagram illustrating another example of a predetermined process performed by the virtual dedicated lane construction system 10. In the example of FIG. 4, a vehicle V2 is located in the same lane as a priority vehicle TV. In this case, if the vehicle V2 is traveling slowly or is stopped, the travel of the priority vehicle TV may be obstructed. In this case, the virtual dedicated lane construction system 10 transmits a message to the vehicle V2 via the network 20, as shown in FIG. 4, requesting the vehicle V2 to move out of the left lane. Note that this message can also include information indicating that a specific lane is being used as a bus-only lane, as shown in FIG. 4, thereby encouraging the cooperation of the vehicle V2. Furthermore, in the example of FIG. 4, a message requesting the vehicle V2 to move out of the left lane is transmitted to the vehicle V2. However, if the vehicle V2 is stopped, a message instructing the vehicle V2 to start may be transmitted to the vehicle V2. Similarly, if the vehicle V2 is traveling slowly, a message instructing the vehicle V2 to accelerate may be transmitted to the vehicle V2.

[0022] 3 and 4, the virtual dedicated lane construction system 10 can transmit a specific message to vehicles V1 and V2 via the network 20 by using road-to-vehicle communication, a mobile communication network, or the like. In this case, vehicles V1 and V2 can be identified by the entry detection means 11 by identifying the vehicles V1 and V2 and inquiring about their transmission addresses, etc. from a vehicle management device or the like that manages the vehicles and is located on the cloud side. The messages addressed to vehicles V1 and V2 may also be transmitted in the form of data for displaying a message or outputting a sound on an in-vehicle terminal mounted on vehicles V1 and V2.

[0023] Furthermore, the predetermined process performed by the virtual dedicated lane construction system 10 is not limited to sending messages to each vehicle. For example, as shown in FIGS. 5 and 6, the virtual dedicated lane construction system 10 may perform a process of displaying information indicating the lane type on an electronic signboard (road information display board) 30 installed on the side or above the road. In this case, the virtual dedicated lane construction system 10 transmits data for displaying a message on the electronic signboard 30 installed in the predetermined road section. FIG. 5 shows the state of the electronic signboard (road information display board) 30 before a priority vehicle enters the predetermined road section, with both of the two lanes on the left being lanes for general vehicles. FIG. 6 shows the state of the electronic signboard (road information display board) 30 after a priority vehicle enters the predetermined road section, with the left lane of the two lanes being a bus-only lane. Note that if the road in question is equipped with lane lighting as described in Patent Document 1, the lane type can also be indicated using lane lighting instead of the electronic signboard (road information display board) 30.

[0024] The predetermined processing performed by the virtual dedicated lane construction system 10 is not limited to the above example. For example, if the vehicles V1 and V2 are equipped with an information display function using AR (Augmented Reality) or MR (Mixed Reality), these technologies may be used to display a message prohibiting lane changes or encouraging the vehicle to move out of the lane in which it is traveling.

[0025] According to the virtual dedicated lane construction system 10 that operates as described above, it is possible to construct a lane that gives priority to specific priority vehicles only when necessary, at low cost.

[0026] [First embodiment] Next, a first embodiment in which route buses are given priority and can contribute to improving punctuality will be described in detail with reference to the drawings. Fig. 7 is a diagram showing the configuration of the first embodiment of the present disclosure. Fig. 7 shows a configuration in which a virtual dedicated lane construction system 100 is connected to a plurality of cameras C.

[0027] The required number of cameras C are placed along the route of the route bus, which is the priority vehicle TV. The cameras C do not need to be dedicated cameras, and for example, cameras for measuring traffic flow or observing congestion may be used.

[0028] The virtual dedicated lane construction system 100 includes an entry detection unit 101, a route direction confirmation unit 102, and a route securing unit 103.

[0029] The entry detection unit 101 detects that the priority vehicle TV has entered a predetermined road section. A terminal installed at a bus stop, such as the starting point of a route bus, may be used as this entry detection unit 101. Furthermore, if there is a control system or the like that manages the operation of the priority vehicle TV, the entry detection unit 101 may acquire position information of the priority vehicle TV from the control system or the like and detect that the priority vehicle TV has entered a predetermined road section. This position information may be GPS (Global Positioning System) position information, RTK (Real Time Kinematic) position information, or administrative position information (distance from the bus stop) used in these systems.

[0030] The route direction confirmation unit 102 operates while the priority vehicle TV is traveling along a predetermined road section, monitors a predetermined range A1 in the route direction of the priority vehicle TV from images obtained by the camera C, and detects an object ahead of the priority vehicle TV. As with the route direction confirmation means 12, the object detection method can be a method of detecting an object from a difference with a reference image or a method using object recognition technology.

[0031] FIG. 8 shows a range A1 monitored by the virtual dedicated lane construction system 100 of this embodiment. This range A1 can have a substantially rectangular shape with a length l and a width w. The length l is determined based on the cruising speed of the priority vehicle TV, the type of expected obstacle, and the like. When the cruising speed of the priority vehicle TV is fast, the length l is set to a larger value than when the cruising speed of the priority vehicle TV is slow. When the expected type of obstacle is an object that takes time to move or remove, such as a parked vehicle, the length l is set to a larger value. Furthermore, when the road visibility is good, the length L may be set to several hundred meters or more. The width w is determined based on the number of lanes of the corresponding road, the type of expected obstacle, and the like. When the corresponding road has many lanes, the width w may be set to a larger value. Furthermore, when lane changes are prohibited in the corresponding road section, the width w may be a width equivalent to one lane ahead of the priority vehicle TV. Furthermore, although the example of FIG. 8 shows a rectangular range A1, the range A1 may also be elliptical or fan-shaped.

[0032] The route securing unit 103 operates while the priority vehicle TV is traveling on a predetermined road section, and performs processing according to the type and state of an object ahead of the priority vehicle so that the object does not block the route of the priority vehicle. As described above, the entry detection unit 101, the route direction confirmation unit 102, and the route securing unit 103 correspond to an entry detection means, a route direction confirmation means, and a route securing means.

[0033] Next, the operation of this embodiment will be described in detail with reference to the drawings. Fig. 9 is a flow chart showing the operation of the virtual dedicated lane construction system 100 according to the first embodiment of the present disclosure. Referring to Fig. 9, first, when the virtual dedicated lane construction system 100 detects the entry of a priority vehicle TV (step S001), it updates the position of the priority vehicle TV (step S002). Note that the position of the priority vehicle TV may be obtained from the priority vehicle TV through road-to-vehicle communication, or may be estimated by the virtual dedicated lane construction system 100 from the speed of the priority vehicle TV, the operation schedule of the priority vehicle TV, etc.

[0034] The virtual dedicated lane construction system 100 determines whether the position of the priority vehicle TV is within the priority section (corresponding to a predetermined road section) (step S003). If the result of the determination is that the position of the priority vehicle TV is outside the priority section, the virtual dedicated lane construction system 100 ends the subsequent processing (Yes in step S003).

[0035] On the other hand, if the position of the priority vehicle TV is within the priority section, the virtual dedicated lane construction system 100 monitors a predetermined range A1 ahead of the priority vehicle TV (step S004). If no obstacle is found by the monitoring, the virtual dedicated lane construction system 100 omits the subsequent processing and returns to step S002 to continue updating and monitoring the position of the priority vehicle TV (No in step S005).

[0036] On the other hand, if an obstacle is found during the monitoring, the virtual dedicated lane construction system 100 performs processing according to the type and state of the object (step S006). Examples of the processing include, but are not limited to, various processing shown in FIGS. 3 to 6. For example, in the example of FIG. 3, a message is sent to the vehicle V1 traveling in the adjacent lane requesting that the vehicle not change lanes. However, the content of the message can be changed depending on the type and state of the target vehicle. For example, if the vehicle V1 is an autonomous vehicle or a vehicle equipped with an advanced driver assistance system, a control message can be sent to the ECU of the vehicle V1. In this case, for example, the virtual dedicated lane construction system 100 can notify the ECU of the vehicle V1 that the priority vehicle V1 is approaching from behind, thereby preventing the vehicle V1 from changing lanes.

[0037] 4, a message is sent to the preceding vehicle V2 in the same lane requesting it to move to the right lane, but if the vehicle V2 is an autonomous vehicle or a vehicle equipped with an advanced driver assistance system, a control message can also be sent to the ECU of the vehicle V2. In this case, for example, the virtual dedicated lane construction system 100 can notify the ECU of the vehicle V2 that the priority vehicle V1 is approaching from behind, and cause the vehicle V2 to change lanes, start, accelerate, etc.

[0038] It is also possible that a preceding vehicle V2 in the same lane is parked. In this case, the virtual dedicated lane construction system 100 can notify a road administrator or a police officer of the presence of the vehicle V2. The virtual dedicated lane construction system 100 may also notify the priority vehicle TV of the presence of the vehicles V1 and V2.

[0039] As explained above, the virtual dedicated lane construction system 100 continues monitoring by moving a predetermined range A1 using multiple cameras C as the priority vehicle TV moves, as shown in (a) to (d) of Figure 10. This makes it possible to accurately detect and deal with obstacles even if the route of the priority vehicle TV is long.

[0040] [Second embodiment] Next, a second embodiment in which the range monitored by the virtual dedicated lane construction system is fixed will be described. FIG. 11 is a diagram showing the configuration of the second embodiment of the present disclosure. The difference from the first embodiment shown in FIG. 7 is the function of the route direction confirmation unit 102a provided in the virtual dedicated lane construction system 100a. Since the other configurations are the same as those of the first embodiment, the following description will focus on the differences.

[0041] The route direction confirmation unit 102a of this embodiment operates while the priority vehicle TV is traveling in a predetermined road section, monitors a predetermined range A2 in the route direction of the priority vehicle TV from images obtained by the camera C, and detects objects ahead of the priority vehicle TV. FIG. 12 is a diagram showing the predetermined range A2 monitored by the virtual dedicated lane construction system 100a. In the example of FIG. 12, the area that needs to be monitored on the movement route (from point A to point B) of the priority vehicle TV is divided into multiple ranges A2 that are visible from the camera C, and the route direction confirmation unit 102a is made to monitor these ranges. The route direction confirmation unit 102a switches the monitoring range to detect objects as the priority vehicle TV moves.

[0042] In this embodiment, since there is no need to strictly track the priority vehicle TV, there is an advantage that existing surveillance cameras installed near the movement route of the priority vehicle can be used. Also, the position of the priority vehicle TV can be substituted with a position calculated from the operation schedule of the priority vehicle TV, which has the advantage that there is no need to know the exact position of the priority vehicle TV.

[0043] Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments, and further modifications, substitutions, and adjustments can be made without departing from the basic technical concept of the present disclosure. For example, the network configuration, element configuration, and data representation format shown in each drawing are examples to aid in understanding the present disclosure, and are not limited to the configurations shown in these drawings.

[0044] (About hardware configuration) In each embodiment of the present disclosure, each component of each device represents a functional block. Some or all of the components of each device are realized by any combination of an information processing device 900 and a program, for example, as shown in Fig. 13. Fig. 13 is a block diagram showing an example of the hardware configuration of the information processing device 900 that realizes each component of each device. The information processing device 900 includes, as an example, the following configuration. ·CPU(Central Processing Unit)901 ROM (Read Only Memory) 902 ·RAM(Random Access Memory)903 Program 904 loaded into RAM 903 A storage device 905 for storing a program 904 A drive device 907 for reading and writing data from and to the recording medium 906 A communication interface 908 for connecting to a communication network 909 Input / output interface 910 for inputting and outputting data Bus 911 connecting each component

[0045] Each component of each device in each embodiment is realized by the CPU 901 acquiring and executing a program 904 that realizes the function. That is, the CPU 901 in FIG. 13 executes an object detection program and a message transmission program, and performs an update process for each calculation parameter stored in the RAM 903, the storage device 905, or the like. The program 904 that realizes the function of each component of each device is stored in the storage device 905 or the ROM 902 in advance, for example, and is read out by the CPU 901 as needed. The program 904 may be supplied to the CPU 901 via the communication network 909, or may be stored in advance on the recording medium 906, and the drive device 907 may read out the program and supply it to the CPU 901.

[0046] There are various variations in the method of realizing each device. For example, each device may be realized by any combination of a separate information processing device 900 and a program for each component. Furthermore, multiple components provided in each device may be realized by any combination of a single information processing device 900 and a program. That is, each unit (processing means, function) of the virtual dedicated lane construction system shown in the first and second embodiments can be realized by a computer program that causes a processor installed in the device to execute each of the above-mentioned processes using its hardware.

[0047] In addition, some or all of the components of each device may be realized by other general-purpose or dedicated circuits, processors, etc., or a combination of these. These may be configured by a single chip, or by multiple chips connected via a bus.

[0048] Some or all of the components of each device may be realized by a combination of the above-mentioned circuits and programs.

[0049] When some or all of the components of each device are realized by multiple information processing devices, circuits, etc., the multiple information processing devices, circuits, etc. may be centrally or decentralized. For example, the information processing devices, circuits, etc. may be realized as a client-server system, a cloud computing system, or the like, in a form in which each device is connected via a communication network.

[0050] It should be noted that the above-described embodiments are preferred embodiments of the present disclosure, and the scope of the present disclosure is not limited to only the above-described embodiments. In other words, those skilled in the art can modify or substitute the above-described embodiments to construct various modified forms without departing from the gist of the present disclosure.

[0051] For example, in the above-described first and second embodiments, the priority vehicle TV is described as a route bus, but the priority vehicle TV may be another vehicle. For example, an autonomous vehicle or a vehicle requiring advanced assistance may be set as the priority vehicle TV. While the method described in the background art requires a large initial investment for lane lighting, the method disclosed herein can significantly reduce costs. Furthermore, according to the method disclosed herein, priority processing is performed only when the priority vehicle TV enters the corresponding section, so there is no problem of unnecessarily disrupting other traffic during other time periods.

[0052] A part or all of the above-described embodiments can be described as, but not limited to, the following supplementary notes.

[0053] [Appendix 1] entry detection means for detecting that a predetermined priority vehicle has entered a predetermined road section; a route direction confirmation means for detecting an object ahead of the priority vehicle from an image obtained by a camera; a route securing means for executing a process according to an object ahead of the priority vehicle so that the object does not block the route of the priority vehicle; Equipped with. [Appendix 2] In the above-mentioned virtual dedicated lane construction system, If the object is a vehicle traveling in an adjacent lane adjacent to the lane in which the priority vehicle is traveling, the path securing means can be configured to send a message to the traveling vehicle to prevent it from changing lanes into the lane in which the priority vehicle is traveling. [Appendix 3] In the above-mentioned virtual dedicated lane construction system, If the object is stopped in the lane in which the priority vehicle is traveling, or is a vehicle traveling in the same lane as the priority vehicle, the path securing means can be configured to send a message to the vehicle instructing it to move out of the lane. [Appendix 4] In the above-mentioned virtual dedicated lane construction system, If the object is a vehicle stopped in the lane in which the priority vehicle is traveling, the route maintaining means may be configured to transmit a message to the vehicle instructing it to start moving. [Appendix 5] In the above-mentioned virtual dedicated lane construction system, The message may be transmitted in the form of data for causing an in-vehicle terminal mounted in the vehicle to display the message or output the message as sound. [Appendix 6] In the above-mentioned virtual dedicated lane construction system, The message may be transmitted in the form of data for displaying the message on an electronic bulletin board installed in the predetermined road section. [Appendix 7] Detecting that a predetermined priority vehicle has entered a predetermined road section; Detecting an object ahead of the priority vehicle from an image obtained by a camera; and performing a process according to the object in front of the priority vehicle so that the object does not block the path of the priority vehicle. Virtual dedicated lane configuration method. [Appendix 8] A process of detecting that a predetermined priority vehicle has entered a predetermined road section; A process of detecting an object ahead of the priority vehicle from an image obtained by a camera; a process of carrying out a process according to an object ahead of the priority vehicle so that the object does not block the path of the priority vehicle; A recording medium that records a program that causes a computer to execute the above. The embodiments described in the above Supplementary Notes can be combined with each other after necessary modifications are made. For example, a configuration that combines the contents described in Supplementary Note 2 and the contents described in any one or more of Supplementary Notes 3 to 6 is also included in the scope of disclosure of this specification. Furthermore, the embodiments of Supplementary Notes 7 and 8 can be expanded to the embodiments of Supplementary Notes 2 to 6, similarly to Supplementary Note 1.

[0054] The disclosures of the above-cited patent documents are incorporated herein by reference and may be used as the basis or part of this disclosure, as necessary. Within the scope of this disclosure (including the claims), modifications and adjustments of the embodiments and examples are possible based on the basic technical concepts. Furthermore, within the scope of this disclosure, various combinations and selections (including partial deletions) of various disclosed elements (including elements of each claim, elements of each embodiment or example, elements of each drawing, etc.) are possible. In other words, this disclosure naturally includes various modifications and alterations that would be possible by a person skilled in the art in accordance with the entire disclosure and technical concepts, including the claims. In particular, with regard to the numerical ranges set forth herein, any numerical value or subrange within that range should be construed as specifically set forth, even if not otherwise specified. Furthermore, the disclosures of the above-cited documents, when used in part or in whole in combination with the disclosures herein as part of this disclosure, in accordance with the spirit of this disclosure, are also deemed to be included in the disclosures of this application. [Explanation of symbols]

[0055] 10, 100 Virtual dedicated lane construction system 11. Intrusion detection means 12 Means of checking route direction 13 Career Path Securing Means 20,200 Network 30 Electronic bulletin board (road information display board) 101 Intrusion detection unit 102, 102a Route direction confirmation section 103 Career Path Assurance Department 900 Information Processing Equipment 901 CPU(Central Processing Unit) 902 ROM (Read Only Memory) 903 RAM (Random Access Memory) 904 Program 905 Storage device 906 Recording Media 907 Drive unit 908 Communication Interface 909 Communication Network 910 Input / Output Interface 911 Bus A1, A2 specified range C Camera G Road-to-vehicle communication device (gate device) TV priority car V1 and V2 vehicles

Claims

1. entry detection means for detecting that a predetermined priority vehicle has entered a predetermined road section; a route direction confirmation means for detecting an object ahead of the priority vehicle from an image obtained by a camera; a route securing means for executing a process according to an object ahead of the priority vehicle so that the object does not block the route of the priority vehicle; Equipped with The route securing means includes: If the object is a vehicle located in a lane in which the priority vehicle is traveling, transmitting a message to the vehicle located in the lane instructing it to move out of the lane; If the object is a vehicle located in an adjacent lane adjacent to the lane, a message is sent to the vehicle located in the adjacent lane to prevent the vehicle from changing lanes into the lane. A virtual dedicated lane creation system.

2. When the object is a vehicle stopped in the lane in which the priority vehicle is traveling, the route maintaining means transmits a message to the vehicle instructing it to start. The virtual dedicated lane construction system according to claim 1.

3. 3. The virtual dedicated lane construction system according to claim 1, wherein the message is transmitted in the form of data for causing an in-vehicle terminal mounted on the vehicle to display the message or output the message as sound.

4. 3. The virtual exclusive lane construction system according to claim 1, wherein the message is transmitted in the form of data for displaying the message on an electronic bulletin board installed in the predetermined road section.

5. Detecting that a predetermined priority vehicle has entered a predetermined road section; Detecting an object ahead of the priority vehicle from an image obtained by a camera; and performing a process according to the object in front of the priority vehicle so that the object does not block the path of the priority vehicle. A virtual dedicated lane configuration method, comprising: If the object is a vehicle located in a lane in which the priority vehicle is traveling, transmitting a message to the vehicle located in the lane instructing it to move out of the lane; If the object is a vehicle located in an adjacent lane adjacent to the lane, a message is sent to the vehicle located in the adjacent lane to prevent the vehicle from changing lanes into the lane. Virtual dedicated lane configuration method.

6. A process of detecting that a predetermined priority vehicle has entered a predetermined road section; A process of detecting an object ahead of the priority vehicle from an image obtained by a camera; a process of carrying out a process according to an object ahead of the priority vehicle so that the object does not block the path of the priority vehicle; A program that causes a computer to execute the If the object is a vehicle located in a lane in which the priority vehicle is traveling, the computer sends a message to the vehicle located in the lane instructing it to move out of the lane; If the object is a vehicle located in an adjacent lane adjacent to the lane, the computer transmits a message to the vehicle located in the adjacent lane to prevent the vehicle from changing lanes into the lane. program.

Images