Server systems and vehicles

Abstract

To suppress occurrence of a collision when respective vehicles perform a lane change to the same lane regardless of positions of the vehicles without complicating processing.SOLUTION: A server system (1) includes: an acquisition section (4) for acquiring road information of a road having first to third lanes; a reception section (14) for receiving first to fourth information; a determination section (6) for determining prohibition of a lane change with respect to at least one vehicle (100) between respective vehicles (100) when the vehicles (100) are at the risk of a collision in a case where the first vehicle (100) is to perform a lane change from the first lane to the second lane and also the second vehicle (100) is to perform a lane change from the third lane to the second lane with reference to the first to fourth information; and a transmission section (12) for transmitting prohibition information which indicates a prohibition determination result of the lane change with respect to at least one of the vehicles (100) to both of the vehicles (100).SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] This invention relates to a server system and a vehicle. [Background technology]

[0002] Conventional technology includes devices that can reduce the risk of accidents by notifying the driver of surrounding information acquired by sensors installed in the vehicle.

[0003] Patent Document 1 discloses a driver assistance device that detects vehicles cutting in during lane changes based on recognized surrounding environment information and outputs a warning. Patent Document 2 discloses a vehicle control device that enables safe and smooth lane changes by the vehicle based on information acquired using an in-vehicle stereo camera, etc. Patent Document 3 discloses a lane change system that stops lane changes when there are surrounding vehicles with a high risk of collision based on information from sensors that recognize the outside world. [Prior art documents] [Patent Documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2017-68461 [Patent Document 2] Japanese Patent Publication No. 2019-209813 [Patent Document 3] Japanese Patent Publication No. 2017-65420 [Overview of the project] [Problems that the invention aims to solve]

[0005] However, the conventional technologies described above cannot acquire information about other vehicles located in the blind spots or outside the detection range of the sensors, depending on the vehicle's position. Furthermore, when transmitting and receiving information between vehicles, each vehicle must control the synchronization timing, etc., and the processing load on the vehicles increases, especially as the number of vehicles on the road increases, leading to a problem where the processing becomes complicated.

[0006] One aspect of the present invention has been made in view of the above-mentioned problems, and aims to suppress the occurrence of collisions when vehicles change lanes into the same lane, regardless of the position of each vehicle, without complicating the processing. [Means for solving the problem]

[0007] A server system according to one aspect of the present invention includes an acquisition unit that acquires road information of a road having a first lane, a second lane, and a third lane, where the first lane and the second lane are adjacent, the second lane and the third lane are adjacent, and the first lane, the second lane, and the third lane are in the same direction of travel; first information indicating the position and speed of a first vehicle traveling in the first lane; second information indicating the position and speed of a second vehicle traveling in the third lane; third information indicating a request for the first vehicle to change lanes from the first lane to the second lane; and a request for the second vehicle to change lanes from the third lane to the second lane. The system includes: a receiving unit that receives fourth information indicating the above; a determination unit that, referring to the first information, the second information, the third information, and the fourth information, determines that there is a risk of collision between the first vehicle and the second vehicle if the first vehicle changes lanes from the first lane to the second lane and the second vehicle changes lanes from the third lane to the second lane, and determines that the lane change should be prohibited for at least one of the first vehicle and the second vehicle; and a transmitting unit that transmits prohibition information to both the first vehicle and the second vehicle, indicating the determination result of prohibiting the lane change for at least one of the vehicles.

[0008] A vehicle according to another aspect of the present invention includes: an acquisition unit that acquires driving information indicating the position and speed of the vehicle traveling in the first lane or third lane of a road having a first lane, a second lane and a third lane, the first lane and the second lane being adjacent, the second lane and the third lane being adjacent, and the first lane, the second lane and the third lane being in the same direction of travel; a transmission unit that transmits the driving information and request information indicating a request to change lanes from the lane the vehicle is currently traveling in to the second lane; and a receiving unit that receives prohibition information transmitted from the server system indicating that the lane change by the other vehicle is prohibited when a server system associated with the vehicle determines that conditions are met including the risk of collision between the vehicle and another vehicle requesting to change lanes to the second lane, and a determination to prohibit the lane change is made for the other vehicle.

[0009] A control program for a server system or vehicle that enables the server system to be implemented by a computer by operating the computer as each part (software element) of the server system or vehicle according to each aspect of the present invention, and a computer-readable recording medium on which the same is recorded, also fall within the scope of the present invention.

[0010] Furthermore, the control program may employ various machine learning techniques in the process of operating the computer as one of the aforementioned components or in other processes. In this case, the program employing machine learning techniques may operate on a server system or a vehicle, or on other devices (e.g., an edge computer or a cloud server). [Effects of the Invention]

[0011] According to one aspect of the present invention, regardless of the position of each vehicle, the occurrence of collisions when vehicles change lanes into the same lane can be suppressed without complicating the process. [Brief explanation of the drawing]

[0012] [Figure 1]It is an example of a block diagram showing a server system and a functional configuration of a vehicle associated with the server system. [Figure 2] It is an example of a conceptual diagram showing a state where an existing vehicle is traveling on a road according to one aspect of the embodiment. [Figure 3] It is an example of a conceptual diagram showing a state where a vehicle associated with the server system is traveling on a road according to one aspect of the embodiment. [Figure 4] It is an example of a flowchart showing a flow of processing executed by the server system. [Figure 5] It is an example of a conceptual diagram for explaining each value referred to in the processing shown in the flowchart of FIG. 4. [Figure 6] It is an example of a conceptual diagram showing a state where a vehicle associated with the server system is traveling on a road according to one aspect of the embodiment. [Figure 7] It is an example of a conceptual diagram showing a state where a vehicle associated with the server system is traveling on a road according to one aspect of the embodiment.

Mode for Carrying Out the Invention

[0013] Hereinafter, one embodiment of the present invention will be described in detail.

[0014] 〔1. Configuration Example of Server System 1 and Vehicle 100〕 FIG. 1 is an example of a block diagram showing the functional configuration of the server system 1 and the vehicle 100 associated with the server system 1.

[0015] The server system 1 is a device that functions as a server for one or more vehicles 100, receives driving information such as the position and speed of the vehicle 100 from each vehicle 100, and transmits information such as information for defining the behavior of the vehicle 100 to each vehicle 100. Here, the information for defining the behavior of the vehicle 100 may include a control signal for controlling the behavior of the autonomous vehicle and information indicating the content of instructions to the driver.

[0016] Server system 1 comprises a control unit 2, a storage unit 8, and a communication unit 10. The control unit 2 is a control device that oversees the entire server system 1 and comprises an acquisition unit 4 and a determination unit 6.

[0017] The acquisition unit 4 acquires road information, which is information about the road on which the vehicle 100 is traveling. The source from which the acquisition unit 4 acquires road information may be the storage unit 8, or it may be the internet, etc.

[0018] The determination unit 6 makes a determination to permit or prohibit a lane change by a vehicle 100. For example, if multiple vehicles 100 are to change lanes, and the distance between the vehicles 100 becomes less than or equal to a predetermined distance, the determination unit 6 makes a determination to prohibit at least one of the vehicles 100 from changing lanes. The predetermined distance is not limited to a specific distance, and may be, for example, 1 meter, or a distance corresponding to the type of vehicle 100.

[0019] The memory unit 8 is a memory device that stores various types of information, such as information for identifying each vehicle 100, information indicating the status of each vehicle 100, and information related to roads and maps.

[0020] The communication unit 10 is a component that transmits and receives various types of information based on control by the control unit 2, and comprises a transmitting unit 12 and a receiving unit 14. The transmitting unit 12 transmits prohibition information indicating the determination result to at least the target of the determination to prohibit lane changes, for example, when the determination unit 6 has determined that lane changes are prohibited. The receiving unit 14 receives, for example, driving information indicating the position and speed of the vehicle 100, and request information indicating a request to perform a lane change.

[0021] Vehicle 100 is a connected car or an autonomous vehicle or a vehicle similar thereto, and is equipped with a control unit 102, a storage unit 108, a communication unit 110, and an operating unit 116.

[0022] The control unit 102 is a control device that oversees the entire vehicle 100. The memory unit 108 is a memory device that stores various types of information, such as information for connecting to the server system 1, information about the vehicle itself, and information about roads and maps.

[0023] The communication unit 110 is a component that transmits and receives various types of information based on control by the control unit 102, and comprises a transmitting unit 112 and a receiving unit 114. The transmitting unit 112 transmits, for example, driving information of the vehicle and request information indicating a request to change lanes. The receiving unit 114 receives, for example, prohibition information indicating that the vehicle is prohibited from changing lanes.

[0024] Furthermore, the information transmitted and received between the server system 1 and each vehicle 100 is not limited to the information described above. For example, information indicating a desired destination, which is input into the vehicle 100 by the driver, may also be transmitted and received. The transmission unit 12 also transmits control signals to the autonomous vehicle to control the behavior of the vehicle 100.

[0025] The operating unit 116 is a mechanism that operates various parts of the vehicle, and the operating parts themselves. If the vehicle is an autonomous vehicle, the operating unit 116 automatically operates various parts of the vehicle according to the control content indicated by the control signal received by the receiving unit 114. The operating unit 116 may also include components such as speakers that are not directly related to the movement of the vehicle 100.

[0026] The function of a single component of the server system 1 and the vehicle 100 may be realized by multiple other components, and the functions of multiple components of the server system 1 and the vehicle 100 may be realized by a single other component. Furthermore, the server system 1 may be configured to consist of, for example, a first server device having a database and a second server device communicating with the vehicle 100.

[0027] [2. Additional information] Next, we will supplement the discussion of challenges in road traffic posed by existing vehicles and the definitions of terms used in this disclosure with reference to Figure 2.

[0028] Figure 2 is an example of a conceptual diagram showing an existing vehicle traveling on a road according to one aspect of this embodiment. As shown in Figure 2, the road has a first lane, a second lane, and a third lane, with at least the second and third lanes being adjacent and sharing the same direction of travel. In this disclosure, unless otherwise specified, the third lane is assumed to be the passing lane located on the far right when the vehicle is facing the direction of travel. However, the first and third lanes may be substituted for each other in the explanation, and the explanation in this disclosure may be applied to roads with four or more lanes on one side. Furthermore, the explanation in this disclosure may be applied to roads in other countries where the passing lane is located on the far left when the vehicle is facing the direction of travel. Also, as will be described later, the roads covered in this disclosure include T-junctions and intersections, etc.

[0029] First, a vehicle traveling in the first lane at a given point in time will be referred to as the first vehicle, and a vehicle traveling in the third lane will be referred to as the second vehicle. Note that, as illustrated in Figure 2, the lane numbers may change midway along the road, for example, if the third lane ends prematurely and a merging lane merges from the left side in the direction of travel.

[0030] Furthermore, the existing vehicle in Figure 2 is configured to acquire information about its surroundings solely through visual observation, cameras, and sensors. In section 21 of the road, there is a risk of collision if the first vehicle and the second vehicle, which are in each other's blind spots, change lanes to the second lane at approximately the same time. In section 22 of the road, there is a risk of collision if the first vehicle and the second vehicle, which cannot see each other because another vehicle is present between them, change lanes to the second lane after overtaking the other vehicle at approximately the same time.

[0031] Figure 3 is an example of a conceptual diagram showing a vehicle 100 associated with server system 1 traveling on a road similar to that in Figure 2.

[0032] In the configuration shown in Figure 3, driving information transmitted from each vehicle 100 is aggregated in the server system 1. Each vehicle 100 also transmits request information to the server system 1 indicating a request to change lanes, and can change lanes if the request is permitted by the server system 1. This makes it possible to control collisions when each vehicle 100 changes lanes into the same lane, regardless of the position of each vehicle 100, even in locations where blind spots occur, without complicating the processing.

[0033] The following will provide a detailed explanation using the lane change shown in Figure 3 as an example. First, the first vehicle 100 is traveling in the first lane while transmitting first information indicating its position and speed to the server system 1 at regular intervals. The second vehicle 100 is traveling in the third lane while transmitting second information indicating its position and speed to the server system 1 at regular intervals. Here, the first and second information are examples of driving information.

[0034] Furthermore, the transmitter 112 of the first vehicle 100 transmits third information indicating a request for its vehicle to change lanes from the first lane to the second lane. Also, the transmitter 112 of the second vehicle 100 transmits fourth information indicating a request for its vehicle to change lanes from the third lane to the second lane. Here, the third and fourth information are examples of request information.

[0035] The request information may be configured to be automatically transmitted to the server system 1 when the vehicle 100 is located in a place requiring a lane change, such as near a lane merging point or end point. Alternatively, the driving information itself indicating that the vehicle 100 is located in the aforementioned place may be treated as request information for a lane change.

[0036] The determination unit 6 in the server system 1 refers to the first to fourth pieces of information received by the receiving unit 14 and makes a determination to permit or prohibit a lane change for each of the first vehicle 100 and the second vehicle 100. Specifically, if the first vehicle 100 traveling in the first lane and the second vehicle 100 traveling in the third lane are to change lanes to the second lane, and the distance between the first vehicle 100 and the second vehicle 100 becomes a predetermined distance, the determination unit 6 will make a determination to prohibit the lane change for at least one of the first vehicle 100 and the second vehicle 100. In other words, if each vehicle 100 traveling roughly parallel requests the server system 1 to change lanes to the second lane at approximately the same time, the lane change for at least one of the vehicles 100 will not be permitted. Furthermore, the determination unit 6 may also be configured to determine whether the distance between the first vehicle 100 and the second vehicle 100 is below a predetermined distance.

[0037] Furthermore, in order to realize the lane change described above, the acquisition unit 4, transmission unit 112, receiving unit 114, and operation unit 116 provided in the first vehicle 100 and the second vehicle 100 have the following configuration. Specifically, the acquisition unit 4 acquires driving information indicating the position and speed of the vehicle traveling in the first or third lane. The transmission unit 112 transmits the driving information and request information indicating a request to change lanes from the lane the vehicle is currently traveling in to the second lane. The receiving unit 114 receives prohibition information transmitted from the server system 1, which is associated with the vehicle, indicating that the vehicle is prohibited from changing lanes, when it is determined by the server system 1 associated with the vehicle that conditions are met, including the distance between the vehicle and the other vehicle 100 requesting to change lanes to the second lane being less than or equal to a predetermined value. The operation unit 116 performs an action to prohibit the vehicle from changing lanes when the receiving unit 114 receives the prohibition information. Here, the actions to prohibit lane changes include restricting changes in the direction of the vehicle 100 and notifying the driver of the prohibition of lane changes via speakers or the like. However, the actions to prohibit lane changes do not usually include actions to prohibit the vehicle 100 from accelerating or decelerating.

[0038] The above configuration makes it possible to suppress or prevent collisions when the vehicle changes lanes to the second lane.

[0039] [3. Example of processing by Server System 1] Next, we will explain the processing flow executed by server system 1. Figure 4 is an example of a flowchart showing the aforementioned processing flow.

[0040] The process shown in the flowchart of Figure 4 is executed when, as in the example described above, the first vehicle 100 traveling in the first lane and the second vehicle 100 traveling roughly parallel in the third lane send request information to the server system 1 requesting a lane change to the second lane. For ease of understanding, the explanation will be given from the perspective of the second vehicle 100 being the own vehicle. From another perspective, the process of whether the server system 1 permits or prohibits the second vehicle 100 from changing lanes will be illustrated and explained.

[0041] In S101, the determination unit 6 compares the first time t1 and the second time t2 and determines whether the length of t1 is less than or equal to the length of t2. The first time t1 is the time required for the second vehicle 100 to overtake the first vehicle 100, and is calculated by the following formula: t1 = (L + I) / V2 - V1 Figure 5 is an example of a conceptual diagram illustrating the values ​​referenced in the process shown in the flowchart of Figure 4. The equation and the distance L in Figure 5 represent the distance between the first vehicle 100 and the second vehicle 100 at a given point in time. Distance I represents an arbitrary predetermined distance required for the first vehicle 100 to start and finish changing lanes. Speed ​​V1 represents the speed of the first vehicle 100, and speed V2 represents the speed of the second vehicle 100. However, the values ​​of distance L and I and speeds V1 and V2 mentioned above are the directional components along the road.

[0042] Furthermore, the second time t2 is the sum of the time required for the second vehicle 100 to reach the end of the third lane or to reach an obstacle in the third lane, and the time required for the second vehicle 100 to change lanes. The second time t2 is calculated by the following formula.

[0043] The following equation and the distance L in Figure 5 min This indicates the shorter of the distance between the second vehicle 100 and the end of the third lane, and the distance between the second vehicle 100 and any obstacles in the third lane. Time T indicates an arbitrary predetermined time required for the second vehicle 100 to change lanes. t² = L min / V2+T Furthermore, the aforementioned obstacles on the lane may include not only static obstacles such as construction sites or fallen objects, but also dynamic obstacles such as other vehicles that are temporarily stopped or traveling at extremely low speeds, or traffic congestion.

[0044] If the determination unit 6 determines that the length of the first time period t1 is less than or equal to the length of the second time period t2 (S101: YES), in S102, it first determines that the second vehicle 100 is prohibited from changing lanes for the duration of the first time period t1, and then determines that it is permitted to change lanes. In other words, the determination unit 6 determines that it is permitted to change lanes after the first time period t1 has elapsed, which is the time when the second vehicle 100 overtakes the first vehicle 100. The transmission unit 12 then transmits information indicating the determination result from the determination unit 6 to the second vehicle 100, and the second vehicle 100 changes lanes. As a result, the second vehicle 100 can overtake the first vehicle 100 and change lanes safely before reaching the end of the third lane, etc.

[0045] On the other hand, if the determination unit 6 determines that the length of the first time t1 exceeds the length of the second time t2 (S101: NO), then in S103, the second vehicle 100 changes from its current speed V2 to the legal speed limit V limit The determination unit 6 determines whether the second vehicle 100 can accelerate to speed V2' within the following range. In other words, the determination unit 6 determines whether the second vehicle 100 can accelerate to the speed limit V limit Determine whether the condition has not been reached or has already been reached.

[0046] The determination unit 6 determines that the second vehicle 100 is exceeding the speed limit V limit If it is determined that acceleration is possible within the following range (S103: YES), in S104, the first time t1' and the second time t2' when the second vehicle 100 has accelerated to speed V2' are compared to determine whether the length of t1' is less than or equal to the length of t2'.

[0047] If the determination unit 6 determines that the length of the first time t1' is less than or equal to the length of the second time t2' (S104: YES), in S105, the transmission unit 12 transmits information to the second vehicle 100 instructing it to accelerate to a speed V2'. The speed V2' is an example of the overtaking speed in this disclosure. Subsequently, the process in S101 is repeated using the first time t1' and the second time t2'. Alternatively, the determination unit 6 may be responsible for determining whether to accelerate or decelerate each vehicle 100.

[0048] Furthermore, a "YES" determination in S101 following the processing of S105 means that the length of the first time t1' will be less than or equal to the length of the second time t2' only if the second vehicle 100 accelerates to an overtaking speed V2' that is below the predetermined speed. In addition, the determination means that the determination unit 6 makes a determination to permit the second vehicle 100 to change lanes after the first time t1' has elapsed, on the condition that it accelerates to an overtaking speed V2'. As a result, the second vehicle 100 can accelerate to an overtaking speed V2' and overtake the first vehicle 100 before reaching the end of the third lane, etc., and safely change lanes.

[0049] The determination unit 6 determines that in S103 the second vehicle 100 is at the speed limit V limit If it is determined that acceleration is not possible within the following range (S103:NO), or if it is determined in S104 that the length of the first time t1' exceeds the length of the second time t2' (S104:NO), then the process in S106 is executed.

[0050] In S106, the determination unit 6 determines that the second vehicle 100 is prohibited from changing lanes. The transmission unit 12 also transmits to the second vehicle 100 prohibition information indicating that the lane change is prohibited, and information instructing it to slow down from its current speed V2.

[0051] In S107, the determination unit 6 determines whether the conditions are met that the second vehicle 100 is positioned behind the first vehicle 100 and that the speed V2 of the second vehicle 100 is less than or equal to the speed V1 of the first vehicle 100. If the determination unit 6 determines that these conditions are met (S107: YES), in S108 it makes a determination to permit the second vehicle 100 to change lanes. The transmission unit 12 also transmits information indicating the determination result by the determination unit 6 to the second vehicle 100, and the second vehicle 100 changes lanes.

[0052] Furthermore, the fact that the processes S106 to S108 are performed following the process in S104 means that even if the second vehicle 100 accelerates to a predetermined speed, the length of the first time t1 will exceed the length of the second time t2. In addition, the performance of this process means that the determination unit 6 makes a determination to permit the lane change for the second vehicle 100, provided that the second vehicle 100 is positioned behind the first vehicle 100 and the speed V2 of the second vehicle 100 is less than or equal to the speed V1 of the first vehicle 100. As a result, the second vehicle 100 can safely change lanes without overtaking the first vehicle 100 before reaching the end of the third lane, etc.

[0053] On the other hand, if the determination unit 6 determines that the condition in S107 is not met (S107: NO), it continues the determination in S107 until the condition is met.

[0054] According to the configuration illustrated with reference to the flowchart of FIG. 4, it is possible to suppress the occurrence of collisions when each vehicle 100 changes lanes into the same lane. In particular, when the first vehicle 100 and the second vehicle 100 are autonomous vehicles, by transmitting a control signal for controlling the behavior to each vehicle 100 by the transmission unit 12, autonomous driving control for preventing the occurrence of collisions of each vehicle 100 becomes possible.

[0055] Note that the transmission unit 12 may also transmit information indicating the determination result regarding the lane change of the determination unit 6 to vehicles 100 other than the vehicle 100 that transmitted the corresponding request information. For example, when the determination unit 6 makes a determination to prohibit a lane change for either the first vehicle 100 or the second vehicle 100, the transmission unit 12 may transmit information indicating the determination result to the vehicle 100 that is the target of the determination to prohibit a lane change and the other vehicle 100 that permits a lane change. Thereby, for example, control for notifying that another vehicle 100 located in the vicinity of the host vehicle is about to change lanes becomes possible.

[0056] Also, the restricted speed V in the determination of S103 limit is not limited to being the legal speed and may be replaced with other predetermined speeds. For example, the restricted speed V limit may be a speed obtained by multiplying the legal speed by a coefficient of 1 or less corresponding to at least any one of weather, the road surface condition of the road, information regarding past accidents on the road, and information indicating the frequency of hard braking on the road. Here, the road surface condition may include the angle of the road surface. Further, the information such as weather described above and the information regarding obstacles on the road may be configured such that the server system 1 acquires them from the Internet or the like via the communication unit 10, or may be information acquired from each vehicle 100 and accumulated as statistics.

[0057] According to the above-described configuration, for example, when the weather is snowy or when the vehicle 100 is located in an area with many hard brakes, etc., by setting the value of the restricted speed V <统一格式为 limit low, it contributes to improving safety.

[0058] [4. Modification Example 1 According to the Embodiment] As stated above, the shape of the road covered in this disclosure is not limited to the shapes shown in Figures 2, 3, and 5. Figure 6 is an example of a conceptual diagram showing a vehicle 100 associated with a server system 1 traveling on a road according to one embodiment. The road shown in Figure 6 is a T-junction in which a road with one lane on each side, having a first lane, intersects with a two-lane road on each side, having a second lane and a third lane adjacent to each other and traveling in the same direction, from a direction substantially perpendicular to it.

[0059] The first vehicle 100 transmits the first information and the third information indicating a request to change lanes by turning right from the first lane to the second lane to the server system 1. The second vehicle 100 transmits the second information and the fourth information indicating a request to change lanes from the third lane to the second lane to the server system 1. The determination unit 6 of the server system 1 then refers to the first to fourth information received by the receiving unit 14 and makes a determination to temporarily prohibit at least one of the vehicles 100 from changing lanes when the distance between each vehicle 100 falls below a predetermined level. The determination unit 6 may also make a determination to instruct either vehicle 100 to accelerate or decelerate. The transmission unit 12 transmits information indicating the determination result by the determination unit 6 to the first vehicle 100 and the second vehicle 100.

[0060] In particular, as illustrated in Figure 6, when congestion occurs in the third lane, there is a high probability that both the first vehicle 100 and the second vehicle 100 will change lanes to the second lane. However, with the configuration described above, collisions between each vehicle 100 can be suppressed even at T-junctions and the like.

[0061] [5. Modification Example 2 According to the Embodiment] Further examples of other road shapes will be provided. Figure 7 is an example of a conceptual diagram showing a vehicle 100 associated with a server system 1 traveling on a road according to one embodiment. The road shown in Figure 7 includes a T-junction near the center of Figure 7 where a road with one lane on each side, having a first lane, intersects with a two-lane road on each side, having a second lane and a third lane adjacent to each other and traveling in the same direction, from a direction approximately perpendicular to it. Furthermore, the road shown in Figure 7 includes a T-junction to the right of Figure 7 where the aforementioned two-lane road intersects with another one-lane road on each side from a direction approximately perpendicular to it.

[0062] The first vehicle 100 transmits the first information and the third information indicating a request to change lanes by turning left from the first lane to the second lane to the server system 1. The second vehicle 100 transmits the second information and the fourth information indicating a request to change lanes from the third lane to the second lane to the server system 1. The determination unit 6 of the server system 1 then makes a determination in the same manner as in the modified example 1, and the transmission unit 12 transmits information indicating the determination result by the determination unit 6 to the first vehicle 100 and the second vehicle 100.

[0063] In particular, as illustrated in Figure 7, if congestion occurs in the third lane due to a vehicle 100 waiting to turn right, there is a high probability that both the first vehicle 100 and the second vehicle 100 will change lanes to the second lane. However, according to the configuration described above, the occurrence of collisions between each vehicle 100 can be suppressed.

[0064] [6. Additional Notes] A server system according to one aspect of the present invention includes an acquisition unit that acquires road information of a road having a first lane, a second lane, and a third lane, wherein at least the second lane and the third lane are adjacent and traveling in the same direction, and a unit that receives first information indicating the position and speed of a first vehicle traveling in the first lane, second information indicating the position and speed of a second vehicle traveling in the third lane, third information indicating a request for the first vehicle to change lanes from the first lane to the second lane, and fourth information indicating a request for the second vehicle to change lanes from the third lane to the second lane. The system includes a receiving unit, a determination unit that, when the first vehicle changes lanes from the first lane to the second lane and the second vehicle changes lanes from the third lane to the second lane, and the distance between the first vehicle and the second vehicle becomes less than or equal to a predetermined distance, determines that the lane change should be prohibited for at least one of the first vehicle and the second vehicle, and a transmitting unit that transmits information indicating the determination result to at least the vehicle that is subject to the determination to prohibit the lane change.

[0065] A vehicle according to another aspect of the present invention includes: an acquisition unit that acquires driving information indicating the position and speed of the vehicle traveling in the first or third lane of a road having a first lane, a second lane, and a third lane, wherein at least the second lane and the third lane are adjacent and traveling in the same direction; a transmission unit that transmits the driving information and request information indicating a request to change lanes from the lane the vehicle is currently traveling in to the second lane; and a receiving unit that, when a server system associated with the vehicle determines that conditions are met, including the distance between the vehicle and another vehicle requesting to change lanes to the second lane being less than or equal to a predetermined value, receives prohibition information transmitted from the server system indicating that the vehicle is prohibited from changing lanes.

[0066] [7. Examples of implementation using software] The functions of server system 1 (hereinafter referred to as "device") are programs that cause the device to function as a computer, and these can be realized by programs that cause each control block of the device (particularly each part included in control unit 2) to function as a computer.

[0067] In this case, the device includes a computer having at least one control device (e.g., a processor) and at least one storage device (e.g., memory) as hardware for executing the program. By executing the program using this control device and storage device, the functions described in each of the embodiments are realized.

[0068] The above program may be recorded on one or more computer-readable recording media, not temporary ones. These recording media may or may not be provided by the above device. In the latter case, the program may be supplied to the above device via any wired or wireless transmission medium.

[0069] Furthermore, some or all of the functions of each of the above control blocks can also be realized by logic circuits. For example, an integrated circuit in which logic circuits functioning as each of the above control blocks are formed is also included in the scope of the present invention. In addition, it is also possible to realize the functions of each of the above control blocks by, for example, a quantum computer.

[0070] Furthermore, each process described in the above embodiments may be performed by AI (Artificial Intelligence). In this case, the AI ​​may operate on the control device described above, or it may operate on other devices (for example, an edge computer or a cloud server).

[0071] The present invention is not limited to the embodiments described above, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention. [Explanation of Symbols]

[0072] 1 Server System 2 Control Unit 4 Acquisition part 6 Judgment section 8 Memory section 10 Communications Department 12 Transmitter 14 Receiving Unit 100 vehicles, 1st vehicle, 2nd vehicle 102 Control Unit 108 Storage section 110 Communications Department 112 Transmitter 114 Receiving Unit 116 Operating part

Claims

1. An acquisition unit that acquires road information for a road having a first lane, a second lane, and a third lane, where the first lane and the second lane are adjacent, the second lane and the third lane are adjacent, and the first lane, the second lane, and the third lane are all traveling in the same direction. A receiving unit that receives first information indicating the position and speed of a first vehicle traveling in the first lane, second information indicating the position and speed of a second vehicle traveling in the third lane, third information indicating a request for the first vehicle to change lanes from the first lane to the second lane, and fourth information indicating a request for the second vehicle to change lanes from the third lane to the second lane. A determination unit that, referring to the first information, the second information, the third information, and the fourth information, determines that if the first vehicle changes lanes from the first lane to the second lane and the second vehicle changes lanes from the third lane to the second lane, (i) if there is a risk of collision between the first vehicle and the second vehicle, it determines that the lane change is prohibited for at least one of the first vehicle and the second vehicle, and (ii) if there is no risk of collision between the first vehicle and the second vehicle, it determines that the lane change is permitted for both the first vehicle and the second vehicle. A server system comprising: a transmitting unit that transmits information indicating the determination result for both the first vehicle and the second vehicle to both vehicles.

2. An acquisition unit that acquires road information for a road having a first lane, a second lane, and a third lane, wherein the first lane merges with the second lane, and the second lane and the third lane are adjacent and traveling in the same direction. A receiving unit that receives first information indicating the position and speed of a first vehicle traveling in the first lane, second information indicating the position and speed of a second vehicle traveling in the third lane, third information indicating a request for the first vehicle to change lanes from the first lane to the second lane, and fourth information indicating a request for the second vehicle to change lanes from the third lane to the second lane. A determination unit that, referring to the first information, the second information, the third information, and the fourth information, determines that if the first vehicle changes lanes from the first lane to the second lane and the second vehicle changes lanes from the third lane to the second lane, (i) if there is a risk of collision between the first vehicle and the second vehicle, it determines that the lane change is prohibited for at least one of the first vehicle and the second vehicle, and (ii) if there is no risk of collision between the first vehicle and the second vehicle, it determines that the lane change is permitted for both the first vehicle and the second vehicle. A server system comprising: a transmitting unit that transmits information indicating the determination result for both the first vehicle and the second vehicle to both vehicles.

3. An acquisition unit acquires road information for a road having a first lane, a second lane, and a third lane, where the first lane, the second lane, and the third lane intersect to form a T-junction or intersection, and where the second lane and the third lane are adjacent and traveling in the same direction. A receiving unit that receives first information indicating the position and speed of a first vehicle traveling in the first lane, second information indicating the position and speed of a second vehicle traveling in the third lane, third information indicating a request for the first vehicle to change lanes from the first lane to the second lane, and fourth information indicating a request for the second vehicle to change lanes from the third lane to the second lane. A determination unit that, referring to the first information, the second information, the third information, and the fourth information, determines that if the first vehicle changes lanes from the first lane to the second lane and the second vehicle changes lanes from the third lane to the second lane, (i) if there is a risk of collision between the first vehicle and the second vehicle, it determines that the lane change is prohibited for at least one of the first vehicle and the second vehicle, and (ii) if there is no risk of collision between the first vehicle and the second vehicle, it determines that the lane change is permitted for both the first vehicle and the second vehicle. A server system comprising: a transmitting unit that transmits information indicating the determination result for both the first vehicle and the second vehicle to both vehicles.

4. An acquisition unit that acquires road information for a road having a first lane, a second lane, and a third lane, where the first lane and the second lane are adjacent, the second lane and the third lane are adjacent, and the first lane, the second lane, and the third lane are all traveling in the same direction. A receiving unit that receives first information indicating the position and speed of a first vehicle traveling in the first lane, second information indicating the position and speed of a second vehicle traveling in the third lane, third information indicating a request for the first vehicle to change lanes from the first lane to the second lane, and fourth information indicating a request for the second vehicle to change lanes from the third lane to the second lane. A determination unit that, referring to the first information, the second information, the third information, and the fourth information, determines that if the first vehicle changes lanes from the first lane to the second lane and the second vehicle changes lanes from the third lane to the second lane, (i) if there is a risk of collision between the first vehicle and the second vehicle, it determines that the lane change is prohibited for at least one of the first vehicle and the second vehicle, and (ii) if there is no risk of collision between the first vehicle and the second vehicle, it determines that the lane change is permitted for the first vehicle and the second vehicle. The system includes a transmitting unit that transmits information indicating the determination result for each of the first and second vehicles to each of the first and second vehicles. The determination unit, A server system that compares (1) the first time required for the second vehicle to overtake the first vehicle with (2) a second time which is the sum of the time required for the second vehicle to reach the end of the third lane or to reach an obstacle on the third lane and the time required for the second vehicle to change lanes, and if the length of the first time is less than or equal to the length of the second time, makes a determination to permit the second vehicle to change lanes after the first time has elapsed.

5. A road having a first lane, a second lane and a third lane, wherein the first lane merges with the second lane, and the second lane and the third lane are An acquisition unit that acquires road information for adjacent roads that are traveling in the same direction, A receiving unit that receives first information indicating the position and speed of a first vehicle traveling in the first lane, second information indicating the position and speed of a second vehicle traveling in the third lane, third information indicating a request for the first vehicle to change lanes from the first lane to the second lane, and fourth information indicating a request for the second vehicle to change lanes from the third lane to the second lane. A determination unit that, referring to the first information, the second information, the third information, and the fourth information, determines that if the first vehicle changes lanes from the first lane to the second lane and the second vehicle changes lanes from the third lane to the second lane, (i) if there is a risk of collision between the first vehicle and the second vehicle, it determines that the lane change is prohibited for at least one of the first vehicle and the second vehicle, and (ii) if there is no risk of collision between the first vehicle and the second vehicle, it determines that the lane change is permitted for the first vehicle and the second vehicle. The system includes a transmitting unit that transmits information indicating the determination result for each of the first and second vehicles to each of the first and second vehicles. The determination unit, A server system that compares (1) the first time required for the second vehicle to overtake the first vehicle with (2) a second time which is the sum of the time required for the second vehicle to reach the end of the third lane or to reach an obstacle on the third lane and the time required for the second vehicle to change lanes, and if the length of the first time is less than or equal to the length of the second time, makes a determination to permit the second vehicle to change lanes after the first time has elapsed.

6. An acquisition unit acquires road information for a road having a first lane, a second lane, and a third lane, where the first lane, the second lane, and the third lane intersect to form a T-junction or intersection, and where the second lane and the third lane are adjacent and traveling in the same direction. A receiving unit that receives first information indicating the position and speed of a first vehicle traveling in the first lane, second information indicating the position and speed of a second vehicle traveling in the third lane, third information indicating a request for the first vehicle to change lanes from the first lane to the second lane, and fourth information indicating a request for the second vehicle to change lanes from the third lane to the second lane. A determination unit that, referring to the first information, the second information, the third information, and the fourth information, determines that if the first vehicle changes lanes from the first lane to the second lane and the second vehicle changes lanes from the third lane to the second lane, (i) if there is a risk of collision between the first vehicle and the second vehicle, it determines that the lane change is prohibited for at least one of the first vehicle and the second vehicle, and (ii) if there is no risk of collision between the first vehicle and the second vehicle, it determines that the lane change is permitted for the first vehicle and the second vehicle. The system includes a transmitting unit that transmits information indicating the determination result for each of the first and second vehicles to each of the first and second vehicles. The determination unit, A server system that compares (1) the first time required for the second vehicle to overtake the first vehicle with (2) a second time which is the sum of the time required for the second vehicle to reach the end of the third lane or to reach an obstacle on the third lane and the time required for the second vehicle to change lanes, and if the length of the first time is less than or equal to the length of the second time, makes a determination to permit the second vehicle to change lanes after the first time has elapsed.

7. It is a vehicle, An acquisition unit that acquires driving information indicating the position and speed of the vehicle traveling in the first lane or third lane of a road having a first lane, a second lane, and a third lane, wherein the first lane and the second lane are adjacent, and the second lane and the third lane are adjacent, and the first lane, the second lane, and the third lane are all traveling in the same direction; A transmission unit that transmits the aforementioned driving information and request information indicating a request to change lanes from the lane being driven in to the second lane, The system includes a receiving unit that receives information indicating the determination result from a server system associated with the vehicle, which shows the determination result for both the vehicle and the other vehicle requesting to change lanes to the second lane. The aforementioned server system A vehicle that (i) when there is a risk of collision between its own vehicle and the other vehicle, makes a determination prohibiting the lane change for at least one of its own vehicle and the other vehicle, and (ii) when there is no risk of collision between its own vehicle and the other vehicle, makes a determination permitting the lane change for its own vehicle and the other vehicle.

8. It is a vehicle, A road having a first lane, a second lane and a third lane, wherein the first lane merges with the second lane, and the second lane and the third lane are An acquisition unit that acquires driving information indicating the position and speed of the vehicle traveling in the first or third lane of an adjacent road that is traveling in the same direction, A transmission unit that transmits the aforementioned driving information and request information indicating a request to change lanes from the lane being driven in to the second lane, The system includes a receiving unit that receives information indicating the determination result from a server system associated with the vehicle, which shows the determination result for both the vehicle and the other vehicle requesting to change lanes to the second lane. The aforementioned server system A vehicle that (i) when there is a risk of collision between its own vehicle and the other vehicle, makes a determination prohibiting the lane change for at least one of its own vehicle and the other vehicle, and (ii) when there is no risk of collision between its own vehicle and the other vehicle, makes a determination permitting the lane change for its own vehicle and the other vehicle.

9. It is a vehicle, An acquisition unit that acquires driving information indicating the position and speed of the vehicle traveling in the first lane or third lane of a road having a first lane, a second lane, and a third lane, and in which the first lane, the second lane, and the third lane intersect to form a T-junction or intersection, and in which the second lane and the third lane are adjacent and traveling in the same direction; A transmission unit that transmits the aforementioned driving information and request information indicating a request to change lanes from the lane being driven in to the second lane, The system includes a receiving unit that receives information indicating the determination result from a server system associated with the vehicle, which shows the determination result for both the vehicle and the other vehicle requesting to change lanes to the second lane. The aforementioned server system A vehicle that (i) when there is a risk of collision between its own vehicle and the other vehicle, makes a determination prohibiting the lane change for at least one of its own vehicle and the other vehicle, and (ii) when there is no risk of collision between its own vehicle and the other vehicle, makes a determination permitting the lane change for its own vehicle and the other vehicle.

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