Vehicle control system
The vehicle control system addresses computational and communication challenges in traffic management by distributing load and reducing communication needs through collaborative vehicle and external computing devices, optimizing route planning and area recommendations for improved traffic flow.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- HITACHI LTD
- Filing Date
- 2023-01-27
- Publication Date
- 2026-06-30
AI Technical Summary
Existing methods for controlling vehicle traffic at intersections, such as AIM and CVIC, require high-speed computation and high-capacity information communication due to the need to acquire and process driving information from all vehicles, posing technical challenges.
A vehicle control system that distributes computational load and reduces communication requirements by using vehicle control devices mounted on each vehicle and a computing device outside the vehicles, which collaboratively manage route planning and area recommendations based on occupancy history and sensor data.
Reduces computational load and communication demands, enhancing traffic flow management efficiency by optimizing route planning and avoiding congested areas, thereby improving driving efficiency and handling increased vehicle numbers.
Smart Images
Figure 0007882789000002 
Figure 0007882789000003 
Figure 0007882789000004
Abstract
Description
Technical Field
[0001] The present disclosure relates to a vehicle control system.
Background Art
[0002] Conventionally, as methods for controlling a group of vehicles at an intersection based on exclusive control, an Autonomous Intersection Management (AIM) method and a Cooperative Vehicle Intersection Control (CVIC) method are known (see Non-Patent Documents 1 and 2 below).
[0003] The AIM method is a method of dividing an intersection into fine cells and managing the occupancy rights of those cells over time. In the AIM method, in response to a passing permission request from a vehicle, it is determined whether the path through which the vehicle passes is occupied by other vehicles, and the group of vehicles is controlled by returning the result. The CVIC method is a method of predicting the travel trajectories of all vehicles entering an intersection and controlling the speed of each vehicle so as to eliminate the possibility of collision.
[0004] Also, a vehicle driving support method is known that can efficiently predict the behavior of a moving object, quickly determine the possibility of contact, and present warning information at an appropriate timing (see Patent Document 1 below).
[0005] In the method described in Patent Document 1, the navigation ECU of a car navigation system mounted on a vehicle divides a moving object detection area at a service target intersection into a plurality of areas based on intersection structure information included in driving support information received from a first optical beacon. The navigation ECU further determines the priority order of the plurality of divided areas based on vehicle speed information acquired via CAN.
[0006] Furthermore, the navigation ECU predicts the behavior of pedestrians and cyclists in areas, starting with those with the highest priority, based on the moving object status information included in the driver assistance information. Based on the prediction results and vehicle information acquired via CAN, it determines the need for a warning. If it determines that a warning is necessary, it presents warning information through a screen display or audio output from the speaker (Patent Document 1, abstract, etc.). [Prior art documents] [Patent Documents]
[0007] [Patent Document 1] Japanese Patent Publication No. 2011-044063 [Non-patent literature]
[0008] [Non-Patent Document 1] Kurt Dresner, Peter Stone, “A Multiagent Approach to Autonomous Intersection Management”, Journal of Artificial Intelligent Research, 2008, Vol.31, No.1, pp.591-656 [Non-Patent Document 2] Joyoung Lee, Byungkyu Park, “Development and evaluation of a cooperative vehicle intersection control algorithm under the connected vehicles environment”, IEEE Transactions on Intelligent Transportation Systems, 2012, Vol.13, No.1, pp.81-90 [Overview of the project] [Problems that the invention aims to solve]
[0009] In the AIM and CVIC methods, when traffic flow is controlled by an external computing device, it is necessary to acquire driving information such as the position, speed, and planned route of all vehicles traveling through the intersection at high speed and frequency, and to calculate the timing and speed of each vehicle's entry into the intersection. Therefore, not only is high-speed computation required from the computing device, but high-speed and high-capacity information communication between the computing device and each vehicle is also required. These requirements make traffic flow control using the AIM and CVIC methods technically challenging.
[0010] Furthermore, in the method described in Patent Document 1, an electronic control unit (ECU) mounted on the vehicle divides and prioritizes the moving object detection area, predicts the behavior of the moving object, determines the need for warning, and presents warning information based on the driving support information received from the first optical beacon. However, in order to optimize the overall traffic flow, it is necessary to collect driving information of all vehicles traveling through the intersection using an external computing device and perform calculations to generate driving support information to be transmitted to each vehicle, which presents the same challenges as the traffic flow control using the AIM method and CVIC method described above.
[0011] This disclosure provides a vehicle control system that reduces the computational load on the computing device and the amount of communication between the computing device and the vehicle control device through cooperation between each vehicle control device mounted on each of the multiple vehicles and a computing device located outside the multiple vehicles. [Means for solving the problem]
[0012] One aspect of the present disclosure is a vehicle control system comprising: each vehicle control device mounted on each of a plurality of vehicles; and a computing device installed outside the plurality of vehicles and connected to each of the vehicle control devices in a manner that enables information communication, wherein each of the vehicle control devices has a route acquisition unit that acquires a planned route of the vehicle on which the vehicle control device is mounted based on driving support information transmitted from the computing device; and the computing device has an occupation history storage unit that stores the occupation history of exclusive areas set on roads on which the plurality of vehicles travel; a recommended area setting unit that sets a recommended area in the exclusive area based on the occupation history; and an information communication unit that transmits the driving support information including the recommended area to the vehicle passing through the exclusive area on which the recommended area has been set. [Effects of the Invention]
[0013] According to one aspect of the present disclosure, a vehicle control system can be provided that reduces the computational load on the computing device and the amount of communication between the computing device and the vehicle control device through cooperation between each vehicle control device mounted on each of the multiple vehicles and a computing device located outside the multiple vehicles. [Brief explanation of the drawing]
[0014] [Figure 1] A schematic diagram showing Embodiment 1 of the vehicle control system relating to this disclosure. [Figure 2] A functional block diagram of the vehicle control device that constitutes the vehicle control system shown in Figure 1. [Figure 3] Figure 1 shows a plan view of the exclusive area and recommended area in the vehicle control system. [Figure 4] A flowchart showing an example of the operation of the vehicle control device in Figure 2. [Figure 5] A flowchart showing the operation of the computing unit in the vehicle control system in Figure 1. [Figure 6] A plan view showing an example of vehicle driving control by the vehicle control device shown in Figure 2. [Figure 7] A block diagram of a vehicle control device showing Embodiment 2 of the vehicle control system of the present disclosure. [Figure 8] A flowchart showing an example of the operation of the vehicle control device of FIG. 7. [Figure 9] A flowchart showing the operation of the arithmetic unit of the vehicle control system according to Embodiment 2. [Figure 10] A plan view showing an example of the travel control of a vehicle by the vehicle control device of FIG. 7.
Mode for Carrying Out the Invention
[0015] Hereinafter, embodiments of the vehicle control system according to the present disclosure will be described with reference to the drawings.
[0016] [Embodiment 1] FIG. 1 is a schematic diagram showing Embodiment 1 of the vehicle control system according to the present disclosure. FIG. 2 is a functional block diagram of the vehicle control device 110 constituting the vehicle control system 100 of FIG. 1. FIG. 3 is a plan view showing an example of the exclusive area EA and the recommended area RA set on the road R in the vehicle control system 100 of FIG. 1.
[0017] The vehicle control system 100 of the present embodiment includes, for example, each vehicle control device 110 mounted on each of a plurality of vehicles 10 and an arithmetic unit 120 installed outside the plurality of vehicles 10. Further, the vehicle control system 100 may further include, for example, an information terminal 130. In FIG. 1, only one of the plurality of vehicles 10 is shown for convenience of illustration.
[0018] <000Each vehicle 10 equipped with the vehicle control device 110 is, for example, an autonomous vehicle capable of autonomous driving under the control of the vehicle control device 110. Alternatively, each vehicle 10 may be, for example, a manually driven vehicle or a semi-autonomous vehicle equipped with an advanced driver-assistance system (ADAS) including the vehicle control device 110. Each vehicle 10 is equipped with, for example, an external sensor 11, a vehicle sensor 12, a wireless communication device 13, a GNSS receiver 14, and various actuators 15.
[0020] The external sensor 11 includes, for example, at least one of a monocular camera, a stereo camera, LiDAR (laser radar), and a millimeter-wave radar. The vehicle sensor 12 includes, for example, a speed sensor, an acceleration sensor, a steering angle sensor, an accelerator pedal sensor, a brake pedal sensor, a shift position sensor, a torque sensor, and the like. The wireless communication device 13 is connected to a wireless base station WBS or another vehicle 10 wireless communication device 13 via, for example, a wireless communication line WCL.
[0021] The GNSS receiver 14, for example, receives radio waves from a Global Navigation Satellite System (GNSS) positioning satellite to acquire the position information of the vehicle 10. The actuator 15, for example, automatically operates the accelerator, brakes, steering wheel, transmission, etc., based on control signals output from the vehicle control device 110, thereby making the vehicle 10 move autonomously or providing driving assistance to the driver of the vehicle 10.
[0022] The vehicle control device 110 is an electronic control unit (ECU) composed of, for example, one or more microcontrollers equipped with a central processing unit (CPU), memory, input / output unit, and timer. The vehicle control device 110 includes, for example, a route acquisition unit 111 as shown in Figure 2. The vehicle control device 110 may also include, for example, a occupancy right request unit 112, a drivability determination unit 113, and a driving control unit 114.
[0023] These parts of the vehicle control device 110 represent the various functions of the vehicle control device 110, which are realized, for example, by the CPU executing a program stored in memory. The operation of these parts of the vehicle control device 110 will be described later with reference to Figure 4.
[0024] The computing device 120 is, for example, a network server connected to a network N such as an internet connection. The computing device 120 is connected to a plurality of roadside sensors 20 via the network N. Alternatively, the computing device 120 may be provided integrally with each of the roadside sensors 20.
[0025] Each roadside sensor 20 is installed, for example, around a road R on which multiple vehicles 10 travel, to detect objects that occupy an exclusive area EA. The roadside sensors 20 are composed of, for example, a monocular camera, a stereo camera, LiDAR, a millimeter-wave radar, an infrared sensor, an ultrasonic sensor, or an RFID reader.
[0026] Furthermore, the computing unit 120 is connected to the vehicle control device 110 of each vehicle 10 via, for example, the network N, the wireless base station WBS, the wireless communication line WCL, and the wireless communication device 13 of each vehicle 10. In addition, the computing unit 120 is connected to the information terminal 130 via the network N via, for example, the information terminal 130 that can input information about the exclusive area EA.
[0027] The arithmetic unit 120 includes, for example, an occupancy history storage unit 121, a recommended area setting unit 122, and an information and communication unit 123. Each of these parts of the arithmetic unit 120 represents a function of the arithmetic unit 120, which is realized, for example, by the CPU constituting the arithmetic unit 120 executing a program stored in the memory constituting the arithmetic unit 120. The operation of each of these parts of the arithmetic unit 120 will be described later with reference to Figure 5.
[0028] The information terminal 130 is, for example, a computer that can connect to the network N. The information terminal 130 may also be, for example, a portable information terminal that can connect to the network N via a wireless communication line WCL and a wireless base station WBS. The information terminal 130 includes, for example, an information input unit 131 that can input information about the exclusive area EA, and an information communication unit 132 that communicates with the computing unit 120 via the network N. The information input unit 131 includes, for example, a keyboard or a touch panel. The information communication unit 132 includes, for example, an input / output unit and a communication device.
[0029] The operation of the vehicle control system 100 of this embodiment will be described below with reference to Figures 4 to 6. Figures 4 and 5 are flowcharts showing the operation of the vehicle control device 110 and the arithmetic unit 120, which constitute the vehicle control system 100, respectively. Figure 6 is a plan view showing an example of vehicle 10 driving control by the vehicle control device 110 of Figure 2.
[0030] When the vehicle control device 110 starts the processing flow shown in Figure 4, it first executes process P101, which transmits the planned route SR. In this process P101, the route acquisition unit 111 of the vehicle control device 110 acquires the current location of the vehicle 10 from the GNSS receiver 14, accepts destination input from the occupants of the vehicle 10, and acquires the planned route SR from the current location to the destination based on map information of the area around the vehicle 10.
[0031] Furthermore, the route acquisition unit 111 may acquire a planned route SR from an external device, for example, via the wireless communication line WCL and the wireless communication device 13. In addition, the route acquisition unit 111 transmits the acquired planned route SR to the computing device 120, for example, via the wireless communication device 13, the wireless communication line WCL, the wireless base station WBS, and the network N.
[0032] On the other hand, when the arithmetic unit 120 starts the processing flow shown in Figure 5, it first executes process P201 to set the recommended area RA. In this process P201, the recommended area setting unit 122 sets the recommended area RA in the exclusive area EA by referring to the occupation history of the exclusive area EA stored in memory by the occupation history storage unit 121, for example. The occupation history of each exclusive area EA set on the road R on which multiple vehicles 10 travel is pre-stored in the memory of the arithmetic unit 120 by the occupation history storage unit 121, for example.
[0033] More specifically, the occupancy history storage unit 121 receives, for example, the detection results from roadside sensors 20 installed around the road R that detect objects occupying each section of the exclusive area EA via the network N and stores them in memory as occupancy history. The occupancy history storage unit 121 also receives, for example, the detection results from each external sensor 11 mounted on each of the multiple vehicles 10 that detect objects occupying each section of the exclusive area EA via the network N and stores them in memory as occupancy history.
[0034] The occupancy history based on the object detection results from the roadside sensor 20 and the external sensor 11 includes, for example, the type of object, the date and time of detection, the location information of the exclusive area EA occupied by the object, and the location information of the occupied area OA, which is part of multiple sections of the exclusive area EA occupied by the object. The type of object includes, for example, parked vehicles, moving vehicles, pedestrians, and obstacles.
[0035] The recommended area setting unit 122 sets a recommended area RA so that the vehicle 10 can avoid the occupied area when it is likely that at least a portion of the multiple sections of the exclusive area EA will be occupied when the vehicle 10 passes through, based on the occupation history, for example. As shown in Figure 3, when the vehicle 10 travels along the planned route SR and passes through the exclusive area EA, it passes through a portion of the occupied area OA, which is part of the multiple sections of the exclusive area EA and is shown on the planned route SR and in the hatched sections on both sides of it.
[0036] The recommended area setting unit 122 sets a recommended area RA, indicated by hatching, in the right lane, for example, in the exclusive area EA of a two-lane road R shown in Figure 3, when parked vehicles PV are frequently detected in the left lane on specific days of the week or times when vehicle 10 is traveling. In addition to parked vehicles PV, the recommended area setting unit 122 also sets the recommended area RA to avoid obstacles on road R, road construction, traffic congestion, etc.
[0037] The recommended area setting unit 122 sets the recommended area RA by, for example, comparing the scheduled time of passage through the exclusive area EA based on the planned route SR with the time included in the occupation history. At that time, the recommended area setting unit 122 outputs the confidence level of the recommended area RA based on, for example, the number of data points in the occupation history, the accuracy of the detection result of the roadside sensor 20 or the external sensor 11, and at least one of the input information regarding the occupation of the exclusive area EA.
[0038] The confidence level of the recommended area RA can be increased, for example, as the number of data points in the occupation history, i.e., as the number of times each section of the exclusive area EA has been occupied in the past increases. The confidence level of the recommended area RA can also be increased, for example, as the accuracy of the detection results from the roadside sensor 20 or the external sensor 11 (machine learning accuracy or the amount of point cloud data within the object) increases. Furthermore, the confidence level of the recommended area RA can be maximized when input information regarding the occupation of the exclusive area EA is available. Table 1 below shows an example of how to set the confidence level.
[0039] [Table 1]
[0040] In the example shown in Table 1, the confidence level is set based on, for example, the presence or absence of occupation history data for the exclusive area EA at the time of vehicle 10's passage, the presence or absence of object detection in the exclusive area EA at the present time by sensors such as roadside sensors 20, and the presence or absence of input information. Here, the input information is information such as obstacles or road construction occupying at least a part of the exclusive area EA.
[0041] The input information is entered into the information input unit 131 of the information terminal 130 by, for example, passengers in vehicle 10, road construction project managers, and traffic information center staff, and transmitted from the information communication unit 132 of the information terminal 130 to the computing device 120 via the network N. The computing device 120 receives the input information via the network N via, for example, the information communication unit 123, stores the occupation history based on the input information in the occupation history storage unit 121, and sets the confidence level of the recommended area RA based on the input information to 100% in the recommended area setting unit 122.
[0042] As described above, in the process P201 for setting the recommended area RA, the information and communication unit 123 of the arithmetic unit 120 receives, for example, input information regarding the occupation of the exclusive area EA from the information terminal 130. In this case, in this process P201, the recommended area setting unit 122 sets the recommended area RA in the exclusive area EA based, for example, the occupation history stored in memory and the input information received by the information and communication unit 123.
[0043] Next, the arithmetic unit 120 executes a process P202 to receive, for example, the planned route SR for each vehicle 10. In this process P202, the information and communication unit 123 receives, for example, the planned route SR transmitted from the vehicle control device 110 via the wireless communication device 13 in the aforementioned process P101, via the network N. Next, the arithmetic unit 120 executes a process P203 to determine whether or not the planned route SR was received in this process P202.
[0044] In this process P203, for example, if the information and communication unit 123 determines that it did not receive the planned route SR (NO), the computing unit 120 terminates the processing flow shown in Figure 5 and starts it again at a predetermined interval. On the other hand, in this process P203, for example, if the information and communication unit 123 determines that it did receive the planned route SR (YES), the computing unit 120 executes the next process P204. In this process P204, for example, the recommended area setting unit 122 determines whether the vehicle 10 traveling along the received planned route SR passes through the exclusive area EA.
[0045] In this process P204, for example, if the recommended area setting unit 122 determines that the vehicle 10 traveling along the planned route SR will not pass through the exclusive area EA (NO), the computing unit 120 executes the next process P205. In this process P205, the information and communication unit 123 transmits, for example, driving support information via the network N to the vehicle control device 110 installed in the vehicle 10 traveling along the received planned route SR, notifying it that the planned route SR does not include the exclusive area EA. After that, the computing unit 120 terminates the processing flow shown in Figure 5 and, for example, starts it again at a predetermined interval.
[0046] On the other hand, in the aforementioned process P204, if, for example, the recommended area setting unit 122 determines that the vehicle 10 traveling along the planned route SR will pass through the exclusive area EA (YES), the calculation unit 120 executes the next process P206. In this process P206, the calculation unit 120 determines, for example, whether the recommended area setting unit 122 has set a recommended area RA in the exclusive area EA through which the vehicle 10 will pass.
[0047] In this process P206, if the recommended area setting unit 122 determines that the recommended area RA is set in the exclusive area EA through which the vehicle 10 will pass (YES), the calculation unit 120 executes the next process P207. In this process P207, for example, the information and communication unit 123 transmits driving support information, including the exclusive area EA and the recommended area RA, via the network N to the vehicle control device 110 mounted on the vehicle 10 passing through the exclusive area EA.
[0048] In addition, in the aforementioned process P201, the recommended area setting unit 122 may output a confidence level for the recommended area RA as shown in Table 1 above. In this case, in process P207, the information and communication unit 123 transmits driving support information, including the confidence level output from the recommended area setting unit 122, to the vehicle control device 110.
[0049] On the other hand, in the aforementioned process P206, if, for example, the recommended area setting unit 122 determines that the recommended area RA is not set in the exclusive area EA through which the vehicle 10 will pass (NO), the calculation unit 120 executes the next process P208. In this process P208, for example, the information and communication unit 123 transmits driving support information, including the exclusive area EA, via the network N to the vehicle control device 110 mounted on the vehicle 10 passing through the exclusive area EA.
[0050] Furthermore, in process P101 shown in Figure 4, the vehicle control device 110, which has transmitted the planned route SR to the arithmetic unit 120, executes, for example, the following process P102. In this process P102, for example, the possession request unit 112 receives the driving support information transmitted from the arithmetic unit 120 via the network N, via the wireless communication line WCL and the wireless communication device 13. If, for example, the driving support information cannot be received, the possession request unit 112 repeatedly executes process P102 until the driving support information can be received. After that, the vehicle control device 110 executes the following process P103.
[0051] In this process P103, for example, the possession request unit 112 determines whether or not there is an exclusive area EA on the planned route SR of the vehicle 10 equipped with the vehicle control device 110. More specifically, the possession request unit 112 determines the presence or absence of an exclusive area EA on the planned route SR based on, for example, the driving support information received from the arithmetic unit 120. More precisely, the possession request unit 112 determines that there is no exclusive area EA on the planned route SR (NO) if the driving support information received from the arithmetic unit 120 does not include an exclusive area EA.
[0052] In this case, the route acquisition unit 111 acquires the planned route SR acquired in the aforementioned process P101 as the planned route SR for driving control of the vehicle 10 equipped with the vehicle control device 110. Subsequently, the vehicle control device 110 executes the vehicle 10 driving control process P110, which will be described later. Meanwhile, in the aforementioned process P103, the possession request unit 112 determines, for example, that the planned route SR contains an exclusive area EA (YES) if the driving support information received from the arithmetic unit 120 includes an exclusive area EA.
[0053] In this case, the possession request unit 112 executes a process P104 to determine whether or not the recommended area RA is set in the exclusive area EA through which the vehicle 10 equipped with the vehicle control device 110 passes. In this process P104, for example, if the possession request unit 112 determines that the driving support information received from the arithmetic unit 120 does not include the recommended area RA (NO), the vehicle control device 110 executes a process P107 to request possession, which will be described later.
[0054] On the other hand, in the aforementioned process P104, if, for example, the possession request unit 112 determines that the driving support information received from the arithmetic unit 120 includes the recommended area RA (YES), the vehicle control device 110 executes, for example, the following process P105. In this process P105, for example, the driving feasibility determination unit 113 determines whether the vehicle 10 equipped with the vehicle control device 110 will drive in the recommended area RA.
[0055] In this process P105, the driveability determination unit 113 determines whether it is permissible to drive into the recommended area RA, for example, based on the type of roadside sensor 20 or external sensor 11 that detected an object occupying the exclusive area EA, the driving state of the vehicle 10, and the confidence level of the recommended area RA. More specifically, the driveability determination unit 113 calculates a driveability determination value based on the sensor type, driving state, and confidence level, for example, and determines to drive into the recommended area RA if the driveability determination value exceeds a predetermined threshold.
[0056] In this process P105, if the driving feasibility determination unit 113 determines that the vehicle should travel through the recommended area RA (YES), the vehicle control device 110 executes, for example, the next process P106. In this process P106, the route acquisition unit 111 acquires a modified planned route RSR, which is a modified planned route SR that passes through the recommended area RA included in the driving support information transmitted from the calculation unit 120, for example, as shown in Figure 6.
[0057] As described above, the vehicle control device 110 of this embodiment executes, for example, processes P101 through P103 to P106. As a result, the route acquisition unit 111 acquires the planned route SR or modified planned route RSR of the vehicle 10 on which the vehicle control device 110 is installed, based on the driving support information transmitted from the calculation unit 120. Furthermore, after the completion of any of the processes P104 through P106, the vehicle control device 110 executes process P107 to request the right of possession.
[0058] In this process P107, the possession request unit 112 transmits a request for possession of the exclusive area EA at the date and time the vehicle 10 will pass through to the computing unit 120 via the wireless communication device 13 and the wireless communication line WCL. This possession request may include information such as the vehicle 10's planned route SR or modified planned route RSR, and the size of the vehicle 10. The possession request may also include information specifying the section of the exclusive area EA that the vehicle 10 will occupy.
[0059] Here, let's assume that in the aforementioned process P104, the occupancy request unit 112 determined that the recommended area RA is not included in the driving support information (NO), or that in the aforementioned process P105, the driving feasibility determination unit 113 determined that driving in the recommended area RA is not permitted (NO). More specifically, in process P105, if the recommended area RA includes a lane adjacent to the driving lane of the vehicle 10, and the external sensor 11 does not have a sensing function for the entire surroundings of the vehicle 10, the occupancy request unit 112 may determine that driving in the recommended area RA is not permitted (NO), taking into account the risk of lane changes.
[0060] Furthermore, in the aforementioned process P105, for example, if the confidence level of the recommended area RA is low, the occupancy request unit 112 may determine that it is safer and more efficient for the vehicle 10 to travel along the planned route SR, and may determine that travel through the recommended area RA is not permitted (NO). Also, in the aforementioned process P105, for example, it is conceivable that a passenger of vehicle 10 traveling in the exclusive area EA where the recommended area RA is set may refuse to travel through the recommended area RA via the vehicle 10's human-machine interface (HMI).
[0061] In these cases, in the next process P107, the vehicle control device 110 operates, for example, as follows: The occupancy request unit 112, for example as shown in Figure 3, sends a request for occupancy of the occupied area OA to the arithmetic unit 120 via the wireless communication device 13 and wireless communication line WCL at the time when the vehicle 10 traveling along the planned route SR passes through the exclusive area EA.
[0062] After completing processes P207 and P208, which transmit the aforementioned driving support information, the arithmetic unit 120 executes process P209, which receives a request for possession. In this process P209, the information and communication unit 123 receives the request for possession transmitted from the vehicle control device 110 of each vehicle 10. Subsequently, the arithmetic unit 120 executes process P210, which determines whether or not the granting of possession is possible.
[0063] In this process P210, the occupation history storage unit 121 determines whether or not it is possible to grant the right of possession based on, for example, the date and time included in the request for the right of possession received by the information and communication unit 123 and the occupied area OA or recommended area RA. More specifically, the occupation history storage unit 121 refers to the occupation history stored in memory, for example, and if it determines that the right of possession for the occupied area OA or recommended area RA has not been acquired at the date and time included in the request for the right of possession, it determines that the right of possession can be granted (YES).
[0064] In this case, in the next process P211, the information and communication unit 123 transmits possession information via the network N to the vehicle control device 110 of the vehicle 10 that sent the possession request. The possession information includes, for example, the identification information of the vehicle 10 that acquired the possession, the partition information of the exclusive area EA occupied by the vehicle 10, the start time of occupation, and the end time of occupation. The possession history storage unit 121 also stores in memory, for example, the occupation history of the occupied area OA or recommended area RA at the date and time included in the possession request. After that, the arithmetic unit 120 terminates the processing flow shown in Figure 5 and repeats it at a predetermined cycle.
[0065] On the other hand, in the aforementioned process P210, if the occupancy history storage unit 121 determines, after referring to the occupancy history, that the occupancy right for the occupying area OA or recommended area RA has already been acquired at the date and time included in the occupancy right request, it determines that the occupancy right cannot be granted (NO). In this case, in the next process P212, the information and communication unit 123 sends, for example, an instruction to avoid the exclusive area EA for which the occupancy right was requested to the vehicle control device 110 of the vehicle 10 that sent the occupancy right request, via the network N. After that, the arithmetic unit 120 terminates the processing flow shown in Figure 5 and repeats it at a predetermined cycle.
[0066] Meanwhile, the vehicle control device 110 of the vehicle 10 that sent the request for possession in process P107 shown in Figure 4 executes the next process P108. In this process P108, the possession request unit 112 receives possession information or avoidance instructions from the arithmetic unit 120, for example, via the wireless communication line WCL and wireless communication device 13. In this process P108, the possession request unit 112 determines, for example, that it was not possible to acquire possession (NO) if it receives an avoidance instruction.
[0067] In this case, the arithmetic unit 120 executes a process P109 to modify the planned route SR, for example. In this process P109, the route acquisition unit 111 acquires a planned route SR that does not pass through the occupied area OA or recommended area RA at the time when the right of occupancy could not be acquired. More specifically, the route acquisition unit 111 generates a planned route SR that avoids the occupied area OA or recommended area RA where the right of occupancy could not be acquired, or a planned route SR that passes through the occupied area OA or recommended area RA at a time different from the time when the right of occupancy could not be acquired. After that, the vehicle control device 110 executes a driving control P110 of the vehicle 10.
[0068] Furthermore, in the aforementioned process P108, the possession request unit 112 determines, for example, that it has acquired possession (YES) when it receives possession information. Subsequently, the vehicle control device 110 executes the vehicle 10's driving control P110. Also, in the aforementioned process P103, if the possession request unit 112 determines that the planned route SR does not pass through the exclusive area EA (NO), the vehicle control device 110 also executes the vehicle 10's driving control P110.
[0069] In the vehicle 10's driving control P110, the driving control unit 114 acquires detection results from, for example, the external sensor 11, the vehicle sensor 12, and the GNSS receiver 14, and controls various actuators 15. As a result, the driving control unit 114 can drive the vehicle 10 along the planned route SR or the modified planned route RSR, for example, as shown in Figure 3 or Figure 6. Furthermore, in the next process P111, the driving control unit 114 determines whether or not the vehicle 10 has arrived at its destination.
[0070] In this process P111, the driving control unit 114 determines, for example, whether the vehicle 10 has arrived at its destination based on the location information of the vehicle 10's destination acquired by the route acquisition unit 111 and the location information of the vehicle 10's current location detected by the GNSS receiver 14. If the driving control unit 114 determines that the vehicle 10 has not arrived at its destination (NO), it repeats the driving control P110 of the vehicle 10 and the destination arrival determination P111. When the vehicle 10 arrives at its destination and the driving control unit 114 determines in process P111 that the vehicle has arrived at its destination (YES), the vehicle control device 110 terminates the processing flow shown in Figure 4.
[0071] The operation of the vehicle control system 100 of this embodiment will be described below.
[0072] As described above, the vehicle control system 100 of this embodiment includes a vehicle control device 110 mounted on each of the multiple vehicles 10, and a computing device 120 installed outside the multiple vehicles 10 and connected to each vehicle control device 110 for information communication. Each vehicle control device 110 has a route acquisition unit 111 that acquires the planned route SR of the vehicle 10 on which the vehicle control device 110 is mounted, based on driving support information transmitted from the computing device 120. The computing device 120 also includes an occupancy history storage unit 121, a recommended area setting unit 122, and an information communication unit 123. The occupancy history storage unit 121 stores the occupancy history of exclusive area EA set on the road R on which the multiple vehicles 10 travel. The recommended area setting unit 122 sets a recommended area RA in the exclusive area EA based on the occupancy history. The information communication unit 123 transmits driving support information including the recommended area RA to a vehicle 10 passing through the exclusive area EA on which the recommended area RA is set.
[0073] With this configuration, the vehicle control system 100 of this embodiment can reduce the computational load on the computing device 120 by the cooperation between each vehicle control device 110 mounted on each of the multiple vehicles 10 and the computing device 120 located outside of those multiple vehicles 10. Furthermore, the vehicle control system 100 of this embodiment can reduce the amount of communication between the computing device 120 and each vehicle control device 110. Therefore, the vehicle control system 100 of this embodiment can handle congestion situations where the number of vehicles 10 equipped with vehicle control devices 110 increases.
[0074] More specifically, the occupancy history storage unit 121 of the computing unit 120 stores the occupancy history of each exclusive area EA set on a road R where multiple vehicles 10 travel, such as by parked vehicles PV, as shown in Figure 3. This makes it possible to record, for example, congested locations and information on interference of occupancy rights by multiple objects within the exclusive area EA based on the occupancy history of the exclusive area EA at a given time. As a result, for example, based on the occupancy history of each exclusive area EA, it becomes clear that there are many vehicles 10 traveling in a predetermined location within the exclusive area EA at a specific time.
[0075] The recommended area setting unit 122 of the computing unit 120 refers to the occupation history of each exclusive area EA stored by the occupation history storage unit 121. Furthermore, based on the referenced occupation history, the recommended area setting unit 122 can set a recommended area RA to avoid obstacles such as parked vehicles PV that frequently occupy a portion of the exclusive area EA in specific weather conditions or at specific times. The information and communication unit 123 of the computing unit 120 then transmits driving support information, including the recommended area RA, to the vehicle control device 110 of each vehicle 10 that will pass through the exclusive area EA where the recommended area RA has been set, based on the planned route SR of each vehicle 10.
[0076] Furthermore, the route acquisition unit 111 of the vehicle control device 110, which is mounted on the vehicle 10 passing through the exclusive area EA where the recommended area RA is set, receives driving support information, including the recommended area RA, transmitted from the calculation unit 120. Based on the received driving support information, the route acquisition unit 111 then acquires the revised planned route RSR of the vehicle 10 passing through the exclusive area EA where the recommended area RA is set, for example as shown in Figure 6. This makes it possible for the vehicle 10 passing through the exclusive area EA to efficiently avoid the occupied area OA of the exclusive area EA, which is occupied by, for example, a parked vehicle PV.
[0077] On the other hand, if the vehicle control system 100 of this embodiment is not used, the external sensor 11 of the vehicle 10 will detect obstacles such as a parked vehicle PV before reaching the exclusive area EA, and the vehicle 10 will need to slow down, change lanes, or stop accordingly. In addition, the vehicle control device 110 requests the right to occupy a portion of the exclusive area EA that avoids the occupied area OA which has been acquired by the parked vehicle PV, and waits in place until that right can be acquired, which reduces the driving efficiency of the vehicle 10.
[0078] Such a decrease in the driving efficiency of vehicle 10 is likely to occur frequently during times when there are many parked vehicles PV. In particular, since the exclusive area EA assumed in the vehicle control system 100 of this embodiment is intended to be applied to areas where many people and many vehicles are mixed together, such as in front of train stations and in busy commercial districts, it is likely that situations like the one shown in Figure 6 will occur frequently. In contrast, the vehicle control system 100 of this embodiment can improve the driving efficiency of each vehicle 10 passing through the exclusive area EA where the recommended area RA is set, as described above.
[0079] Furthermore, in the vehicle control system 100 of this embodiment, the arithmetic unit 120 only needs to store the occupation history of each exclusive area EA in the occupation history storage unit 121 and set the recommended area RA by referring to the occupation history in the recommended area setting unit 122. Therefore, it is not necessary to collect driving information such as the speed and position of all vehicles traveling through the intersection and calculate the timing of entry into the intersection, as in the aforementioned AIM method, CVIC method, or the method described in Patent Document 1. Accordingly, the vehicle control system 100 of this embodiment can reduce the computational load on the arithmetic unit 120 compared to the case where calculations are performed to generate driving support information to be transmitted to each vehicle, as in the aforementioned AIM method, CVIC method, or the method described in Patent Document 1.
[0080] Furthermore, according to the vehicle control system 100 of this embodiment, the information transmitted and received between the calculation unit 120 and each vehicle control device 110 is limited to driving support information including the planned route SR of the vehicle 10 and the recommended area RA of the exclusive area EA through which the vehicle 10 will pass. Therefore, according to the vehicle control system 100 of this embodiment, the communication capacity can be reduced compared to the case where driving information such as the position and speed of all vehicles 10 entering the exclusive area EA is acquired and calculation results such as the timing and speed of entry into the intersection are transmitted.
[0081] Furthermore, in the vehicle control system 100 of this embodiment, the occupancy history storage unit 121 of the arithmetic unit 120 stores the detection results of sensors that have detected an object occupying the exclusive area EA as the occupancy history. Here, the sensor detection results include the detection results of roadside sensors 20 installed around the road R, and the detection results of external sensors 11 mounted on each of the multiple vehicles 10.
[0082] With this configuration, the occupancy history storage unit 121 of the arithmetic unit 120 can store the occupancy history of each exclusive area EA based on the object detection results from the multiple roadside sensors 20 and the multiple external sensors 11. As a result, the recommended area setting unit 122 of the arithmetic unit 120 can more accurately grasp the environment of each exclusive area EA based on its occupancy history, and set the recommended area RA with greater accuracy and precision. Therefore, according to the vehicle control system 100 of this embodiment, the driving efficiency of a vehicle 10 traveling in an exclusive area EA where the recommended area RA has been set can be further improved.
[0083] Furthermore, in the vehicle control system 100 of this embodiment, the recommended area setting unit 122 of the calculation unit 120 sets the recommended area RA by comparing the scheduled time of passage through the exclusive area EA based on the planned route SR with the time included in the occupation history. The recommended area setting unit 122 also outputs the confidence level of the recommended area RA based on the number of data points in the occupation history, the accuracy of the detection results of the roadside sensor 20 or external sensor 11, and at least one of the input information regarding the occupation of the exclusive area EA. The information communication unit 123 of the calculation unit 120 then transmits driving support information, including the confidence level of the recommended area RA, to the vehicle control device 110.
[0084] With this configuration, the route acquisition unit 111 of each vehicle control device 110 can acquire the revised planned route RSR based on the recommended area RA set in the exclusive area EA at the time when the vehicle 10 equipped with each vehicle control device 110 is scheduled to pass through that exclusive area EA. This enables the vehicle 10 equipped with each vehicle control device 110 to more reliably avoid obstacles such as parked vehicles PV occupying the exclusive area EA, thereby improving the driving efficiency of each vehicle 10.
[0085] Furthermore, the driving feasibility determination unit 113 of each vehicle control device 110 can determine whether or not the vehicle 10 equipped with each vehicle control device 110 will travel through the recommended area RA based on the confidence level of the recommended area RA transmitted from the information and communication unit 123 of the computing device 120. This makes it possible to avoid traveling through the recommended area RA and travel along a more efficient planned route SR if, for example, the confidence level of the recommended area RA is lower than a predetermined threshold.
[0086] Furthermore, in the vehicle control system 100 of this embodiment, the information and communication unit 123 of the calculation unit 120 receives input information regarding the occupation of exclusive area EA. Then, the recommended area setting unit 122 sets the recommended area RA in exclusive area EA based on the occupation history and input information of exclusive area EA.
[0087] With this configuration, the recommended area setting unit 122 can set the recommended area RA based on input information entered by passengers, road construction managers, traffic information center personnel, etc., to an information terminal 130 connected to the network N. Therefore, according to the vehicle control system 100 of this embodiment, the accuracy of the recommended area RA set in the exclusive area EA can be improved while reducing the communication capacity between the arithmetic unit 120 and the vehicle control device 110 and the computational load of the arithmetic unit 120, thereby improving the driving efficiency of the vehicle 10.
[0088] Furthermore, in the vehicle control system 100 of this embodiment, the vehicle control device 110 further includes a driveability determination unit 113. The driveability determination unit 113 determines whether it is possible to drive through the recommended area RA based on the type of roadside sensor 20 or external sensor 11 that detected an object occupying the exclusive area EA, the driving status of the vehicle 10 equipped with the vehicle control device 110, and the confidence level of the recommended area RA. In addition, the route acquisition unit 111 of the vehicle control device 110 acquires the revised planned route RSR that passes through the recommended area RA when the driveability determination unit 113 determines that it is possible to drive through the recommended area RA.
[0089] With this configuration, the vehicle control system 100 of this embodiment allows the driving feasibility determination unit 113 to determine whether it is possible to drive through the recommended area RA. Furthermore, the route acquisition unit 111 of the vehicle control device 110 acquires the revised planned route RSR that passes through the recommended area RA when the driving feasibility determination unit 113 determines that it is possible to drive. Therefore, if the driving feasibility determination unit 113 determines that it is not possible to drive through the recommended area RA, the revised planned route RSR is not calculated by the route acquisition unit 111, and the computational load on the vehicle control device 110 is reduced. In addition, the vehicle 10 equipped with the vehicle control device 110 is prevented from driving through the recommended area RA with a low confidence level, thereby preventing a decrease in the driving efficiency of the vehicle 10.
[0090] As described above, this embodiment provides a vehicle control system 100 that can reduce the computational load on the computing device 120 by the cooperation of each vehicle control device 110 mounted on each of the multiple vehicles 10 and the computing device 120 located outside the multiple vehicles 10. Furthermore, this embodiment provides a vehicle control system 100 that can reduce the amount of communication between the computing device 120 and the vehicle control device 110.
[0091] [Embodiment 2] Hereinafter, Embodiment 2 of the vehicle control system according to this disclosure will be described with reference to Figures 1 and 7 to 10. Figure 7 is a functional block diagram of the vehicle control device 110 that constitutes the vehicle control system 100 according to this embodiment. Figure 8 is a flowchart showing an example of the operation of the vehicle control device 110 in Figure 7. Figure 9 is a flowchart showing the operation of the arithmetic unit 120 of the vehicle control system 100 according to Embodiment 2. Figure 10 is a plan view showing an example of vehicle 10 driving control by the vehicle control device 110 in Figure 7.
[0092] The vehicle control system 100 of this embodiment differs from the vehicle control system 100 of Embodiment 1 described above mainly in that the vehicle control device 110 further comprises an arbitration unit 115. Other aspects of the vehicle control system 100 of this embodiment are the same as those of the vehicle control system 100 of Embodiment 1 described above, so the same reference numerals are used for the same parts and their description is omitted.
[0093] In the vehicle control system 100 of this embodiment, when the vehicle control device 110 starts the processing flow shown in Figure 8, it executes processes P101 to P107. These processes P101 to P107 are the same as those shown in Figure 4 by the vehicle control device 110 of Embodiment 1 described above.
[0094] Furthermore, in the vehicle control system 100 of this embodiment, when the arithmetic unit 120 starts the processing flow shown in Figure 9, it executes processes P201 to P212. These processes P201 to P212 are the same as those shown in Figure 5 by the arithmetic unit 120 of the embodiment 1 described above.
[0095] On the other hand, in the vehicle control system 100 of this embodiment, if each vehicle control device 110 determines in process P108 shown in Figure 8 that the right of possession request unit 112 was unable to acquire the right of possession of the exclusive area EA (NO), it executes the next process P121. In this process P121, the arbitration unit 115 of the vehicle control device 110 determines whether or not to perform arbitration with the vehicle 10' that has the right of possession of the exclusive area EA that the vehicle 10 on which the vehicle control device 110 is installed will pass through.
[0096] Furthermore, whether or not to perform mediation may be determined, for example, by the occupation history storage unit 121 of the computing device 120 based on the occupation history of the exclusive area EA. In this case, the information and communication unit 123 of the computing device 120 may transmit the determination result of whether or not to perform mediation by the occupation history storage unit 121 to the vehicle control devices 110 of the multiple vehicles 10, 10' that require mediation.
[0097] In process P121, the arbitration unit 115 of the vehicle control device 110 installed in the vehicle 10 that does not have the right of possession receives input from the passenger of the vehicle 10, for example, via the HMI of the vehicle 10, indicating whether or not to conduct arbitration. In this process P121, for example, if the passenger of the vehicle 10 inputs to the HMI that they will not conduct arbitration, the arbitration unit 115 determines that arbitration will not be conducted (NO). The arbitration unit 115 may also determine that arbitration will not be conducted (NO) if, for example, the number of times the right of possession of the exclusive area EA has been transferred in past arbitrations is less than or equal to a predetermined number.
[0098] In this process P121, if the mediation unit 115 determines not to perform mediation (NO), the route acquisition unit 111 of the vehicle control device 110 installed in the vehicle 10 that does not have possession rights executes process P109 to modify the planned route SR or the modified planned route RSR, similar to Embodiment 1 described above. On the other hand, in this process P121, for example, if the passenger of the vehicle 10 inputs to the HMI that they will perform mediation, or if the number of past transfers of possession rights exceeds a predetermined number, the mediation unit 115 determines to perform mediation (YES). In this case, the mediation unit 115 of the vehicle control device 110 installed in the vehicle 10 that does not have possession rights executes process P122 to send a mediation request.
[0099] In this process P122, the mediation unit 115 of the vehicle control device 110 installed in the vehicle 10 that does not have possession rights transmits a mediation request based on the possession rights information received from the arithmetic unit 120 via the wireless communication device 13 in the aforementioned process P108. More specifically, the mediation unit 115 transmits a mediation request for possession rights to the vehicle 10' via the wireless communication device 13 and the wireless communication line WCL, based on the identification information of the vehicle 10' that has acquired possession rights, which is included in the possession rights information. The mediation request includes information such as the identification information of the vehicle 10 requesting mediation, the section of the exclusive area EA for which possession rights are being claimed, the date and time of the start of possession, the date and time of the end of possession, and the history of the transfer of possession rights.
[0100] For example, the possession right request unit 112 of the vehicle control device 110 installed in vehicle 10' which has the right to occupy the recommended area RA among the multiple sections of exclusive area EA shown in Figure 10 determines that it has acquired the right to occupy (YES) in process P108 shown in Figure 8. After the completion of process P108 shown in Figure 8, the vehicle control device 110 of vehicle 10' which has acquired the right to occupy performs process P123 to determine whether or not it has received a mediation request.
[0101] In this process P123, the arbitration unit 115 of the vehicle control device 110 mounted on the vehicle 10' that has the right of possession determines, for example, that it did not receive the arbitration request via the wireless communication device 13 (NO). In this case, the driving control unit 114 of the vehicle control device 110 executes the driving control P110 of the vehicle 10' in the same manner as in Embodiment 1 described above, and drives the vehicle 10' along the planned route SR' that passes through the recommended area RA of the exclusive area EA for which the right of possession has been acquired.
[0102] On the other hand, in process P123, the mediation unit 115 of the vehicle control device 110 installed in the vehicle 10' that has the right of possession determines, for example, that it has received a mediation request (YES) if it receives a mediation request via the wireless communication device 13. In this case, the vehicle control device 110 executes process P124 to determine whether or not to transfer the right of possession. In this process P124, the mediation unit 115 of the vehicle control device 110 receives input from the passenger via the HMI of the vehicle 10' regarding whether or not to transfer the right of possession. Alternatively, the mediation unit 115 may determine whether or not to transfer the right of possession based, for example, the number of times it has received a transfer of the right of possession from another vehicle 10 in the past.
[0103] In this process P124, for example, if the occupant of vehicle 10' inputs via the HMI that they will not transfer possession, or if the number of times possession has been transferred is less than or equal to a predetermined number, the arbitration unit 115 determines that possession will not be transferred (NO). In this case, the arbitration unit 115 of the vehicle control device 110 installed in vehicle 10' that has possession executes process P125, which transmits the arbitration result indicating that possession will not be transferred via the wireless communication device 13 and the wireless communication line WCL.
[0104] On the other hand, in process P124, for example, if the occupant of vehicle 10' inputs via HMI that they will transfer possession, or if the number of times possession has been transferred exceeds a predetermined number, the arbitration unit 115 determines to transfer possession (YES). In this case, the arbitration unit 115 of the vehicle control device 110 installed in the vehicle 10' that has possession executes process P126, which transmits an arbitration result indicating that possession will be transferred via the wireless communication device 13 and the wireless communication line WCL. At this time, a reward may be given to the vehicle 10' that is transferring possession. The reward can take the form of, for example, an electronic money balance or points that can be used to purchase goods.
[0105] Subsequently, the route acquisition unit 111 of the vehicle control device 110 mounted on the vehicle 10' to which the right of possession is to be transferred executes process P109 to modify the planned route SR' to either avoid the recommended area RA of the exclusive area EA to which the right of possession is to be transferred, or to change the time of passage through the recommended area RA. In addition, after the completion of processes P201 to P212 shown in Figure 9, the arithmetic unit 120 executes process P213 to determine whether or not the arbitration result has been received.
[0106] In this process P213, if the information and communication unit 123 of the arithmetic unit 120 determines that it did not receive the arbitration result (NO), the arithmetic unit 120 terminates the processing flow shown in Figure 9 and restarts it at a predetermined interval. On the other hand, in this process P213, if the information and communication unit 123 of the arithmetic unit 120 determines that it has received the arbitration result (YES), the possession history storage unit 121 of the arithmetic unit 120 executes a process P214 to determine, for example, whether the vehicle 10' that has possession rights has transferred those rights.
[0107] In this process P214, the occupancy history storage unit 121 of the arithmetic unit 120 determines that the transfer of possession rights has taken place (YES) based on the mediation results received by the information and communication unit 123, and then executes process P215 to update the possession rights information. In this process P215, the occupancy history storage unit 121, for example, deletes the possession rights of the vehicle 10' to which the possession rights are being transferred, grants possession rights to the vehicle 10 to which the possession rights are being transferred, updates the possession rights information of the exclusive area EA, and stores it in memory.
[0108] Subsequently, the arithmetic unit 120 terminates the processing flow shown in Figure 9 and restarts it at a predetermined interval. Also, if the possession history storage unit 121 determines in the aforementioned processing P214 that the right of possession was not transferred (NO), the arithmetic unit 120 terminates the processing flow shown in Figure 9 and restarts it at a predetermined interval.
[0109] Meanwhile, the vehicle control device 110, which is mounted on the vehicle 10 that does not have possession rights and has executed the process P122 of transmitting the aforementioned mediation request, executes the process P127 of receiving the mediation result via the wireless communication line WCL and the wireless communication device 13. Furthermore, the mediation unit 115 of the vehicle control device 110 mounted on the vehicle 10 that does not have possession rights executes the process P128 of determining whether or not the mediation has been successful.
[0110] In this process P128, the mediation unit 115 determines that the mediation was unsuccessful (NO) if it receives a mediation result that does not transfer the right of possession. In this case, the vehicle control device 110 mounted on the vehicle 10 that does not have the right of possession executes process P109, similar to Embodiment 1 described above, to modify the planned route SR or modified planned route RSR so as to avoid the recommended area RA of the exclusive area EA occupied by another vehicle 10' by the route acquisition unit 111.
[0111] On the other hand, in processing P128, the arbitration unit 115 of the vehicle control device 110 installed in the vehicle 10 that does not have the right of possession determines that arbitration has been successful (YES) when it receives, for example, an arbitration result that transfers the right of possession. In this case, as shown in Figure 10, the vehicle control device 110 of the vehicle 10 that has received the transfer of the right of possession of the recommended area RA set in the exclusive area EA executes driving control P110 by the driving control unit 114 to drive the vehicle 10 along the modified planned route RSR.
[0112] Furthermore, the route acquisition unit 111 of the vehicle control device 110 installed in the vehicle 10' that has transferred its ownership rights, for example, modifies the speed of vehicle 10' or the planned route SR'. As a result, the driving control unit 114 of the vehicle control device 110 installed in the vehicle 10' that has transferred its ownership rights controls vehicle 10', for example, by slowing down vehicle 10', so that vehicle 10' and the vehicle 10 that has received the ownership rights transfer do not enter the recommended area RA at the same time.
[0113] As described above, in the vehicle control system 100 of this embodiment, the recommended area setting unit 122 of the arithmetic unit 120 grants the right of occupancy to one vehicle 10' that passes through the recommended area RA. The information and communication unit 123 of the arithmetic unit 120 also transmits the right of occupancy information to the vehicle 10' to which the right of occupancy has been granted and to other vehicles 10 that are requesting the right of occupancy of the recommended area RA at the same time as vehicle 10'. Furthermore, the vehicle control devices 110 of each vehicle 10, 10' further have an arbitration unit 115 that arbitrates the right of occupancy based on the right of occupancy information.
[0114] With this configuration, according to the vehicle control system 100 of this embodiment, the arbitration unit 115 of the vehicle control device 110 mounted on each vehicle 10, 10' can arbitrate the right of possession of the exclusive area EA between each vehicle control device 110 based on the right of possession information. Therefore, the computational load on the arithmetic unit 120 can be reduced. Furthermore, the arithmetic unit 120 can also decide on the transfer of the right of possession so that the overall reward remains constant, for example, based on the number of arbitrations performed by each vehicle 10, 10'.
[0115] Furthermore, in the vehicle control system 100 of this embodiment, each vehicle control device 110 has a driving control unit 114. The driving control unit 114 of each vehicle control device 110 controls the vehicles 10, 10' equipped with each vehicle control device 110 to not enter the same section of the exclusive area EA at the same time by changing the driving speed, the corrected planned route RSR, or the planned routes SR, SR' based on the arbitration result of the arbitration unit 115.
[0116] With this configuration, the driving control unit 114 of the vehicle control device 110 mounted on each vehicle 10, 10' can control vehicles 10, 10' so that the vehicle 10' that has transferred the right of possession and the vehicle 10 that has received the right of possession do not enter the same section of the exclusive area EA at the same time. Therefore, according to the vehicle control system 100 of this embodiment, the calculation load on the arithmetic unit 120 can be reduced while ensuring the safety of vehicles 10, 10' traveling in the exclusive area EA, and preventing vehicle 10 from stopping before the exclusive area EA, thereby improving driving efficiency.
[0117] While embodiments of the vehicle control system relating to this disclosure have been described in detail above using drawings, the specific configuration is not limited to these embodiments, and any design changes, etc., that do not depart from the gist of this disclosure are also included in this disclosure. For example, although the above-described embodiments were explained on the premise of automatic driving of the vehicle by a vehicle control device, it is also possible to apply this to vehicles that are driven manually, for example, by displaying whether or not possession rights have been acquired on a display device installed in the vehicle and presenting it to the driver. [Explanation of Symbols]
[0118] 10 vehicles 10' Vehicle 11. External sensors 20 Roadside sensors 100 Vehicle control systems 110 Vehicle control device 111 Route acquisition unit 114 Driving Control Unit 115 Mediation Department 120 Arithmetic equipment 121 Occupancy History Storage Unit 122 Recommended Area Setting Section 123 Information and Communications Department EA Exclusive Area R road RA Recommended Area RSR planned revision route SR planned route SR' Planned Route
Claims
1. A vehicle control system comprising: a vehicle control device mounted on each of a plurality of vehicles; and a computing device installed outside the plurality of vehicles and connected to each of the vehicle control devices in a manner that enables information communication; Each of the vehicle control devices has a route acquisition unit that acquires the planned route of the vehicle on which the vehicle control device is installed based on driving support information transmitted from the computing unit. The vehicle control system is characterized by comprising: an occupancy history storage unit that stores the occupancy history of exclusive areas set on roads on which the plurality of vehicles travel; a recommended area setting unit that sets a recommended area in the exclusive area by comparing the scheduled time of passage through the exclusive area based on the planned route with the time included in the occupancy history; and an information communication unit that transmits the driving support information including the recommended area to the vehicle passing through the exclusive area on which the recommended area has been set.
2. The vehicle control system according to claim 1, characterized in that the occupancy history storage unit stores the detection results of roadside sensors installed around the road that detect objects occupying the exclusive area, and the detection results of external sensors mounted on each of the plurality of vehicles that detect objects occupying the exclusive area, as the occupancy history.
3. The recommended area setting unit outputs a confidence level for the recommended area based on at least one of the number of data points in the occupation history, the accuracy of the detection results of the roadside sensor or the external sensor, and the input information regarding the occupation of the exclusive area. The vehicle control system according to claim 2, characterized in that the information and communication unit transmits the driving support information, including the confidence level, to the vehicle control device.
4. The aforementioned information and communication unit receives input information regarding the occupation of the exclusive area, The vehicle control system according to claim 1, characterized in that the recommended area setting unit sets the recommended area in the exclusive area based on the occupation history and the input information.
5. The vehicle control device further includes a driveability determination unit that determines whether or not it is permissible to drive in the recommended area based on the type of roadside sensor or external sensor that detected the object occupying the exclusive area, the driving state of the vehicle on which the vehicle control device is installed, and the degree of confidence. The vehicle control system according to claim 3, characterized in that the route acquisition unit acquires a revised route that passes through the recommended area when the drive feasibility determination unit determines that it is possible to drive through the recommended area.
6. The recommended area setting unit grants the right of occupancy to one of the vehicles passing through the recommended area. The Information and Communications Unit transmits possession information to the vehicle to which the possession right has been granted and to other vehicles that are claiming the possession right at the same time as the said vehicle. The vehicle control system according to claim 1, characterized in that each of the vehicle control devices further has an arbitration unit that arbitrates the right of possession based on the right of possession information.
7. The vehicle control system according to claim 6, characterized in that each of the vehicle control devices has a driving control unit that controls each of the vehicles so as not to enter the same section of the exclusive area at the same time by changing the driving speed or the planned route of the vehicle on which each of the vehicle control devices is installed based on the arbitration result of the arbitration unit.