Mobile body management device, vehicle management method, and vehicle

Abstract

A vehicle management device (11) is provided with: an information acquisition unit (17) that is located in a prescribed management target region (13), has a periphery monitoring function, a wireless communication function, and a drive control function for performing automatic driving, and acquires unique information (Vinfo) including an environmental state or a communication state pertaining to a vehicle (15); and a management control unit (19) that controls the movement of the vehicle (15) on the basis of the unique information (Vinfo) acquired by the information acquisition unit (17). The management target region (13) is managed by being divided into a plurality of unit regions (31) having a predetermined size. The management control unit (19) manages the movement of each vehicle (15) by setting a dedicated region (33) composed of an aggregate of the unit regions (31) on the basis of the unique information (Vinfo), so that each vehicle (15) has a unique area size.

Description

Mobile object control device, vehicle control method, and vehicle

[0001] The present invention relates to a mobile object control device, a vehicle control method, and a vehicle.

[0002] Patent Literature 1 discloses an invention of a vehicle traffic control system including a vehicle control device mounted on each of a plurality of vehicles, a traffic control device that performs block control to allocate mutually non-overlapping travel-permitted sections to each of the plurality of vehicles, and a communication means for communicating between the traffic control device and the vehicle control device. In the vehicle traffic control system according to Patent Literature 1, each of the plurality of vehicle control devices sets a travel permission request start distance as a distance longer than the distance at which the vehicle can stop from its current speed, and when the length of the remaining section of the travel-permitted section in the traveling direction of the vehicle becomes equal to or shorter than the travel permission request start distance, repeatedly transmits a request for travel permission and information on the current position of the vehicle to the traffic control device until the next travel permission is obtained.

[0003] The vehicle traffic control system disclosed in Patent Document 1 can realize a smooth traffic environment in which vehicles do not interfere with each other and an adequate distance between vehicles is secured.

[0004] WO2015 / 037084 publication

[0005] In the vehicle traffic control system disclosed in Patent Document 1, environmental condition information for a control target area is acquired via wireless communication between a traffic control device and a vehicle control device using communication means provided in the system, and vehicle traffic control is performed based on the acquired environmental condition information. However, with wireless communication, cases are expected in which poor communication conditions result in frequent communication errors, resulting in poor communication conditions such as communication delays and communication interruptions. This makes it difficult to acquire environmental condition information for the control target area. Furthermore, cases are also expected in which environmental conditions, such as bad weather, in the control target area make it difficult to acquire environmental condition information for the control target area.

[0006] As such, in situations where it is difficult to obtain environmental condition information in a control target area, a smooth traffic environment may be impaired. The present invention has been made in consideration of the above-described circumstances, and aims to provide a mobile object control device that can maintain a smooth traffic environment for mobile objects even in situations where it is difficult to obtain information in a control target area. Another object of the present invention is to provide a vehicle control method that can maintain a smooth traffic environment for vehicles even in situations where it is difficult to obtain information in a control target area. Another object of the present invention is to provide a vehicle that can perform smooth automated driving in accordance with a recommended movement plan instructed by a mobile object control device.

[0007] In order to solve the above problem, the mobile object control device of the present invention is a mobile object control device that controls the movement of mobile objects including vehicles that are located in a specified control area and have a perimeter monitoring function, a wireless communication function, and a driving control function for automatic driving, and is equipped with an information acquisition unit that acquires unique information including an environmental state or a communication state related to the mobile object, and a control control unit that controls the movement of the mobile object based on the unique information acquired by the information acquisition unit, wherein the control area is divided and managed into a plurality of unit areas of a specified size, and the control control unit's most main feature is that it controls the movement of each individual mobile object by setting a dedicated area consisting of a collection of the unit areas to have a size unique to each individual mobile object based on the unique information.

[0008] According to the present invention, a smooth traffic environment for mobile objects can be maintained even in a situation where it is difficult to obtain information in a control area. Other problems, configurations, and effects will be described in detail in the following embodiments.

[0009] FIG. 1B is a functional block diagram showing a schematic configuration of a vehicle control device according to an embodiment of the present invention. FIG. 1C is a block diagram showing a hardware configuration of the vehicle control device shown in FIG. 1A. FIG. 1D is an explanatory diagram showing, by way of example, a state in which the vehicle control device shown in FIG. 1A is applied to a vehicle to be controlled. FIG. 1E is a flow diagram conceptually showing a processing flow of a vehicle control method according to an embodiment of the present invention. FIG. 1F is an explanatory diagram showing, by way of example, a dedicated area set for a vehicle to be controlled. FIG. 1G is an explanatory diagram showing, by way of example, a dedicated area set for each of a plurality of vehicles to be controlled. FIG. 1H is an explanatory diagram showing, by way of example, a manner in which a dedicated area set for a vehicle to be controlled is corrected in relation to a defective area. FIG. 1I is an explanatory diagram showing, by way of example, a manner in which a dedicated area set for a vehicle to be controlled is corrected in relation to a defective area.

[0010] The mobile object control device, vehicle control method, and vehicle according to the present invention will be described in detail with reference to the appropriate drawings. In the description of the mobile object control device according to the embodiment of the present invention, components having common functions are assigned common reference numerals, and redundant description thereof will be omitted.

[0011] [Concept of a Mobile Object Control Device According to an Embodiment of the Present Invention] First, the concept of a mobile object control device according to an embodiment of the present invention will be described. The mobile object control device according to an embodiment of the present invention has a function of controlling (managing and restricting) the movement of mobile objects, including vehicles 15 that are present in a predetermined control target area 13 and have a perimeter monitoring function, an autonomous driving function, and a wireless communication function. The "mobile object" of the present invention is assumed to be any movable object, including vehicles 15 such as large vehicles, standard vehicles, motorcycles, and bicycles, as well as pedestrians. In the following description, the vehicle 15 is used as an example of a "mobile object" and the vehicle control device 11 is used as an example of a "mobile object control device."

[0012] [Schematic Configuration of Vehicle Control Device 11 According to an Embodiment of the Present Invention] A schematic configuration of a vehicle control device 11 according to an embodiment of the present invention will be described with reference to Figures 1A, 1B, and 1C. Figure 1A is a functional block diagram showing a schematic configuration of the vehicle control device 11 according to an embodiment of the present invention. Figure 1B is a block diagram showing a hardware configuration of the vehicle control device 11 shown in Figure 1A. Figure 1C is an explanatory diagram showing an example of a state in which the vehicle control device 11 shown in Figure 1A is applied to a vehicle 15 that is a control target. The vehicle control device 11 according to an embodiment of the present invention has a function of controlling the movement of a vehicle 15 that is a mobile body that is present in a predetermined control target area 13 and has a periphery monitoring function, an autonomous driving function, and a wireless communication function.

[0013] 1A, in order to realize the function of controlling the movement of the vehicle 15, the vehicle control device 11 according to the embodiment of the present invention is configured to include an information acquisition unit 17 that acquires unique information Vinfo including an environmental state, a communication state, and a movement plan related to the vehicle 15, a control control unit 19 that controls the movement of the vehicle (mobile object) 15 based on the unique information Vinfo acquired by the information acquisition unit 17, an infrastructure sensor 21 that detects information related to the environment around the vehicle 15, a map database (map DB) 22 that stores map information, a prediction unit 23 that predicts the state of the vehicle 15, and a control communication unit 25 that communicates with the vehicle 15. The control target area 13 is divided and managed into a plurality of unit areas 31 (see FIGS. 3A, 3B, etc.) of a predetermined size.

[0014] The vehicle control device 11 is not particularly limited, and may be configured, for example, by one or a combination of multiple computers 980 shown in FIG. 1B . In FIG. 1B , the computer 980 includes a CPU (Central Processing Unit) 981, a storage unit 982, a communication I / F (interface) 983, an input / output I / F 984, and a media I / F 985. The storage unit 982 includes a RAM 982a, a ROM 982b, and an HDD 982c. The communication I / F 983 is connected to a communication circuit 986. The input / output I / F 984 is connected to an input / output device 987. The media I / F 985 reads and writes data from a recording medium 988.

[0015] The ROM 982b stores an IPL (Initial Program Loader) executed by the CPU, etc. The HDD 982c stores control programs, various data, etc. The CPU 981 executes the control programs loaded from the HDD 982c to the RAM 982a, thereby realizing various functions according to the present invention.

[0016] The control control unit 19 sets a dedicated area 33 (see Figures 3A, 3B, etc.) consisting of a collection of multiple unit areas 31 so that each vehicle 15 has its own unique planned route 16 and area based on unique information Vinfo including the environmental condition, communication condition, and movement plan of the vehicle 15 to be controlled. During this setting, the control control unit 19 appropriately modifies the movement plan including the planned route 16 transmitted from the vehicle 15 as needed, with reference to map information in the map DB 22, and formulates a revised recommended movement plan. The formulated recommended movement plan is then returned to the vehicle 15. In this way, the control control unit 19 controls the movement of each vehicle (moving object) 15 present in the control target area 13.

[0017] The control unit 19 is connected to a reception unit 27 that receives unique information Vinfo including the environmental state, communication state, and travel plan related to the vehicle 15, and an instruction unit 29 that instructs a recommended travel plan based on a dedicated area 33 (see FIGS. 3A, 3B, etc.) set for the vehicle 15. The setting of the dedicated area 33, which is a core concept of the present invention, will be described in detail later.

[0018] The information acquisition unit 17 acquires information about the surrounding environment of the vehicle 15 via the infrastructure sensors 21, and also acquires predicted information about the environmental state and communication state of the vehicle 15 via the prediction unit 23. The information acquisition unit 17 also acquires map information stored in the map DB 22.

[0019] Here, the environmental condition related to the vehicle 15 is a concept that includes, for example, the weather and the state of features in the control target area 13. For example, the environmental condition is determined to be poor when a blind spot occurs in the direction of travel of the vehicle 15 due to an object in the foreground, or when the detection accuracy of the infrastructure sensor 21 is reduced due to insufficient light. On the other hand, the communication condition related to the vehicle 15 is the communication condition in the control target area 13. When the radio wave strength is strong, the communication condition is determined to be good, and when the radio wave strength is weak (below a predetermined threshold), the communication condition is determined to be poor. The environmental condition may affect the communication condition.

[0020] The information acquisition unit 17 may estimate the surrounding environment of the vehicle 15 based on information about the surrounding environment of the vehicle 15 acquired via the infrastructure sensors 21. Information about the surrounding environment of the vehicle 15 acquired by such estimation is also included in the concept of "information about the surrounding environment of the vehicle 15." The various pieces of information acquired by the information acquisition unit 17 are sent to the traffic control unit 19.

[0021] 1C , a plurality of infrastructure sensors 21 are provided at appropriate intervals on the roadside in the control area 13. The infrastructure sensors 21 are composed of a group of sensors (not shown) including, for example, a camera, a laser sensor, a temperature sensor, and a sunlight sensor, and serve to detect information about the surrounding environment including the position information of the vehicle (mobile body) 15. When detecting the position information of the vehicle (mobile body) 15, absolute position information obtained by a GPS (Global Positioning System) may be referenced, for example.

[0022] Information about the surrounding environment, including the position information of the vehicle 15 detected by the infrastructure sensor 21, is acquired by the information acquisition unit 17 provided in the vehicle control device 11 via a wired communication medium or a wireless communication medium, and is sent to the vehicle 15 via the control communication unit 25 provided in the vehicle control device 11. This indirectly widens the field of view of the vehicle 15, reduces blind spots, and enables the vehicle 15 to become aware of the presence of moving objects that cannot be detected by the surrounding monitoring unit 53 mounted on the vehicle itself alone, which has the advantage of making it easier to respond to an emergency when a moving object suddenly appears from a blind spot, for example.

[0023] The prediction unit 23 is configured to include an environmental condition prediction unit 24 that predicts the environmental condition related to the vehicle 15 , and a communication condition prediction unit 26 that predicts the communication condition related to the vehicle 15 .

[0024] The environmental condition prediction unit 24 predicts the environmental conditions of the vehicle 15 in the control target area 13, including, for example, a case where a blind spot occurs in the direction of travel of the vehicle 15 due to an object in the foreground, or a case where the detection accuracy of the infrastructure sensor 21 decreases due to insufficient light. In short, the environmental condition prediction unit 24 has a function of predicting a poor area 35 where it will be difficult to detect the vehicle 15 following the road.

[0025] However, when multiple infrastructure sensors 21 are installed in the control target area 13 (four in the example shown in FIG. 1C ), the environmental state prediction unit 24 may predict a failure area 35 where it will be difficult to detect the following of the vehicle 15 by integrating the monitoring results of the multiple infrastructure sensors 21. Specifically, for example, an area that is recognized as a failure area 35 by all of the monitoring results of the multiple infrastructure sensors 21 may be treated as the final failure area 35.

[0026] The communication state prediction unit 26 has a function of predicting the wireless communication state in the control target area 13. The prediction of such communication state is not particularly limited, but is performed, for example, by simulating the propagation mode of radio waves in a virtual space, taking into consideration the positions of communication base stations and the three-dimensional shapes of obstructions (not shown) such as buildings present in the control target area 13. This makes it possible to create a distribution map of radio wave strength.

[0027] The communication state prediction unit 26 estimates the current communication state and predicts the future communication state for multiple communication methods, including, for example, 4G communication and Wi-Fi communication (registered trademark). For each of the communication methods, it is generally expected that the predicted results of the communication state will differ even in the same location due to differences in the location of the base station and the frequency of the radio waves used. Therefore, the vehicle control device 11 may, for example, appropriately determine whether the communication method used by the vehicle 15 is a pre-registered one and which communication method the control communication unit 25 used to communicate with the vehicle 15, and create the distribution map of the radio wave intensity by referring to the communication method used by the vehicle 15.

[0028] 1A and 1C , a schematic configuration of the vehicle 15 to be controlled by the mobile object control device 11 according to the embodiment of the present invention will be described. The vehicle 15 to be controlled by the vehicle control device 11 has a periphery monitoring function, an autonomous driving function, a wireless communication function, a driving control function for performing automatic driving according to a preset movement plan, and a movement restriction function for restricting movement to a dedicated area 33 assigned to the vehicle 15.

[0029] To realize the above-mentioned functions, the vehicle 15 is equipped with a vehicle control device 41 and a driving device 43. The vehicle control device 41 is configured to include an in-vehicle communication unit 51, a surroundings monitoring unit 53, a navigation device 55, and a driving control unit 57.

[0030] The in-vehicle communication unit 51 transmits specific information Vinfo including a movement plan for the vehicle 15 to the vehicle control device 11, and also receives instructions (recommended movement plans) sent via an instruction unit 29 provided in the control communication unit 25 of the vehicle control device 11. The in-vehicle communication unit 51 also receives environmental state prediction information for the vehicle 15 sent via the instruction unit 29 (such as position information of other vehicles in blind spot areas for the vehicle 15, which is useful for smooth driving of the vehicle 15). The various types of information received by the in-vehicle communication unit 51 are provided to the driving control unit 57.

[0031] The periphery monitoring unit 53 is configured to include, for example, a camera, radar, and lidar, and has a function of monitoring peripheral information related to targets including objects and signs around the vehicle 15. The peripheral information from the periphery monitoring unit 53 is provided to the driving control unit 57.

[0032] The navigation device 55 has a function of mapping the current position of the vehicle 15 on a map and deriving a route to a destination. The navigation device 55 calculates the current position of the vehicle 15 using, for example, a Global Navigation Satellite System (GNSS) receiver and assists in formulating a travel plan including a route from the current position to a destination set by the user. Information on the current position of the vehicle 15 calculated by the navigation device 55 and the route to the destination calculated by the navigation device 55 is provided to the driving control unit 57.

[0033] The driving control unit 57 basically performs driving control (autonomous driving control) of the vehicle 15, including driving force control, steering control, and braking force control, based on driving operations including acceleration / deceleration, steering, and braking by the driver and a travel plan formulated in advance. The driving control unit 57 also has a self-position estimation function, a route planning function to a destination, a route following function that causes the vehicle 15 to travel autonomously along a planned route 16, a travel restriction function that restricts the travel range of the vehicle 15 to a dedicated area 33 set for the vehicle 15, and the like. Furthermore, the driving control unit 57 performs automatic driving control of the vehicle 15 in accordance with instructions (recommended travel plan) sent via an instruction unit 29 provided in the control communication unit 25 of the vehicle control device 11.

[0034] The driving device 43 is configured to include a drive device, a steering device, and a braking device (none of which are shown). The drive device operates to apply a driving force to the vehicle 15 in accordance with a control command from a driving control unit 57 provided in the vehicle control device 41. The steering device operates to change the traveling direction of the vehicle 15 in accordance with a control command from the driving control unit 57 provided in the vehicle control device 41. The braking device operates to apply a braking force to the vehicle 15 in accordance with a control command from the driving control unit 57 provided in the vehicle control device 41.

[0035] [Operation of Vehicle Control Device 11 According to Embodiment of the Present Invention] Next, the operation of the vehicle control device 11 according to the embodiment of the present invention (processing flow of the vehicle control method) will be described with appropriate reference to FIGS. 2, 3A, 3B, 4A, and 4B. FIG. 2 is a flow diagram conceptually illustrating the processing flow of the vehicle control method according to the embodiment of the present invention. FIG. 3A is an explanatory diagram illustrating an example of a dedicated area 33 set for a vehicle 15 to be controlled. FIG. 3B is an explanatory diagram illustrating an example of a dedicated area 33 set for each of a plurality of vehicles 15 to be controlled. FIG. 4A is an explanatory diagram illustrating an example of a manner in which the dedicated area 33 set for a vehicle 15 to be controlled is corrected in relation to a defective area 35. FIG. 4B is an explanatory diagram illustrating an example of a manner in which the dedicated area 33 set for a vehicle 15 to be controlled is corrected in relation to a defective area 35. It is assumed that a travel plan including a route to a destination set by a user has been formulated in advance in the vehicle control device 41 provided in the vehicle 15 to be controlled.

[0036] In step S11 shown in FIG. 2, the vehicle control device 41 provided in the vehicle 15 to be controlled performs automatic driving according to a travel plan including a route to a destination set by a user.

[0037] In step S12 , the in-vehicle communication unit 51 provided in the vehicle control device 41 transmits the specific information Vinfo including the movement plan for the vehicle 15 to the vehicle control device 11 .

[0038] In step S13 , the receiving unit 27 provided in the vehicle control device 11 receives the unique information Vinfo relating to the vehicle 15 transmitted from the vehicle control device 41 side.

[0039] In step S14, the control control unit 19 included in the vehicle control device 11 provisionally sets the dedicated area 33 for the vehicle 15 based on the unique information Vinfo including the movement plan for the vehicle 15. Here, the dedicated area 33 for the vehicle 15 is a dedicated area assigned to each individual vehicle 15 present in the control target area 13, as shown in Figures 3A and 3B.

[0040] 3A and 3B, the dedicated area 33 is composed of a collection of a plurality of unit areas 31 of a predetermined size. The dedicated area 33 extends in a direction along the planned route 16 of the vehicle 15 and also extends with a predetermined margin in the vehicle width direction. Each of the plurality of unit areas 31 is preferably, but not limited to, a square shape. The size of the unit area 31 may be set appropriately taking into consideration the size of the control target area 13, the size and number of moving objects such as the vehicles 15 to be controlled, etc.

[0041] If the size of each unit area 31 is made smaller, more precise control becomes possible, but the processing load related to the control increases. On the other hand, if the size of each unit area 31 is made larger, the processing load related to the control can be reduced, but precise control becomes difficult (the distance between multiple vehicles 15 becomes unnecessarily large). Therefore, the predetermined size of each unit area 31 can be set appropriately by taking the above circumstances into consideration.

[0042] In step S14, the vehicle control device 11 assigns to the vehicle 15 a collection of multiple unit areas 31 that are connected along the planned route 16 based on the movement plan, based on the unique information Vinfo including the movement plan for the vehicle 15 (see FIGS. 3A and 3B). In this way, the vehicle control device 11 provisionally sets a dedicated area 33 for the vehicle 15. Note that the width (length) of the dedicated area 33 for the vehicle 15 in the direction along the planned route 16 is set appropriately, for example, taking into account the expected vehicle speed of the vehicle 15 (such as the speed limit for the road). However, the width of the dedicated area 33 for the vehicle 15 may also be set taking into account a request from the user of the vehicle 15.

[0043] The important point here is that in the case where there are multiple vehicles 15a, 15b in the control area 13 (see Figure 3B), the dedicated areas 33a, 33b assigned to each vehicle 15a, 15b are set exclusively (including provisional settings) so as not to overlap with each other.

[0044] Specifically, suppose a conflict occurs between the dedicated area 33a based on the planned route 16a of one vehicle 15a and the dedicated area 33b based on the planned route 16b of the other vehicle 15b (see FIG. 3B ). In such a conflict, the dedicated area 33a of one vehicle 15a is reduced in size compared to its original size, while the dedicated area 33b of the other vehicle 15b is maintained at its original size, in accordance with predetermined rules such as the Road Traffic Act (including traffic signals). This resolves the conflict between the dedicated areas 33a and 33b set for the multiple vehicles 15a and 15b. This configuration can prevent collisions between the multiple vehicles 15a and 15b, thereby contributing to a smooth traffic environment.

[0045] However, at the time of step S14, the vehicle control device 11 has not yet taken into consideration the predicted information on the environmental and communication conditions of the vehicle 15 in relation to the set range of the dedicated area 33 of the vehicle 15.

[0046] Here, reference will be made to the symbol assignment rules used in the components shown in Figure 3B. When separate descriptions are not required for the multiple vehicles 15a and 15b, they will be collectively referred to simply as vehicles 15. Furthermore, when separate descriptions are not required for the planned routes 16a and 16b for each of the multiple vehicles 15a and 15b, they will be collectively referred to simply as planned routes 16. Similarly, when separate descriptions are not required for the dedicated areas 33a and 33b set for each of the multiple vehicles 15a and 15b, they will be collectively referred to simply as dedicated areas 33.

[0047] In step S15 , the information acquisition unit 17 provided in the vehicle control device 11 acquires predicted information on the environmental state and communication state of the vehicle 15 via the prediction unit 23 .

[0048] In step S16, the control control unit 19 provided in the vehicle control device 11 determines whether the environmental condition and communication condition of the vehicle 15 are good or bad based on the predicted information regarding the environmental condition and communication condition of the vehicle 15 acquired by the information acquisition unit 17.

[0049] The traffic control unit 19 determines whether the environmental condition of the vehicle 15 is good or bad based on the prediction result of the environmental condition of the vehicle 15 by the environmental condition prediction unit 24. Specifically, for example, as described above, in the case where a blind spot occurs in the control target area 13 in the direction of travel of the vehicle 15 due to an object in the foreground or the like, or where the detection accuracy of the infrastructure sensor 21 is reduced due to insufficient light, the traffic control unit 19 determines that the environmental condition of the vehicle 15 is bad, assuming that a bad area where tracking detection of the vehicle 15 is difficult exists in the control target area 13.

[0050] Furthermore, the control control unit 19 determines whether the communication state of the vehicle 15 is good or bad based on the prediction result of the communication state of the vehicle 15 by the communication state prediction unit 26. Specifically, the control control unit 19, for example, refers to a distribution map of the radio wave strength in the control target area 13, and if a poor communication area 34 (see FIG. 4A ) where the radio wave strength is below a predetermined threshold exists in the control target area 13, determines that the communication state of the vehicle 15 is poor.

[0051] In step S17, when the result of determining whether the environmental condition and communication condition related to the vehicle 15 are good or bad indicates that at least one of the environmental condition and communication condition related to the vehicle 15 is bad, the control control unit 19 included in the vehicle control device 11 identifies a poor area 35 related to the environmental condition or communication condition for which the poor determination was made within the control target area 13. Here, when identifying the poor area 35 related to the communication condition, a collection of unit areas 31 that are partly or entirely in contact with the poor communication area 34-1 shown in Figure 4A is identified as the poor area 35-1 within the control target area 13. Furthermore, when identifying the poor area 35 related to the environmental condition, a collection of unit areas 31 that are partly or entirely in contact with the poor environment area 34-2 shown in Figure 4B is identified as the poor area 35-2 within the control target area 13.

[0052] In step S18, the control control unit 19 of the vehicle control device 11 excludes the identified defective area 35 from the dedicated area 33 when setting the dedicated area 33 for the vehicle 15 to adopt the planned route 16 and area specific to the vehicle 15. In other words, the control control unit 19 excludes the identified defective area 35 from the dedicated area 33 for the vehicle 15 that was provisionally set in step S14, thereby finally setting the corrected dedicated area 33 for the vehicle 15.

[0053] Next, the control unit 19 appropriately modifies the travel plan including the planned route 16 transmitted from the vehicle 15 based on the modified dedicated area 33 for the vehicle 15 and the map information in the map DB 22, thereby formulating a recommended travel plan including a planned route 16-1 (see Figure 4A) or 16-2 (see Figure 4B) that avoids passing through the defective area 35.

[0054] Here, reference will be made to the rules for assigning symbols used in the components shown in Figures 4A and 4B. When there is no need to separately describe each of the vehicles 15-1 and 15-2 (see Figures 4A and 4B), they will be collectively referred to simply as vehicle 15. Furthermore, when there is no need to separately describe each of the planned routes 16-1 and 16-2 (see Figures 4A and 4B) for each of the vehicles 15-1 and 15-2, they will be collectively referred to simply as planned route 16. Similarly, when there is no need to separately describe each of the dedicated areas 33-1 and 33-2 (see Figures 4A and 4B) set for each of the vehicles 15-1 and 15-2, they will be collectively referred to simply as dedicated area 33. Furthermore, when separate explanations are not required for the poor communication area 34-1 and the poor area 35-1 (see FIG. 4A) set in the vehicle 15-1, they will be collectively referred to simply as the poor communication area 34 and the poor area 35. Furthermore, when separate explanations are not required for the poor environment area 34-2 and the poor environment area 35-2 (see FIG. 4B) set in the vehicle 15-2, they will be collectively referred to simply as the poor environment area 34 and the poor area 35.

[0055] In the example shown in Fig. 4A, the dedicated area 33-1 for the vehicle 15-1 is changed to an area along a detour lane that avoids a defective area 35-1 (see the shaded area in Fig. 4A) by changing the lane in which the vehicle has been traveling closer to the center line 36. At this time, the traffic control unit 19 formulates a recommended movement plan that includes a planned route 16-1 that avoids passing through the defective area 35-1 by changing lanes and then returns to the original lane.

[0056] 4B, similarly to the above, the dedicated area 33-2 for the vehicle 15-2 is changed to an area along a detour lane that avoids the defective area 35-2 (see the shaded area in FIG. 4A) by shifting the lane in which the vehicle has been traveling closer to the center line 36. At this time, the traffic control unit 19 formulates a recommended movement plan that includes a planned route 16-2 that takes a detour route by turning right at an intersection different from the original planned route 16, in order to avoid passing through the defective area 35-2 that is expanding to block the planned route 16.

[0057] Now, the explanation will be continued by returning to the flow shown in Fig. 3. In step S19, the control communication unit 25 provided in the vehicle control device 11 instructs the vehicle 15 side of the formulated recommended travel plan.

[0058] In step S20, the vehicle control device 41 provided in the vehicle 15 continues automatic driving in accordance with the instructed recommended travel plan. In practice, the vehicle control device 41 provided in the vehicle 15 transmits its own position information and the latest travel plan including the planned route 16 to the vehicle control device 11 at a predetermined period, while receiving the recommended travel plan sequentially updated by the vehicle control device 11, thereby performing automatic driving control (autonomous driving control) while sequentially updating the travel route of the vehicle 15 in accordance with the received recommended travel plan. Here, the recommended travel plan sequentially updated by the vehicle control device 11 is formulated by excluding, from the dedicated area 33 for the vehicle 15, unreliable areas 35 that may hinder the smooth movement of the vehicle 15. With this configuration, the automatic driving of the vehicle 15 can be performed in accordance with the sequentially updated recommended travel plan, and therefore, even if some kind of obstacle occurs on the travel route of the vehicle 15, a vehicle 15 that can achieve smooth movement can be obtained. Furthermore, according to the vehicle control device 41 provided in the vehicle 15, even if a driving operation that does not conform to the recommended movement plan instructed by the vehicle control device 11 occurs, the vehicle 15 continues automatic driving in accordance with the recommended movement plan without moving in accordance with the driving operation, thereby providing a vehicle 15 that can accurately achieve smooth movement.

[0059] [Operation of Vehicle Control Device 11 According to an Embodiment of the Present Invention] Next, the operation of the vehicle control device 11 according to an embodiment of the present invention will be described. The vehicle control device 11 according to the embodiment of the present invention is premised on a vehicle control device 11 that controls the movement of a vehicle 15 that is present in a predetermined control target area 13 and has a perimeter monitoring function, a wireless communication function, and a driving control function for performing autonomous driving. The vehicle control device 11 according to the embodiment of the present invention includes an information acquisition unit 17 that acquires unique information Vinfo including an environmental state or a communication state related to the vehicle 15, and a control control unit 19 that controls the movement of the vehicle 15 based on the unique information Vinfo acquired by the information acquisition unit 17. The control target area 13 is divided and managed into a plurality of unit areas 31 each having a predetermined size, and the control control unit 19 controls the movement of each vehicle 15 by setting a dedicated area 33 formed by a collection of the unit areas 31 to have a size unique to each vehicle 15 based on the unique information Vinfo.

[0060] According to the vehicle control device 11 of the embodiment of the present invention, the control control unit 19 controls the movement of each individual vehicle 15 (mobile body) by setting the dedicated area 33 consisting of a collection of unit areas 31 to have a size specific to each vehicle 15 (mobile body) based on the specific information Vinfo, so that a smooth traffic environment for the vehicles 15 can be maintained even in situations where it is difficult to obtain information in the control target area 13.

[0061] Furthermore, in the vehicle control device 11 according to an embodiment of the present invention, the dedicated area 33 may consist of a collection of multiple unit areas 31, the vehicle 15 has a driving control function for performing automatic driving according to a preset movement plan, and the control unit 19 may be configured to set the dedicated area 33 to have a route and size unique to each individual vehicle 15 based on unique information Vinfo including the movement plan.

[0062] According to the vehicle control device 11 of the embodiment of the present invention, the control control unit 19 sets the dedicated area 33 to have a route and size that is unique to each individual vehicle 15 based on the unique information Vinfo including the movement plan, so that in addition to the effect of maintaining a smooth traffic environment for the vehicles 15, it is possible to realize planned control based on the movement plan of the vehicles 15.

[0063] In addition, the vehicle control device 11 according to an embodiment of the present invention may further include a reception unit 27 that receives the unique information Vinfo of the vehicle 15, and an instruction unit 29 that instructs movement based on a dedicated area 33 set for the vehicle 15. The control control unit 19 may set a dedicated area 33 having a route and size unique to the vehicle 15 based on the unique information Vinfo of the vehicle 15 received by the reception unit 27, and may also be configured to instruct the vehicle 15 via the instruction unit 29 on a recommended movement plan based on the set dedicated area 33.

[0064] According to the vehicle control device 11 of the embodiment of the present invention, the control control unit 19 sets a dedicated area 33 having a route and size specific to the vehicle 15 based on the unique information Vinfo of the vehicle 15 received by the reception unit 27, and instructs the vehicle 15 via the instruction unit 29 on a recommended movement plan based on the set dedicated area 33.Therefore, in addition to the effect of maintaining a smooth traffic environment for the vehicle 15, it is possible to realize planned control based on a recommended movement plan that can ensure the smooth movement of the vehicle 15.

[0065] In addition, the vehicle control device 11 according to an embodiment of the present invention may further include a prediction unit 23 that predicts the environmental conditions and communication conditions of the vehicle 15, and the information acquisition unit 17 acquires predicted information regarding the environmental conditions and communication conditions of the vehicle 15 via the prediction unit 23. The control control unit 19 may adopt a configuration in which, based on the predicted information regarding the environmental conditions and communication conditions of the vehicle 15 acquired by the information acquisition unit 17, the dedicated area 33 for the vehicle 15 is set to adopt a route and size specific to the vehicle 15.

[0066] According to the vehicle control device 11 of the embodiment of the present invention, the control control unit 19 sets the dedicated area 33 for the vehicle 15 to have a route and size specific to the vehicle 15 based on predicted information regarding the environmental conditions and communication conditions for the vehicle 15. This not only maintains a smooth traffic environment for the vehicle 15 and achieves planned control based on the movement plan of the vehicle 15, but also ensures the smooth movement of the vehicle 15 based on predicted information regarding the environmental conditions and communication conditions for the vehicle 15.

[0067] In addition, in the vehicle control device 11 according to an embodiment of the present invention, the control control unit 19 determines whether the environmental conditions and communication conditions of the vehicle 15 are good or bad based on the predicted information regarding the environmental conditions and communication conditions of the vehicle 15 acquired by the information acquisition unit 17, and if the result of the good or bad determination indicates that at least one of the environmental conditions or communication conditions of the vehicle 15 is bad, the control control unit 19 may identify a bad area 35 within the control target area 13 that is related to the environmental condition or communication condition for which the bad determination was made, and when setting the dedicated area 33 for the vehicle 15 to take a route and size specific to the vehicle 15, the control control unit 19 may exclude the identified bad area 35 from the dedicated area 33.

[0068] According to the vehicle control device 11 of the embodiment of the present invention, when the dedicated area 33 for the vehicle 15 is set to have a route and size specific to the vehicle 15, the identified defective area 35 is excluded from the dedicated area 33, thereby maintaining a smooth traffic environment for the vehicle 15 and further enhancing the effect of realizing planned control based on the movement plan of the vehicle 15.

[0069] On the other hand, the vehicle control method according to the present invention is premised on a vehicle control method used to control the movement of a vehicle 15 that is present in a predetermined control target area 13 and has a periphery monitoring function, a wireless communication function, and a driving control function for performing automatic driving. The vehicle control method according to the present invention includes an acquisition step of acquiring unique information Vinfo including an environmental state or a communication state related to the vehicle 15, and a control step of controlling the movement of the vehicle 15 based on the acquired unique information Vinfo, wherein the control target area 13 is divided and managed into a plurality of unit areas 31 each having a predetermined size, and the control step employs a configuration in which a dedicated area 33 formed by a collection of the unit areas 31 is set to have a size unique to each vehicle 15 based on the unique information Vinfo, thereby controlling the movement of each vehicle 15.

[0070] According to the vehicle control method of the embodiment of the present invention, in the control process, the movement of each individual vehicle 15 is controlled by setting the dedicated area 33 consisting of a collection of unit areas 31 to have a size specific to each individual vehicle 15 based on the specific information Vinfo, so that a smooth traffic environment for the vehicles 15 can be maintained even in situations where it is difficult to obtain information in the control target area 13.

[0071] Furthermore, in the vehicle control method according to an embodiment of the present invention, the dedicated area 33 may consist of a collection of a plurality of unit areas 31 connected together, the vehicle 15 has a driving control function for performing automatic driving according to a preset movement plan, and the control process may employ a configuration in which the dedicated area 33 is set to adopt a route and size unique to each individual vehicle 15 based on the unique information Vinfo including the movement plan.

[0072] According to the vehicle control method of the embodiment of the present invention, in the control process, the dedicated area 33 is set to have a route and size that is unique to each individual vehicle 15 based on the unique information Vinfo including the movement plan, so that in addition to the effect of maintaining a smooth traffic environment for the vehicles 15, it is possible to realize planned control based on the movement plan of the vehicles 15.

[0073] In addition, the vehicle control method according to an embodiment of the present invention may further include a reception process for receiving the unique information Vinfo of the vehicle 15, and an instruction process for instructing the vehicle 15 to move based on a dedicated area 33 set for the vehicle 15, and the control process may set a dedicated area 33 having a route and size unique to the vehicle 15 based on the unique information Vinfo of the vehicle 15 received in the reception process, and the instruction process may instruct the vehicle 15 to move based on the set dedicated area 33.

[0074] According to the vehicle control method of the embodiment of the present invention, in the control process, a dedicated area 33 is set that has a route and size specific to the vehicle 15 based on the specific information Vinfo of the vehicle 15 received in the reception process, and in the instruction process, a recommended movement plan based on the set dedicated area 33 is instructed to the vehicle 15.Therefore, in addition to the effect of maintaining a smooth traffic environment for the vehicle 15, it is possible to realize planned control based on a recommended movement plan that can ensure the smooth movement of the vehicle 15.

[0075] In addition, the vehicle control method according to an embodiment of the present invention may further include a prediction process for predicting the environmental conditions and communication conditions of the vehicle 15, and in the acquisition process, predicted information regarding the environmental conditions and communication conditions of the vehicle 15 predicted in the prediction process is acquired, and in the control process, a configuration may be adopted in which the dedicated area 33 for the vehicle 15 is set to adopt a route and size specific to the vehicle 15 based on the predicted information regarding the environmental conditions and communication conditions of the vehicle 15 acquired in the acquisition process.

[0076] According to the vehicle control method of the embodiment of the present invention, in the control process, the dedicated area 33 for the vehicle 15 is set to have a route and size specific to the vehicle 15 based on the predicted information regarding the environmental conditions and communication conditions for the vehicle 15 acquired in the acquisition process. Therefore, in addition to the effects of maintaining a smooth traffic environment for the vehicle 15 and realizing planned control based on the movement plan of the vehicle 15, it is possible to ensure the smooth movement of the vehicle 15 based on the predicted information regarding the environmental conditions and communication conditions for the vehicle 15.

[0077] In addition, in the vehicle control method according to an embodiment of the present invention, in the control process, a determination is made as to whether the environmental conditions and communication conditions of the vehicle 15 are good or bad based on the predicted information regarding the environmental conditions and communication conditions of the vehicle 15 acquired in the acquisition process, and if the result of the determination indicates that at least one of the environmental conditions or communication conditions of the vehicle 15 is bad, a bad area 35 in the control target area 13 related to the environmental conditions or communication conditions for which the bad determination was made is identified, and when setting the dedicated area 33 for the vehicle 15 to take a route and size specific to the vehicle 15, the identified bad area 35 may be excluded from the dedicated area 33.

[0078] According to the vehicle control method of the embodiment of the present invention, when the dedicated area 33 for the vehicle 15 is set to have a route and size specific to the vehicle 15, the identified defective area 35 is excluded from the dedicated area 33, thereby maintaining a smooth traffic environment for the vehicle 15 and further enhancing the effect of realizing planned control based on the movement plan of the vehicle 15.

[0079] [Other Embodiments] The above-described embodiments are merely examples of realizing the present invention. Therefore, the technical scope of the present invention should not be interpreted as being limited by these embodiments. This is because the present invention can be embodied in various forms without departing from the spirit or main characteristics thereof.

[0080] For example, in the description of the vehicle control device 11 according to the embodiment of the present invention, when the dedicated area 33 is set for each vehicle 15, the undesired area 35 where it is difficult to detect the following of the vehicle 15 is excluded from the dedicated area 33. However, the present invention is not limited to this example. A configuration may be adopted in which the entry of the vehicle 15 into the undesired area 35 is permitted under conditions such as limiting the vehicle speed to less than a predetermined threshold.

[0081] Finally, the present invention may be embodied in a form in which a program for realizing the functions according to the above-described embodiments is supplied to a system or device via a network or a storage medium, and a processor in the system or device reads and executes the program. The present invention may also be embodied using a hardware circuit for realizing the functions. Information including the program for realizing the functions can be stored in a storage device such as a memory, a hard disk, a memory card, or an optical disk.

[0082] REFERENCE SIGNS LIST 11 Vehicle control device (mobile object control device) 13 Control target area 15 Vehicle (mobile object) 16 Planned route 17 Information acquisition unit 19 Control control unit 21 Infrastructure sensor 23 Prediction unit 24 Environmental state prediction unit 25 Control communication unit 26 Communication state prediction unit 27 Reception unit 29 Instruction unit 31 Unit area 33 Dedicated area 35 Defect area 41 Vehicle control device Vinfo Unique information including travel route

Claims

1. A mobile object control device that controls the movement of a mobile object that is located in a specified controlled area and has a surrounding monitoring function, a wireless communication function, and a driving control function for automatic driving, comprising: an information acquisition unit that acquires unique information including an environmental state or a communication state related to the mobile object; and a control control unit that controls the movement of the mobile object based on the unique information acquired by the information acquisition unit, wherein the controlled area is divided and managed into a plurality of unit areas of a specified size, and the control control unit controls the movement of each individual mobile object by setting a dedicated area consisting of a collection of the unit areas to have a size unique to each individual mobile object based on the unique information.

2. A mobile object control device as described in claim 1, wherein the dedicated area is a collection of a plurality of unit areas, the driving control function performs automatic driving according to a preset movement plan, and the control unit sets the dedicated area to adopt a route and size unique to each individual mobile object based on the unique information including the movement plan.

3. A mobile object control device as described in claim 2, further comprising a reception unit which receives the unique information of the mobile object, and an instruction unit which instructs the mobile object to move based on the dedicated area set for the mobile object, wherein the control unit sets a dedicated area having a route and size unique to the mobile object based on the unique information of the mobile object received by the reception unit, and instructs the mobile object via the instruction unit a recommended movement plan based on the set dedicated area.

4. A vehicle control device as described in claim 2, further comprising a prediction unit for predicting an environmental state and a communication state relating to the moving body, wherein the information acquisition unit acquires predicted information relating to the environmental state and the communication state relating to the moving body via the prediction unit, and the control unit sets the dedicated area relating to the moving body to adopt a route and width specific to the moving body based on the predicted information relating to the environmental state and the communication state relating to the moving body acquired by the information acquisition unit.

5. A mobile object control device as described in claim 4, wherein the control control unit: determines whether the environmental conditions and communication conditions of the mobile object are good or bad based on predicted information regarding the environmental conditions and communication conditions of the mobile object acquired by the information acquisition unit; if the result of the good or bad determination indicates that at least one of the environmental conditions or communication conditions of the mobile object is bad, identifies a bad area within the controlled area related to the environmental conditions or communication conditions for which the bad determination was made; and when setting the dedicated area for the mobile object to take a route and size specific to the mobile object, excludes the identified bad area from the dedicated area.

6. A vehicle control method used to control the movement of a vehicle that is located in a specified controlled area and has a surrounding monitoring function, a wireless communication function, and a driving control function for automatic driving, comprising: an acquisition process for acquiring unique information including an environmental state or a communication state related to the vehicle; and a control process for controlling the movement of the vehicle based on the acquired unique information, wherein the controlled area is divided and managed into a plurality of unit areas of a specified size, and in the control process, a dedicated area consisting of a collection of the unit areas is set to have a size unique to each vehicle based on the unique information, thereby controlling the movement of each individual vehicle.

7. A vehicle control method as described in claim 6, wherein the dedicated area is a collection of a plurality of unit areas connected together, the vehicle has the driving control function, and the driving control function performs automatic driving according to a preset movement plan, and in the control process, the dedicated area is set to adopt a route and size unique to each individual vehicle based on the unique information including the movement plan.

8. A vehicle control method as described in claim 7, further comprising a reception process for receiving the unique information of the vehicle, and an instruction process for instructing the vehicle to move based on the dedicated area set for the vehicle, wherein the control process sets a dedicated area having a route and size unique to the vehicle based on the unique information of the vehicle received in the reception process, and the instruction process instructs the vehicle to a recommended movement plan based on the set dedicated area.

9. A vehicle control method as described in claim 7, further comprising a prediction step of predicting the environmental conditions and communication conditions related to the vehicle, wherein the acquisition step acquires predicted information related to the environmental conditions and communication conditions related to the vehicle predicted in the prediction step, and wherein the control step sets the dedicated area related to the vehicle to adopt a route and width specific to the vehicle based on the predicted information related to the environmental conditions and communication conditions related to the vehicle acquired in the acquisition step.

10. A vehicle control method as described in claim 9, characterized in that in the control step, a judgment is made as to whether the environmental conditions and communication conditions of the vehicle are good or bad based on predicted information regarding the environmental conditions and communication conditions of the vehicle acquired in the acquisition step, and if the result of the judgment indicates that at least one of the environmental conditions or communication conditions of the vehicle is bad, a bad area within the controlled area related to the environmental conditions or communication conditions for which the bad judgment was made is identified, and when setting the dedicated area for the vehicle to take a route and size specific to the vehicle, the identified bad area is excluded from the dedicated area.

11. A vehicle controlled by the mobile object control device described in claim 3, which has a surrounding monitoring function, a wireless communication function, and a driving control function for performing automatic driving according to a preset movement plan, and is equipped with a vehicle control device equipped with a communication unit that receives instructions sent via the instruction unit provided in the mobile object control device, and a driving control unit that performs automatic driving according to a recommended movement plan related to the instructions, and the vehicle control device transmits its own position information and the latest movement plan including a planned route to the mobile object control device at a predetermined period, while receiving the recommended movement plan updated by the mobile object control device, and performs automatic driving control while updating its own movement route according to the received recommended movement plan.

12. A vehicle as described in claim 11, characterized in that, when a driving operation that does not conform to the recommended movement plan occurs, the vehicle control device continues automatic driving in accordance with the recommended movement plan without moving in accordance with the driving operation.

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