Traffic management device, traffic management method, and program

Abstract

This traffic management device comprises: a group generation unit that generates a group of vehicles; a determination unit that determines whether or not a manual driving vehicle is included in the group; and a traffic control unit that changes a traffic control method for the group in accordance with the determination result.

Description

Traffic management device, traffic management method, and program

[0001] The present disclosure relates to a traffic management device, a traffic management method, and a program.

[0002] In recent years, autonomous vehicles have become increasingly common. In a world where only autonomous vehicles exist, it would be possible to realize things like platooning (also called connected driving, hereafter referred to as "connected driving"), where multiple autonomous vehicles drive in tandem while maintaining a short distance between vehicles, and efficiently crossing roads without colliding with oncoming vehicles. However, we will not be moving towards a world where only autonomous vehicles exist anytime soon, and it is expected that an environment where autonomous and manually driven vehicles coexist will continue for some time.

[0003] In an environment where both autonomous and manually driven vehicles coexist, one possible method of traffic control is to generate groups of multiple vehicles and control traffic on a group-by-group basis. Patent Literature 1 discloses a technique for generating groups of multiple vehicles.

[0004] International Publication No. 2019 / 138498

[0005] However, in an environment where self-driving cars and manually driven cars coexist, if traffic control is always carried out for a group with a safety margin for manually driven cars, it becomes difficult to realize the benefits of traffic efficiency brought about by self-driving cars.

[0006] On the other hand, if traffic control is always performed for a group that is specialized for autonomous vehicles, there is a problem that manually driven vehicles will not be able to adapt well to traffic control for autonomous vehicles.

[0007] Therefore, there is a demand for technology that can perform appropriate traffic control on a group basis in an environment where self-driving vehicles and manually driven vehicles may coexist.

[0008] Therefore, in view of the above-mentioned problems, the object of the present disclosure is to provide a traffic management device, a traffic management method, and a program that are capable of performing appropriate traffic control on a group basis in an environment where self-driving vehicles and manually driven vehicles may coexist.

[0009] A traffic management device according to one embodiment includes a group generation unit that generates a group of vehicles, a determination unit that determines whether the group includes a manually driven vehicle, and a traffic control unit that changes a traffic control method for the group depending on the determination result.

[0010] A traffic management method according to one embodiment is a traffic management method executed by a traffic management device, and includes: generating a group of vehicles; determining whether the group includes a manually driven vehicle; and changing a traffic control method for the group depending on the determination result.

[0011] A program according to one embodiment causes a computer to execute a group generation procedure for generating a group of vehicles, a determination procedure for determining whether the group includes a manually driven vehicle, and a traffic control procedure for changing a traffic control method for the group depending on the determination result.

[0012] According to the above-described aspects, it is possible to provide a traffic management device, a traffic management method, and a program that are capable of performing appropriate traffic control on a group basis in an environment where self-driving vehicles and manually driven vehicles may coexist.

[0013] FIG. 1 is a block diagram showing a schematic configuration example of a traffic management device according to the present disclosure. FIG. 2 is a diagram explaining a specific operation example of a traffic management device according to the present disclosure. FIG. 3 is a diagram explaining a specific operation example of a traffic management device according to the present disclosure. FIG. 4 is a flow diagram explaining an example of a schematic flow of operation of a traffic management device according to the present disclosure. FIG. 5 is a block diagram showing a schematic configuration example of a traffic management device according to the present disclosure. FIG. 6 is a diagram explaining a specific operation example of a traffic management device according to the present disclosure. FIG. 7 is a flow diagram explaining an example of a schematic flow of operation of a traffic management device according to the present disclosure. FIG. 8 is a block diagram showing a schematic configuration example of a traffic management device according to the present disclosure. FIG. 9 is a block diagram showing a schematic hardware configuration example of a computer that realizes a traffic management device according to the present disclosure.

[0014] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. Note that the following description and drawings have been omitted and simplified as appropriate for clarity of explanation. In addition, in the following drawings, the same elements are given the same reference numerals, and duplicate explanations are omitted as necessary.

[0015] <First Embodiment> Fig. 1 is a block diagram showing a schematic configuration example of a traffic management device 10. The traffic management device 10 is assumed to be installed in a facility (e.g., a traffic control center) that centrally manages traffic on multiple roads. However, the traffic management device 10 may also be a cloud server managed by the traffic control center. The traffic management device 10 may also be an edge terminal installed near a road. For example, the traffic management device 10 may be a terminal installed on a signal pole that controls the lighting of a signal lamp.

[0016] The traffic management device 10 includes a group generation unit 11, a determination unit 12, a traffic control unit 13, a communication unit 14, and a storage unit 15. These components are connected by a data transmission path for transmitting and receiving data to and from each other.

[0017] The communication unit 14 communicates with other devices via a wireless network (not shown). For example, the communication unit 14 communicates with a roadside device installed on a road, or with an in-vehicle device installed in a vehicle via the roadside device or directly. Therefore, the communication unit 14 can acquire information acquired through road-to-vehicle communication between a roadside device and an in-vehicle device, or information acquired through vehicle-to-vehicle communication between in-vehicle devices. The communication unit 14 also communicates with a camera installed on a road. Therefore, the communication unit 14 can acquire images captured by the camera. The memory unit 15 stores various types of information.

[0018] The group generation unit 11 generates a group of vehicles. For example, the group generation unit 11 generates a group consisting of vehicles that are present within a predetermined range from a predetermined point. Alternatively, the group generation unit 11 generates a group consisting of vehicles that are present within a predetermined range from a predetermined point and are about to enter the predetermined point.

[0019] For example, the predetermined point may be an intersection. In this case, the group generation unit 11 may generate a group consisting of vehicles that are present within a predetermined range from the intersection, or may generate a group consisting of vehicles that are present within a predetermined range from the intersection and are about to enter the intersection.

[0020] The group generation unit 11 may acquire information such as the position, driving lane, and driving route of each vehicle via road-to-vehicle communication or vehicle-to-vehicle communication using the communication unit 14. The group generation unit 11 may also acquire video from a camera installed on a road using the communication unit 14 and determine the position, driving lane, and driving route of each vehicle from the video. The group generation unit 11 may also determine the position, driving lane, and driving route of each vehicle by combining road-to-vehicle communication or vehicle-to-vehicle communication with the video from the camera.

[0021] The determination unit 12 determines whether or not a manually driven vehicle is included in the group generated by the group generation unit 11. At this time, for a vehicle that can dynamically switch between automatic driving and manual driving, the determination unit 12 may determine that the vehicle is an automatically driven vehicle if the vehicle is automatically driven, and may determine that the vehicle is a manually driven vehicle if the vehicle is manually driven.

[0022] The determination unit 12 may use the communication unit 14 to obtain information on whether each vehicle is being driven autonomously or manually via road-to-vehicle communication or vehicle-to-vehicle communication. Also, there are vehicle types that do not dynamically switch between autonomous and manual driving. Therefore, information on the vehicle type may be associated with information on whether the vehicle type is an autonomous vehicle or a manual vehicle and stored in advance in the storage unit 15, and the determination unit 12 may determine whether the vehicle is an autonomous vehicle or a manual vehicle from the vehicle type. In this case, the determination unit 12 may use the communication unit 14 to obtain information on the vehicle type of each vehicle via road-to-vehicle communication or vehicle-to-vehicle communication, or may determine the vehicle type of each vehicle from video footage from a camera installed on the road.

[0023] The traffic control unit 13 changes the traffic control method for the group generated by the group generation unit 11 according to the determination result by the determination unit 12. At this time, the traffic control unit 13 may change at least one of the traffic control content to be communicated to the group and the communication means for communicating the traffic control content to the group, as the traffic control method for the group.

[0024] For example, if the determination result indicates that a manually driven vehicle is included, i.e., if the group includes a mixture of automatically driven vehicles and manually driven vehicles, the traffic control unit 13 may use traffic lights and road-to-vehicle communication as a means of communication. In this case, the traffic control unit 13 may use traffic lights for manually driven vehicles and road-to-vehicle communication for automatically driven vehicles.

[0025] On the other hand, if the judgment result indicates that no manually driven vehicles are included, i.e., if the group contains only automatically driven vehicles, the traffic control unit 13 may use only road-to-vehicle communication as a means of communication.

[0026] Furthermore, when the determination result indicates that a manually driven vehicle is included, i.e., when the group includes a mixture of automatically driven vehicles and manually driven vehicles, the traffic control unit 13 may use traffic lights for the manually driven vehicles and may repeatedly switch the signal from "green" to "yellow" to "red" as the traffic control content. In this case, the traffic control unit 13 may use road-to-vehicle communication for the automatically driven vehicles and may repeatedly switch instructions from "go" to "caution" to "stop" in accordance with the signal switching from "green" to "yellow" to "red" as the traffic control content. Furthermore, the traffic control unit 13 may use traffic lights for the manually driven vehicles and may use road-to-vehicle communication to issue instructions such as "turn right" to the automatically driven vehicles. Furthermore, the traffic control unit 13 may use road-to-vehicle communication to issue advanced control content instructions to the automatically driven vehicles. Examples of advanced control content include "close or increase the distance between vehicles," "drive in convoy or not," and "make way when an emergency vehicle approaches," but these are merely examples and are not limited to these content.

[0027] On the other hand, if the determination result indicates that no manually driven vehicles are included, i.e., if the group contains only autonomous vehicles, the traffic control unit 13 may use road-to-vehicle communication to instruct the autonomous vehicles to always "go" as the traffic control content. In terms of traffic lights, this corresponds to a state where the light is always green. Alternatively, the traffic control unit 13 may use road-to-vehicle communication to instruct the autonomous vehicles to switch traffic control content from "go" to "stop" in that order, and repeat this switching. In terms of traffic lights, this corresponds to a state where the light is repeatedly switched between "green" and "red". Furthermore, the traffic control unit 13 may use road-to-vehicle communication to instruct the autonomous vehicles to carry out more advanced control content.

[0028] In addition, the traffic control unit 13 may obtain information such as the position, driving lane, driving route, etc. of each vehicle, and information on whether each vehicle is being driven automatically or manually, by itself in the same manner as the group generation unit 11 and the judgment unit 12, or may obtain the information from the group generation unit 11 and the judgment unit 12.

[0029] 2 and 3 are diagrams illustrating a specific example of the operation of the traffic management device 10. In the examples of Fig. 2 and Fig. 3, the group generation unit 11 generates a group consisting of vehicles that are present within a predetermined range from an intersection and are about to enter the intersection.

[0030] In the example of FIG. 2, a vehicle that is within a predetermined range from the intersection and is about to enter the intersection is a manually driven vehicle 20 １ and self-driving car 20 ２ , 20 ３ Therefore, the group generation unit 11 １ and self-driving car 20 ２ , 20 ３ Generate a group consisting of

[0031] In the example of FIG. 2, the manually driven vehicle 20 is included in the group. １ Therefore, the determination unit 12 determines whether the manually driven vehicle 20 is in the group. １ is determined to be included.

[0032] Based on this determination result, for example, the traffic control unit 13 uses traffic lights and road-to-vehicle communication as a means of transmission, and repeatedly switches the traffic control content in the order of "green light (go ahead)" → "yellow light (caution)" → "red light (stop)".

[0033] On the other hand, in the example of FIG. 3, a vehicle that is within a predetermined range from the intersection and is about to enter the intersection is automatically driven by the autonomous vehicle 20. ４ , 20 ５ , 20 ６ Therefore, the group generation unit 11 ４ , 20 ５ , 20 ６ Generate a group consisting of

[0034] In the example of FIG. 3, the vehicle in the group is an autonomous vehicle 20 ４ , 20 ５ , 20 ６ Therefore, the determination unit 12 determines that the group does not include a manually driven vehicle.

[0035] In response to this determination result, for example, the traffic control unit 13 uses road-to-vehicle communication as a means of communication and always issues a "go" instruction as the content of traffic control.

[0036] 4 is a flow diagram illustrating an example of a schematic operational flow of the traffic management device 10. First, the group generation unit 11 generates a group of vehicles (step S11). Next, the determination unit 12 determines whether or not a manually driven vehicle is included in the group generated by the group generation unit 11 (step S12). Thereafter, the traffic control unit 13 changes the traffic control method for the group generated by the group generation unit 11 in accordance with the determination result by the determination unit 12 (step S13).

[0037] As described above, according to the first embodiment, the group generation unit 11 generates a group of vehicles. The determination unit 12 determines whether the group includes a manually driven vehicle. The traffic control unit 13 changes the traffic control method for the group depending on the determination result.

[0038] In this way, according to the first embodiment, the traffic control method for a group is changed depending on whether the group includes a manually driven vehicle. Therefore, even in an environment where automatically driven vehicles and manually driven vehicles may coexist, appropriate traffic control can be performed on a group-by-group basis.

[0039] Second Embodiment Fig. 5 is a block diagram showing a schematic configuration example of a traffic management device 10A. Similar to the traffic management device 10, the traffic management device 10A is assumed to be installed in a facility (e.g., a traffic control center) that centrally manages multiple roads. However, the traffic management device 10A may be a cloud server managed by the traffic control center. The traffic management device 10A may also be an edge terminal installed near a road. For example, the traffic management device 10A may be a terminal installed on a signal pole that controls the lighting of a signal lamp. The traffic management device 10A is assumed to be an intersection, which is a predetermined point that serves as a reference when generating groups.

[0040] The traffic management device 10A includes a group generation unit 11A, a determination unit 12A, a traffic control unit 13A, a communication unit 14A, a storage unit 15A, and a detection unit 16. These components are connected by a data transmission path for transmitting and receiving data to and from each other.

[0041] The communication unit 14A and the storage unit 15A are the same as the communication unit 14 and the storage unit 15. The group generation unit 11A generates a group consisting of vehicles that are present within a predetermined range from the intersection and are about to enter the intersection. Note that the group generation unit 11A may obtain information such as the position, driving lane, and driving route of each vehicle in the same manner as the group generation unit 11.

[0042] The determination unit 12A determines whether a manually driven vehicle is included in the group generated by the group generation unit 11 A. Note that the determination unit 12A may obtain information on whether each vehicle is being driven automatically or manually in the same manner as the determination unit 12.

[0043] When the determination result by the determination unit 12A indicates that a manually driven vehicle is included in the group, i.e., when the group contains a mixture of automatically driven vehicles and manually driven vehicles, the detection unit 16 detects, among the vehicles in the group other than the manually driven vehicle, vehicles that will be affected by the driving of the manually driven vehicle, based on the driving lane and driving route of the manually driven vehicle. A specific example of this detection method will be described later. Note that the detection unit 16 may obtain information such as the position, driving lane, and driving route of each vehicle by itself in the same manner as the group generation unit 11A, or may obtain the information from the group generation unit 11A.

[0044] The group generation unit 11A determines whether or not there are any vehicles in the group that will be affected by the driving of a manually driven vehicle, based on the detection result by the detection unit 16. If there are any vehicles in the group that will be affected by the driving of a manually driven vehicle, the group generation unit 11A further classifies the groups that have already been generated. Specifically, the group generation unit 11A generates a first group consisting of vehicles that will be affected by the driving of a manually driven vehicle, and a second group consisting of vehicles that will not be affected by the driving of a manually driven vehicle. At this time, the group generation unit 11A includes the manually driven vehicles in the first group.

[0045] When the determination result by the determination unit 12A indicates that no manually driven vehicles are included, that is, when the group contains only automatically driven vehicles, the traffic control unit 13A operates in the same manner as the traffic control unit 13. For example, the traffic control unit 13A may use road-to-vehicle communication as a means of communication and may always issue a "go" command as the content of traffic control.

[0046] However, when the judgment result indicates that the group includes a manually driven vehicle, that is, when the group is a mixture of automatically driven vehicles and manually driven vehicles, the traffic control unit 13A operates differently depending on whether or not there are any vehicles that will be affected by the operation of the manually driven vehicle.

[0047] When there are no vehicles affected by the running of the manually driven vehicle, the traffic control unit 13A operates in the same manner as the traffic control unit 13. For example, the traffic control unit 13A may use a traffic light and road-to-vehicle communication as a means of transmission, and may perform traffic control by repeatedly switching between "green light (go)" → "yellow light (caution)" → "red light (stop)" in that order.

[0048] On the other hand, if there is a vehicle that is affected by the driving of a manually driven vehicle, the traffic control unit 13A changes the traffic control method within the intersection for each of the first and second groups. In detail, the traffic control unit 13A uses signal lights and road-to-vehicle communication as communication means for both the first and second groups, but changes the content of traffic control for each of the first and second groups.

[0049] For example, vehicles other than the manually driven vehicles in the first group are affected by the driving of the manually driven vehicles. Therefore, the traffic control unit 13A may change the content of traffic control to take the manually driven vehicles into consideration (for example, by providing a safety margin). Specifically, the traffic control unit 13A may instruct vehicles other than the manually driven vehicles in the first group to temporarily stop the driving lane in which the vehicle is driving until the manually driven vehicle has passed, or to increase the distance between the vehicle and the manually driven vehicle.

[0050] On the other hand, the vehicles in the second group are not affected by the driving of the manually driven vehicle. Therefore, the traffic control unit 13A may change the content of traffic control to be more efficient and specialized for automatically driven vehicles. Specifically, the traffic control unit 13A may instruct the vehicles in the second group to drive in a convoy while maintaining a short distance between them, rather than instructing them to stop temporarily or to increase the distance between them and the manually driven vehicle.

[0051] 6 is a diagram illustrating a specific example of the operation of the traffic management device 10A. In the example of FIG. 6, an intersection where roads X and Y intersect is shown. In this example, a vehicle that is within a predetermined range from the intersection and is about to enter the intersection is detected by the manually operated vehicle 20. １ and self-driving car 20 ２ ~20 １２Therefore, the group generation unit 11A generates the manually driven vehicle 20 １ and self-driving car 20 ２ ~20 １２ Generate a group consisting of

[0052] In the example of FIG. 6, the manually driven vehicle 20 is included in the group. １ Therefore, the determination unit 12A determines whether the manually driven vehicle 20 is in the group. １ In response to this determination result, the detection unit 16 determines that the manually driven vehicle 20 in the group is included. １ Among the vehicles other than the above, manually operated vehicles 20 １ Detect vehicles affected by traffic.

[0053] In the example of FIG. 6, a manually driven vehicle 20 １ is traveling on road X from bottom to top in the figure and entering an intersection. １ is traveling in the left turn lane of road X, and after turning left at the intersection, on road Y, the traveling route is traveling in the straight lane.

[0054] At this time, the autonomous vehicle 20 ９ is traveling along road X from top to bottom in the figure and is about to enter an intersection. ９ is traveling in the right-turn lane of road X, and the driving route is one in which the self-driving vehicle 20 turns right at the intersection. ９ is a manually operated vehicle 20 １ may collide with

[0055] In addition, the self-driving car 20 １１ is traveling on road Y from right to left in the drawing and is about to enter an intersection. １１ is traveling in the straight lane of road Y, and the driving route is to go straight through the intersection. １１ Manually operated vehicle 20 １ may collide with

[0056] Therefore, the detection unit 16 detects the manually driven vehicle 20 １ As a vehicle that is affected by the running of １Autonomous vehicle 20 that may collide with ９ , 20 １１ In this way, in the example of FIG. 6, the manually driven vehicle 20 １ The vehicle affected by the driving of the self-driving car 20 ９ , 20 １１ exists.

[0057] Therefore, the group generation unit 11A further classifies the groups that have already been generated, and １ and a manually operated vehicle 20 １ Autonomous driving vehicles affected by the driving of 20 ９ , 20 １１ Furthermore, the group generation unit 11A generates a first group consisting of the manually driven vehicles 20 １ Autonomous driving vehicle 20 that is not affected by the driving ２ ~20 ８ , 20 １０ , 20 １２ A second group consisting of:

[0058] In the example of FIG. 6, the manually operated vehicle 20 １ Autonomous driving vehicles affected by the driving of 20 ９ , 20 １１ These self-driving cars 20 ９ , 20 １１ Therefore, the traffic control unit 13A changes the traffic control method within the intersection for each of the first group and the second group.

[0059] 7 is a flow diagram illustrating an example of a schematic operational flow of the traffic management device 10A. First, the group generation unit 11A generates a group of vehicles (step S21). Next, the determination unit 12A determines whether a manually driven vehicle is included in the group generated by the group generation unit 11A (step S22).

[0060] In step S22, if the judgment result by the judgment unit 12A indicates that a manually driven vehicle is included in the group (Yes in step S22), the detection unit 16 detects vehicles other than the manually driven vehicle in the group that will be affected by the driving of the manually driven vehicle, based on the driving lane and driving route of the manually driven vehicle (step S23).

[0061] In step S23, if the detection unit 16 detects a vehicle that is affected by the driving of a manually driven vehicle (Yes in step S23), the group generation unit 11A generates a first group consisting of manually driven vehicles and vehicles that are affected by the driving of manually driven vehicles, and a second group consisting of vehicles that are not affected by the driving of a manually driven vehicle (step S24).

[0062] Thereafter, the traffic control unit 13A changes the traffic control method within the intersection for each of the first group and the second group generated by the group generation unit 11A (step S25).

[0063] On the other hand, in step S22, if the judgment result by the judgment unit 12A indicates that the group does not include a manually driven vehicle (No in step S22), the traffic control unit 13A changes the traffic control method within the intersection for the group generated by the group generation unit 11A in accordance with the judgment result by the judgment unit 12A (step S26).

[0064] Also, in step S23, even if the detection unit 16 does not detect any vehicles that are affected by the driving of the manually driven vehicle (No in step S23), the traffic control unit 13A changes the traffic control method within the intersection for the group generated by the group generation unit 11A according to the judgment result by the judgment unit 12A (step S26).

[0065] As described above, according to the second embodiment, when a group includes a manually driven vehicle, the detection unit 16 detects, among vehicles other than the manually driven vehicle in the group, vehicles that will be affected by the driving of the manually driven vehicle based on the driving lane and driving route of the manually driven vehicle. When a vehicle that will be affected by the driving of the manually driven vehicle is present in the group, the group generation unit 11A generates a first group consisting of the manually driven vehicle and vehicles that will be affected by the driving of the manually driven vehicle, and a second group consisting of vehicles that will not be affected by the driving of the manually driven vehicle. The traffic control unit 13A changes the traffic control method within the intersection for each of the first group and the second group.

[0066] As described above, according to the second embodiment, a first group consisting of manually driven vehicles and vehicles affected by the driving of manually driven vehicles, and a second group consisting of vehicles not affected by the driving of manually driven vehicles are generated, and the traffic control method is changed for each of the first and second groups. Therefore, even in an environment where automatically driven vehicles and manually driven vehicles may coexist, it becomes possible to perform more appropriate traffic control for each of the first and second groups. Other effects of the second embodiment are the same as those of the first embodiment described above.

[0067] <Modifications of Embodiments 1 and 2> In the above-described embodiments 1 and 2, the predetermined point serving as a reference for generating a group is an intersection. However, this is not limiting. For example, the predetermined point may be a merging point where vehicles merge. For example, the merging point may be an entrance or exit to a highway, an entrance or exit to a parking lot at a shopping mall, a point where lanes on a road decrease or increase, or a branch point on a road. Furthermore, when the predetermined point is a merging point, the group generation unit 11 or 11A may generate a group consisting of vehicles that are present within a predetermined range from the merging point, or may generate a group consisting of vehicles that are present within a predetermined range from the merging point and are about to enter the merging point. Furthermore, the traffic control unit 13 or 13A may change the traffic control method for the group near the merging point depending on the determination result by the determination unit 12 or 12A of whether the group includes a manually driven vehicle.

[0068] Furthermore, after generating a group consisting of vehicles existing within a predetermined range from a predetermined point, the generated group may no longer match the actual state of the vehicles within the predetermined range due to, for example, a change in the course of a vehicle within the predetermined range (entering a store along the road, changing lanes, etc.). Therefore, the group generation unit 11, 11A may update the group at a predetermined timing, such as when a vehicle changes course within the predetermined range or when the number of vehicles within the predetermined range changes. When a group is updated, the operations described in the first and second embodiments above may be performed on the updated group.

[0069] <Embodiment 3> This embodiment 3 corresponds to an embodiment that is a broader concept than the above-mentioned embodiments 1 and 2. Fig. 8 is a block diagram showing a schematic configuration example of a traffic management device 10B. The traffic management device 10B includes a group generation unit 11B, a determination unit 12B, and a traffic control unit 13B.

[0070] The group generation unit 11B generates groups of vehicles. The determination unit 12B determines whether or not a manually driven vehicle is included in the group generated by the group generation unit 11B. The traffic control unit 13B changes the traffic control method for the group generated by the group generation unit 11B according to the determination result by the determination unit 12B.

[0071] In this way, according to the third embodiment, the traffic control method for a group is changed depending on whether or not the group includes manually driven vehicles. Therefore, even in an environment where automatically driven vehicles and manually driven vehicles may coexist, appropriate traffic control can be performed on a group-by-group basis.

[0072] In addition, depending on the judgment result, the traffic control unit 13B may change at least one of the traffic control methods for the group: the content of traffic control to be communicated to the group, and the communication means for communicating the content of traffic control to the group.

[0073] The group generation unit 11B may also generate a group consisting of vehicles that are present within a predetermined range from a predetermined point, or may generate a group consisting of vehicles that are present within a predetermined range from a predetermined point and are about to enter the predetermined point.

[0074] The predetermined point may be an intersection. In this case, the traffic control unit 13B may change at least one of the following traffic control methods for the group at the intersection, based on the determination result: the content of traffic control to be communicated to the group and the means of communicating the content of traffic control to the group.

[0075] Furthermore, if the determination result indicates that a group includes a manually driven vehicle, the traffic management device 10B may further include a detection unit that detects, among vehicles in the group other than the manually driven vehicle, vehicles that are affected by the movement of the manually driven vehicle based on the driving lane and driving route of the manually driven vehicle. In this case, the group generation unit 11B may generate, based on the detection result, a first group consisting of manually driven vehicles and vehicles affected by the movement of the manually driven vehicle, and a second group consisting of vehicles not affected by the movement of the manually driven vehicle. Furthermore, the traffic control unit 13B may change the traffic control method within the intersection for each of the first group and the second group.

[0076] Furthermore, the detection unit may detect, among vehicles other than the manually driven vehicle in the group, vehicles that may collide with the manually driven vehicle as vehicles that will be affected by the driving of the manually driven vehicle.

[0077] The predetermined point may be a merging point where vehicles merge. In this case, the traffic control unit 13B may change at least one of the traffic control content to be communicated to the group and the communication means for communicating the traffic control content to the group, as a traffic control method for the group near the merging point, depending on the determination result. The group generation unit 11B may also update the group at a predetermined timing.

[0078] <Hardware Configuration of Traffic Management Device> FIG. 9 is a block diagram showing an example of a schematic hardware configuration of a computer 90 that realizes the traffic management devices 10, 10A, and 10B.

[0079] The computer 90 includes a processor 91, a memory 92, a storage 93, an input / output interface (input / output I / F) 94, and a communication interface (communication I / F) 95. The processor 91, the memory 92, the storage 93, the input / output interface 94, and the communication interface 95 are connected by a data transmission path for transmitting and receiving data to and from each other.

[0080] The processor 91 is, for example, a central processing unit (CPU) or a graphics processing unit (GPU). The memory 92 is, for example, a random access memory (RAM) or a read-only memory (ROM). The storage 93 is, for example, a storage device such as a hard disk drive (HDD), a solid state drive (SSD), or a memory card. The storage 93 may also be a memory such as a RAM or a ROM.

[0081] A program is stored in the storage 93. When loaded into the computer, this program includes a set of instructions (or software code) that causes the computer 90 to perform one or more functions of the traffic management devices 10, 10A, and 10B described above. The components of the traffic management devices 10, 10A, and 10B described above may be realized by the processor 91 reading and executing a program stored in the storage 93. Furthermore, the storage function of the traffic management devices 10, 10A, and 10B described above may be realized by the memory 92 or the storage 93.

[0082] The above-described programs may also be stored on non-transitory computer-readable media or tangible storage media. By way of example and not limitation, computer-readable media or tangible storage media include RAM, ROM, flash memory, SSD or other memory technologies, CD (Compact Disc)-ROM, DVD (Digital Versatile Disc), Blu-ray® disk or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices. The programs may also be transmitted on a transitory computer-readable medium or communication medium. By way of example and not limitation, transitory computer-readable media or communication media include electrical, optical, acoustic, or other forms of propagated signals.

[0083] The input / output interface 94 is connected to a display device 941, an input device 942, a sound output device 943, etc. The display device 941 is a device that displays a screen corresponding to drawing data processed by the processor 91, such as an LCD (Liquid Crystal Display), a CRT (Cathode Ray Tube) display, or a monitor. The input device 942 is a device that accepts operation inputs from an operator, such as a keyboard, a mouse, or a touch sensor. The display device 941 and the input device 942 may be integrated and realized as a touch panel. The sound output device 943 is a device that outputs sound corresponding to the sound data processed by the processor 91, such as a speaker.

[0084] The communication interface 95 transmits and receives data to and from an external device. For example, the communication interface 95 communicates with the external device via a wired communication path or a wireless communication path.

[0085] Although the present disclosure has been described above with reference to the embodiments, the present disclosure is not limited to the above-described embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present disclosure within the scope of the present disclosure. Furthermore, each embodiment can be combined with other embodiments as appropriate.

[0086] Furthermore, each drawing is merely an example for describing one or more embodiments. Each drawing may not relate to only one particular embodiment, but may also relate to one or more other embodiments. As will be understood by those skilled in the art, various features or steps described with reference to any one drawing can be combined with features or steps shown in one or more other drawings to create, for example, an embodiment not explicitly shown or described. Not all features or steps shown in any one drawing are necessarily required to describe an exemplary embodiment, and some features or steps may be omitted. The order of steps described in any drawing may be changed as appropriate.

[0087] Furthermore, some or all of the above embodiments can be described as, but are not limited to, the following supplementary notes. (Supplementary Note 1) A traffic management device comprising: a group generation unit that generates a group of vehicles; a determination unit that determines whether the group includes a manually driven vehicle; and a traffic control unit that changes a traffic control method for the group in accordance with the determination result. (Supplementary Note 2) The traffic management device according to Supplementary Note 1, wherein the traffic control unit changes at least one of the traffic control content to be communicated to the group and the communication means for communicating the traffic control content to the group in accordance with the determination result, as the traffic control method for the group. (Supplementary Note 3) The traffic management device according to Supplementary Note 2, wherein the group generation unit generates the group consisting of vehicles that are present within a predetermined range from a predetermined point. (Supplementary Note 4) The traffic management device according to Supplementary Note 2, wherein the group generation unit generates the group consisting of vehicles that are present within a predetermined range from a predetermined point and are about to enter the predetermined point. (Supplementary Note 5) The traffic management device according to Supplementary Note 4, wherein the predetermined point is an intersection, and the traffic control unit changes at least one of the content of traffic control to be communicated to the group and the communication means for communicating the content of traffic control to the group, as the traffic control method within the intersection for the group, according to the determination result. (Supplementary Note 6) The traffic management device according to Supplementary Note 5, further comprising a detection unit that, if the determination result indicates that the manually driven vehicle is included in the group, detects vehicles in the group other than the manually driven vehicle that are affected by the driving of the manually driven vehicle, based on the driving lane and driving route of the manually driven vehicle, and the group generation unit generates, based on the detection result, a first group consisting of the manually driven vehicle and vehicles affected by the driving of the manually driven vehicle, and a second group consisting of vehicles not affected by the driving of the manually driven vehicle, and the traffic control unit changes the traffic control method within the intersection for each of the first group and the second group.(Supplementary Note 7) The traffic management device according to Supplementary Note 6, wherein the detection unit detects, among vehicles other than the manually-driven vehicle in the group, vehicles that have the potential to collide with the manually-driven vehicle as vehicles that will be affected by the travel of the manually-driven vehicle. (Supplementary Note 8) The traffic management device according to Supplementary Note 4, wherein the predetermined point is a merging point where vehicles merge, and the traffic control unit changes at least one of the traffic control content to be communicated to the group and the communication means for communicating the traffic control content to the group, as the traffic control method for the group near the merging point, according to the determination result. (Supplementary Note 9) The traffic management device according to Supplementary Note 1, wherein the group generation unit updates the groups at predetermined timing. (Supplementary Note 10) A traffic management method executed by a traffic management device, comprising: generating a group of vehicles; determining whether the group includes a manually-driven vehicle; and changing the traffic control method for the group according to the determination result. (Supplementary Note 11) The traffic management method according to Supplementary Note 10, wherein changing the traffic control method includes changing, in accordance with the determination result, at least one of the content of traffic control to be communicated to the group and a communication means for communicating the content of traffic control to the group, as the traffic control method for the group. (Supplementary Note 12) The traffic management method according to Supplementary Note 11, wherein generating the group includes generating the group consisting of vehicles that are present within a predetermined range from a predetermined point. (Supplementary Note 13) The traffic management method according to Supplementary Note 11, wherein generating the group includes generating the group consisting of vehicles that are present within a predetermined range from a predetermined point and are about to enter the predetermined point. (Supplementary Note 14) The traffic management method according to Supplementary Note 13, wherein the predetermined point is an intersection, and changing the traffic control method includes changing, in accordance with the determination result, at least one of the content of traffic control to be communicated to the group and a communication means for communicating the content of traffic control to the group, as the traffic control method within the intersection for the group.(Supplementary Note 15) The traffic management method of Supplementary Note 14, further comprising: if the determination result indicates that the manually driven vehicle is included in the group, detecting, based on the driving lane and driving route of the manually driven vehicle, vehicles other than the manually driven vehicle in the group that will be affected by the driving of the manually driven vehicle; and generating, based on the detection result, a first group consisting of the manually driven vehicle and vehicles affected by the driving of the manually driven vehicle, and a second group consisting of vehicles not affected by the driving of the manually driven vehicle, wherein changing the traffic control method includes changing the traffic control method within the intersection for each of the first group and the second group. (Supplementary Note 16) The traffic management method of Supplementary Note 15, further comprising: detecting, among the vehicles other than the manually driven vehicle in the group, vehicles that may collide with the manually driven vehicle as vehicles affected by the driving of the manually driven vehicle. (Supplementary Note 17) The traffic management method of Supplementary Note 13, wherein the predetermined point is a merging point where vehicles merge, and changing the traffic control method includes changing, in accordance with the determination result, at least one of the following: traffic control content to be communicated to the group and a communication means for communicating the traffic control content to the group, as the traffic control method for the group near the merging point. (Supplementary Note 18) The traffic management method of Supplementary Note 10, further including updating the group at a predetermined timing. (Supplementary Note 19) A program that causes a computer to execute: a group generation procedure for generating a group of vehicles; a determination procedure for determining whether the group includes a manually driven vehicle; and a traffic control procedure for changing the traffic control method for the group in accordance with the determination result. (Supplementary Note 20) The program of Supplementary Note 19, wherein the traffic control procedure changes, in accordance with the determination result, at least one of the following: traffic control content to be communicated to the group and a communication means for communicating the traffic control content to the group, as the traffic control method for the group.

[0088] Note that some or all of the elements (e.g., configurations and functions) described in Supplementary Notes 2 to 9 that are dependent on Supplementary Note 1 may also be dependent on Supplementary Note 19 in the same dependent relationship as Supplementary Notes 2 to 9. Some or all of the elements described in any Supplementary Note may be applied to various hardware, software, recording means for recording software, systems, and methods.

[0089] 10, 10A, 10B Traffic management device 11, 11A, 11B Group generation unit 12, 12A, 12B Determination unit 13, 13A, 13B Traffic control unit 14, 14A Communication unit 15, 15A Storage unit 16 Detection unit 20 １ Manually driven vehicle 20 ２ ~20 １２ Self-driving car 90 Computer 91 Processor 92 Memory 93 Storage 94 Input / output interface 941 Display device 942 Input device 943 Sound output device 95 Communication interface

Claims

1. A traffic management device comprising: a group generation unit that generates groups of vehicles; a determination unit that determines whether the groups include manually driven vehicles; and a traffic control unit that changes a traffic control method for the groups depending on the determination result.

2. The traffic management device described in claim 1, wherein the traffic control unit changes at least one of the traffic control content to be communicated to the group and the communication means for communicating the traffic control content to the group as the traffic control method for the group depending on the judgment result.

3. The traffic management device according to claim 2, wherein the group generation unit generates the group consisting of vehicles present within a predetermined range from a predetermined point.

4. The traffic management device according to claim 2, wherein the group generation unit generates the group consisting of vehicles that are present within a predetermined range from a predetermined point and are about to enter the predetermined point.

5. The traffic management device described in claim 4, wherein the specified point is an intersection, and the traffic control unit changes at least one of the following as the traffic control method for the group within the intersection: the content of traffic control to be communicated to the group and the communication means for communicating the content of traffic control to the group, depending on the judgment result.

6. A traffic management device as described in claim 5, further comprising a detection unit that, when the determination result indicates that the manually driven vehicle is included in the group, detects, based on the driving lane and driving route of the manually driven vehicle, vehicles other than the manually driven vehicle in the group that are affected by the driving of the manually driven vehicle, wherein the group generation unit generates, based on the detection result, a first group consisting of the manually driven vehicle and vehicles that are affected by the driving of the manually driven vehicle, and a second group consisting of vehicles that are not affected by the driving of the manually driven vehicle, and the traffic control unit changes the traffic control method within the intersection for each of the first group and the second group.

7. The traffic management device described in claim 6, wherein the detection unit detects vehicles other than the manually driven vehicle in the group that have the potential to collide with the manually driven vehicle as vehicles that will be affected by the movement of the manually driven vehicle.

8. The traffic management device described in claim 4, wherein the specified point is a merging point where vehicles merge, and the traffic control unit changes at least one of the following as the traffic control method for the group near the merging point: the content of traffic control to be communicated to the group and the communication means for communicating the content of traffic control to the group, depending on the judgment result.

9. The traffic management device according to claim 1, wherein the group generation unit updates the groups at predetermined timing.

10. A traffic management method executed by a traffic management device, comprising: generating a group of vehicles; determining whether the group includes a manually driven vehicle; and changing a traffic control method for the group according to the determination result.

11. A traffic management method as described in claim 10, wherein changing the traffic control method includes changing at least one of the content of traffic control to be communicated to the group and the means of communicating the content of traffic control to the group as the traffic control method for the group, depending on the judgment result.

12. The traffic management method according to claim 11, wherein generating the group includes generating the group consisting of vehicles present within a predetermined range from a predetermined point.

13. The traffic management method according to claim 11, wherein generating the group includes generating the group consisting of vehicles that are present within a predetermined range from a predetermined point and are about to enter the predetermined point.

14. A traffic management method as described in claim 13, wherein the specified point is an intersection, and changing the traffic control method includes changing at least one of the content of traffic control to be communicated to the group and the means of communicating the content of traffic control to the group as the traffic control method within the intersection for the group, depending on the determination result.

15. The traffic management method of claim 14, further comprising: if the determination result indicates that the manually driven vehicle is included in the group, detecting, based on the driving lane and driving route of the manually driven vehicle, vehicles in the group other than the manually driven vehicle that will be affected by the driving of the manually driven vehicle; and generating, based on the detection result, a first group consisting of the manually driven vehicle and vehicles affected by the driving of the manually driven vehicle, and a second group consisting of vehicles not affected by the driving of the manually driven vehicle; and changing the traffic control method includes changing the traffic control method within the intersection for each of the first group and the second group.

16. The traffic management method described in claim 15, wherein detecting vehicles that will be affected by the movement of the manually driven vehicle includes detecting, among vehicles in the group other than the manually driven vehicle, vehicles that may collide with the manually driven vehicle as vehicles that will be affected by the movement of the manually driven vehicle.

17. A traffic management method as described in claim 13, wherein the specified point is a merging point where vehicles merge, and changing the traffic control method includes changing, in accordance with the determination result, at least one of the content of traffic control to be communicated to the group and the means of communicating the content of traffic control to the group as the traffic control method for the group near the merging point.

18. The traffic management method according to claim 10, further comprising updating the group at predetermined times.

19. A program that causes a computer to execute a group generation procedure for generating a group of vehicles, a determination procedure for determining whether the group includes a manually driven vehicle, and a traffic control procedure for changing the traffic control method for the group depending on the determination result.

20. The program described in claim 19, wherein the traffic control procedure changes at least one of the traffic control content to be communicated to the group and the communication means for communicating the traffic control content to the group as the traffic control method for the group depending on the judgment result.

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