Traffic control system for vehicle lane changing, and server device

Abstract

[Problem] To control vehicle lane changing by using a server device that communicates with a vehicle. [Solution] A server control unit of a server device: generates a currently-traveling lane chart in which a vehicle traveling in a currently-traveling lane is mapped when the vehicle is to change lanes, and an other-lane chart in which another vehicle traveling in another lane is mapped; and determines the possibility of interference between the vehicle traveling in the currently-traveling lane and the other vehicle in the other lane. The server control unit generates and transmits, to the vehicle, a first passing point, a first passing time, a second passing point, and a second passing time, at which interference with the other vehicle will not occur.

Description

Vehicle lane change control system and server device

[0001] The present application mainly discloses a traffic control system for lane changes of a vehicle and a server device.

[0002] Patent Documents 1 and 2 disclose driving control in a vehicle. In contrast, Patent Document 3 discloses that an automatic driving assistance device serving as a server device controls the driving of a vehicle.

[0003] International Publication No. 2017 / 138513 Japanese Patent Application Laid-Open No. 2015-184722 International Publication No. 2021 / 117214

[0004] In the autonomous driving control of a vehicle alone as in Patent Documents 1 and 2, the vehicle can only change lanes to avoid an obstacle or a stopped vehicle in the current lane when a vehicle sensor installed in the vehicle detects an obstacle or a stopped vehicle in the current lane while the vehicle is traveling. In contrast, in Patent Document 3, an automated driving assistance device generates a trajectory for changing lanes to avoid an obstacle in the current lane while traveling, based on information registered in an obstacle information database, and transmits the trajectory to the vehicle. In this case, the vehicle can travel while avoiding the obstacle by changing lanes along the trajectory specified by the automated driving assistance device, even if the vehicle sensor installed in the vehicle does not detect the obstacle.

[0005] However, when a fixed trajectory for lane changes is generated and transmitted to a vehicle by an automated driving assistance device serving as a server device as in Patent Document 3, the vehicle can only travel by tracing the fixed trajectory. In this case, as pointed out in Patent Document 2, a vehicle that changes lanes by tracing the fixed trajectory may approach or interfere with other vehicles traveling in other lanes beyond the lane change destination. In Patent Document 3, it is difficult to deal with both obstacles that may be involved in the lane change and other vehicles in other lanes.

[0006] Thus, there is a need for improvement in controlling lane changes by a server device that communicates with the vehicle.

[0007] A control system for lane changes of a vehicle according to one embodiment of the present invention includes a server device having a server control unit that generates individual control information for the traveling of the vehicle based on an interference determination using a current position and current speed of the vehicle on a lane of a road, and a vehicle that can travel by autonomous driving using the individual control information, and the server control unit generates a lane change direction request when a state occurs in which the vehicle changes lanes from the lane in which the vehicle is traveling to another lane adjacent to or connected to the lane in which the vehicle is traveling, and when the lane change direction request is generated, a current lane chart in which future predicted positions of one or more vehicles including the vehicle traveling in the current lane are mapped according to the current positions and current speeds of the vehicle, and an other lane chart in which future predicted positions of other vehicles traveling in the other lanes are mapped according to the current positions and current speeds of the other vehicles, and the current lane chart and the other lane chart are generated. using information from the chart, determine the possibility of interference with another vehicle in the other lane for the vehicle traveling in the current lane, and generate a first passing point and a first passing time for starting a lane change on the current lane chart that the vehicle will pass through in the future, and a second passing point and a second passing time for ending a lane change on the other lane chart that the vehicle will pass through in the future, so that even if the vehicle changes lanes, it will not interfere with the other vehicle in the other lane that the first interference determination unit has determined to have the possibility of interference; and using a server communication device that communicates with the vehicle, The first passing point and the first passing time, and the second passing point and the second passing time, together with the lane change direction request, are transmitted to the vehicle as the individual control information, and the vehicle has a driving control unit that, when the lane change direction request is included in the individual control information received by a vehicle communication device that communicates with the server device, performs lane change control from the currently traveling lane to another lane so as to pass the first passing point in the currently traveling lane at the first passing time and pass the second passing point in the other lane at the second passing time.

[0008] A server device according to one embodiment of the present invention has a server control unit that generates individual control information for server-controlling travel of a vehicle based on interference determination using a current position and current speed of the vehicle on a lane of a road, and the server control unit generates a lane change direction request when a state occurs in which the vehicle changes lanes from the lane currently being traveled to another lane adjacent to or connected to the lane currently being traveled, and when the lane change direction request is generated, maps a future predicted position corresponding to the current position and current speed of the vehicle onto a chart corresponding to the lane currently being traveled on the road on which the vehicle is traveling, and generates a lane currently being traveled chart on which future predicted positions corresponding to the current positions and current speeds of one or more vehicles including the vehicle traveling on the lane currently being traveled are mapped, and an other lane chart on which future predicted positions corresponding to the current positions and current speeds of one or more vehicles including the vehicle traveling on the other lane are mapped. and an other lane chart that maps the current position and future predicted position of other vehicles according to their current speed, and uses information from the lane in motion chart and the other lane chart to determine the possibility of interference with other vehicles in other lanes for the vehicle traveling in the current lane, and generates a first passing point and a first passing time for starting a lane change on the lane in motion chart that the vehicle will pass through in the future, and a second passing point and a second passing time for ending the lane change on the other lane chart that the vehicle will pass through in the future, so that the vehicle will not interfere with other vehicles in the other lanes that are determined to be prone to interference even if it changes lanes, and transmits the first passing point and the first passing time, and the second passing point and the second passing time, together with the lane change direction request, to the vehicle as the individual control information using a server communication device that communicates with the vehicle.

[0009] In one embodiment of the present invention, a server control unit of a server device maps at least a future predicted position of a vehicle corresponding to the current position and current speed onto a chart corresponding to the lane in which the vehicle is traveling on a road. The server control unit then generates a current lane chart and an other lane chart. The current lane chart is a map of future predicted positions of one or more vehicles, including a vehicle traveling in the current lane, corresponding to the current position and current speed. The other lane chart is a map of other lanes adjacent to or connected to the current lane, and is a map of future predicted positions of other vehicles traveling in the other lanes, corresponding to the current position and current speed. The server control unit uses information from the current lane chart and the other lane chart to determine the possibility of interference with other vehicles in other lanes for the vehicle traveling in the current lane. The server control unit generates a first passing point and a first passing time for starting a lane change on the current lane chart that the vehicle is to pass in the future, and a second passing point and a second passing time for ending the lane change on the other lane chart that the vehicle is to pass in the future, so that even if the vehicle changes lanes, it will not interfere with other vehicles in other lanes that are determined to have a possibility of interference. The vehicle's driving control unit executes lane change control from the current lane to another lane so that the vehicle passes the first passing point of the current lane at the first passing time and the second passing point of the other lane at the second passing time. This allows the vehicle, traveling autonomously under the control of the server device, to change lanes from the current lane to another lane without interfering with other vehicles traveling in adjacent or connected lanes.

[0010] In one embodiment of the present invention, the server control unit of the server device generates a lane change direction request and executes the above-described process when a state occurs in which the vehicle is changing lanes from one lane to another lane while traveling. Therefore, for example, when there is an obstacle in the lane while traveling, the server control unit generates a lane change direction request based on the obstacle, and generates a set of first and second passing points that will allow the vehicle to change lanes to avoid the obstacle and will not interfere with other vehicles traveling in the other lane after the lane change, along with information on the passing times of each of the first and second passing points.

[0011] In this way, one embodiment of the present invention allows a vehicle to perform lane changes that correspond to multiple situations that may involve lane changes, such as both obstacles in the lane the vehicle is traveling in and other vehicles in other lanes.

[0012] FIG. 1 is a configuration diagram of a vehicle traffic control system according to a first embodiment of the present invention. FIG. 2 is an explanatory diagram of an example of a vehicle control system whose travel is controlled or assisted by the control server device of FIG. 1. FIG. 3 is a configuration diagram of the control server device of FIG. 1. FIG. 4 is a timing chart showing the overall flow of individual traffic control for individually controlling the travel of vehicles in the vehicle traffic control system of FIG. 1. FIG. 5 is a flowchart of traffic control by the control server device of FIG. 1. FIG. 6 is a flowchart of travel control for automated driving under server control by the vehicle of FIG. 1. FIG. 7 is an explanatory diagram of a state in which a vehicle traveling in an overtaking lane on a two-lane road is traveling toward a branch lane. FIG. 8 is an explanatory diagram of an example of an ST chart of the overtaking lane and an ST chart of the travel lane of FIG. 7 when the vehicle of FIG. 7 enters the lane change notification distance. FIG. 9 is an explanatory diagram of another example of the ST chart of the overtaking lane and the ST chart of the travel lane of FIG. 7 when the vehicle of FIG. 7 enters the lane change notification distance. FIG. 10 is a flowchart of generation control of a lane change control value when the vehicle of FIG. 7 changes lanes. FIG. 11 is an explanatory diagram of a state after the vehicle of FIG. 7 has changed lanes from an overtaking lane to a driving lane. FIG. 12 is an explanatory diagram of a state when the vehicle of FIG. 7 is traveling in a branching lane. FIG. 13 is an explanatory diagram of a state when a vehicle traveling in the driving lane changes lanes to an overtaking lane due to the occurrence of an event in the driving lane. FIG. 14 is an explanatory diagram of a state after the vehicle of FIG. 13 has changed lanes from the driving lane to the overtaking lane. FIG. 15 is an explanatory diagram of a state when a vehicle traveling in the driving lane transmits a lane change request to the control server device to change lanes from the driving lane to the overtaking lane. FIG. 16 is an explanatory diagram of a state after the vehicle of FIG. 15 has changed lanes from the driving lane to the overtaking lane. FIG. 17 is a flowchart of control by the control server device according to a second embodiment of the present invention.

[0013] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0014] First Embodiment FIG. 1 is a configuration diagram of an automobile traffic control system 1 according to a first embodiment of the present invention.

[0015] The vehicle traffic control system 1 in Fig. 1 includes a control server device 3 and a plurality of vehicles 2 whose autonomous driving is controlled or assisted by the control server device 3. Also shown in Fig. 1 is a Global Navigation Satellite System (GNSS) satellite 110.

[0016] A car 2 is traveling on a road 100. The road 100 in Fig. 1 is, for example, a two-lane road.

[0017] The control server device 3 communicates with a plurality of automobiles 2 via a base station 7 and a carrier communication network 8. The base station 7 and the carrier communication network 8 constitute a carrier communication system 6. The automobiles 2 periodically and repeatedly transmit vehicle information, such as their latest position and time, to the control server device 3. The control server device 3 uses the vehicle information collected from the plurality of automobiles 2 to generate individual control information for controlling the driving of each automobile 2 and transmits it to each automobile 2. Each automobile 2 controls the driving of its own automobile by automatic driving control using the individual control information. This allows each automobile 2 to drive by automatic driving under control.

[0018] FIG. 2 is an explanatory diagram of an example of a control system 20 of an automobile 2 whose driving is controlled or assisted by the control server device 3 of FIG. 1. The control system 20 of the automobile 2 of FIG. 2 has a vehicle network 29 and a plurality of control devices connected thereto. FIG. 2 illustrates, as examples of the plurality of control devices, a sensor control device 21, a driving control device 22, a drive control device 23, a steering control device 24, a braking control device 25, and an external vehicle communication control device 26. The control system 20 of the automobile 2 may also include other control devices, such as an operation control device. Operation members such as a steering wheel and pedals that are operated by the driver during manual driving are connected to the operation control device. Furthermore, each control device shown in FIG. 2 may be divided into multiple devices and connected to the vehicle network 29.

[0019] The vehicle network 29 may be a vehicle-specific network such as a Controller Area Network (CAN), a Local Interconnect Network (LIN), or a broadband network for vehicles. The vehicle network 29 may also include a general network such as the Institute of Electrical and Electronics Engineers (IEEE) 802.3. By using such a vehicle network 29, a control device provided in the automobile 2 can input and output information to and from other control devices via the vehicle network 29.

[0020] The sensor control device 21 controls the operation of various vehicle sensors provided in the automobile 2, and outputs detected values ​​of the various vehicle sensors or processed information obtained by processing the detected values ​​to other control devices via the vehicle network 29. In Fig. 2, examples of vehicle sensors connected to the sensor control device 21 include a GNSS receiver 31, an outside vehicle camera 32, and an acceleration sensor 33. In addition to these, a vehicle speed sensor that detects the speed of the automobile 2, a steering sensor that detects the steering angle of the steering wheels of the automobile 2, and the like may also be connected to the sensor control device 21.

[0021] The GNSS receiver 31 receives radio waves from a plurality of GNSS satellites 110 as shown in FIG. 1, and generates information on the position and time of the automobile 2 .

[0022] The exterior camera 32 captures images of the driving environment around the automobile 2 traveling on a road or the like. The exterior camera 32 may be a monocular camera, a compound camera, or a 360-degree camera. It is desirable that the exterior camera 32 be capable of capturing images of at least the front of the traveling automobile 2. Other devices for detecting the driving environment around the vehicle include, for example, lidar and laser. The sensor control device 21 can generate processed information such as unevenness information on the road surface around the vehicle, the types of other vehicles around the vehicle, and their relative directions and distances, based on information about the driving environment, such as images captured by the exterior camera 32.

[0023] The acceleration sensor 33 detects the acceleration of the automobile 2. By using a sensor that detects axial acceleration as the acceleration sensor 33, the sensor control device 21 can generate information on the angular acceleration in each of the yaw, pitch, and roll directions of the automobile 2. The sensor control device 21 may also generate information on the speed of the automobile 2 by integrating the acceleration of the acceleration sensor 33 over time.

[0024] A vehicle communication device 35 provided in the automobile 2 is connected to the exterior-vehicle communication control device 26. The vehicle communication device 35 establishes a wireless communication path with a base station 7 with which communication is possible. The exterior-vehicle communication control device 26 controls the operation of the vehicle communication device 35 and transmits and receives information to and from the control server device 3 via the vehicle communication device 35 and the base station 7. For example, the exterior-vehicle communication control device 26 outputs information that the vehicle communication device 35 receives from the control server device 3 or the base station 7 to other control devices via the vehicle network 29. The exterior-vehicle communication control device 26 transmits information input from other control devices via the vehicle network 29 to the control server device 3 via the vehicle communication device 35 and the base station 7.

[0025] The drive control device 23 has a drive device that is provided in the automobile 2 and that generates drive power using, for example, gasoline or hydrogen as fuel, a motor that generates drive power using electricity, a transmission, or a combination of these. The drive control device 23 controls the operation of the drive device using control values ​​obtained via the vehicle network 29.

[0026] The steering control device 24 is connected to, for example, a steering device provided in the automobile 2. The steering control device 24 controls the operation of the steering device using control values ​​acquired via the vehicle network 29.

[0027] The braking control device 25 is connected to a braking device provided in the automobile 2. The braking control device 25 controls the operation of the braking device based on a control value acquired via the vehicle network 29.

[0028] The cruise control device 22 controls the driving of the automobile 2. When controlling driving in manual driving mode, the cruise control device 22 may generate control values ​​corresponding to the driver's operation amounts of the steering wheel, pedals, etc. In this case, for driving assistance, the cruise control device 22 may determine information on the driving state of the vehicle and information on the surroundings of the vehicle and adjust the control values ​​accordingly. In the case of autonomous automatic driving, the cruise control device 22 acquires information on the driving state of the vehicle and information on the surroundings of the vehicle from the sensor control device 21 and generates control values ​​according to this information. In this case, the cruise control device 22 may determine the conditions of the road and lane on which the vehicle is traveling based on, for example, the latest position of the vehicle in high-precision map data, and generate control values ​​for steering and acceleration / deceleration. When driving in automatic driving mode under the control of the control server device 3, the cruise control device 22 acquires individual control information from the control server device 3 and information on the driving state of the vehicle and information on the surroundings of the vehicle from the sensor control device 21 and generates control values ​​according to this information. In this case, the driving control device 22 may generate a control value so that the vehicle 2 drives in accordance with the individual control information from the control server device 3 if there is no obstacle based on information about the vehicle's surroundings. The driving control device 22 may switch between the various driving controls described above depending on the driving state and driving environment of the vehicle 2, which can be determined based on the individual control information, detection information about the vehicle, or driver operation. An automobile 2 equipped with such a driving control device 22 is an automobile 2 that can drive automatically using individual control information.

[0029] For example, if the cruise control device 22 determines that another moving object is approaching in front of the vehicle based on the latest captured image from the exterior camera 32, or if the individual control information includes information indicating an equivalent determination result, the cruise control device 22 generates a control value for deceleration and outputs it to the brake control device 25. The brake control device 25 executes deceleration control in accordance with the control value. This allows the vehicle 2 to autonomously decelerate or stop so as not to interfere with the preceding vehicle. Furthermore, if the cruise control device 22 determines that the stopped vehicle is ready to start based on the latest captured image from the exterior camera 32, or if the individual control information includes information indicating an equivalent determination result, the cruise control device 22 generates a control value for acceleration and outputs it to the drive control device 23. The drive control device 23 executes acceleration control in accordance with the control value. This allows the vehicle 2 to autonomously accelerate and start so as to follow the preceding vehicle. Furthermore, if the driving control device 22 determines that the vehicle 2 is likely to deviate from its lane based on the latest image captured by the exterior camera 32, or if the individual control information includes information indicating an equivalent determination result, the driving control device 22 generates a control value for steering and outputs it to the steering control device 24. The steering control device 24 executes steering control in accordance with the control value. This changes the direction of the traveling vehicle 2, allowing the vehicle 2 to travel while maintaining the lane it is traveling in. Furthermore, if the driving control device 22 determines that the vehicle 2 needs to turn right, left, or change lanes by comparing the vehicle's position obtained by the GNSS receiver 31 with the high-precision map data 34, or if the individual control information includes information indicating an equivalent determination result, the driving control device 22 generates a control value for steering and outputs it to the steering control device 24. The steering control device 24 executes steering control in accordance with the control value. This allows the vehicle 2 to turn right, left, or change lanes. These driving controls enable the automobile 2 to travel automatically based on detection by the vehicle sensors and server control by the control server device 3.

[0030] As described above, the automobile 2 can travel autonomously by itself. For example, when a vehicle sensor provided in the automobile 2 detects an obstacle or a stopped vehicle in the lane of the road on which the automobile 2 is traveling, the cruise control device 22 executes cruise control involving steering to avoid the obstacle or stopped vehicle in the lane of the road. This allows the automobile 2 to change lanes to avoid the obstacle or stopped vehicle in the lane of the road. However, cruise control by autonomous cruise control by the automobile 2 alone can only change lanes to avoid the obstacle or stopped vehicle once the vehicle sensor detects the obstacle or stopped vehicle in the lane of the road while the automobile 2 is traveling. Unless the obstacle or stopped vehicle is within the detection range of the vehicle sensor, the automobile 2 cannot change lanes to avoid the obstacle or stopped vehicle. Such cruise control may involve relatively abrupt steering. For this reason, it is conceivable to register information about obstacles and stopped vehicles in a server device, generate a trajectory for traveling while avoiding the obstacle or stopped vehicle, and transmit the trajectory to the automobile 2. By following a trajectory instructed by the server device, the automobile 2 can avoid obstacles and stopped vehicles. However, when registering information about obstacles and stopped vehicles in the control server device 3 in this manner, the registered information must be constantly updated to reflect road conditions. Furthermore, when the server device generates a fixed trajectory for lane changes and transmits it to the automobile 2, the automobile 2 can only travel by tracing the fixed trajectory supported by the server device. In this case, the automobile 2, which changes lanes by tracing the fixed trajectory, may approach or interfere with other vehicles traveling in other lanes. Simply instructing a trajectory to avoid obstacles and stopped vehicles cannot address both obstacles and other vehicles in other lanes. Thus, improvements are required for the traffic control system 1, which controls lane changes by a server device communicating with the vehicle.

[0031] Fig. 3 is a configuration diagram of the control server device 3 in Fig. 1. The control server device 3 communicates with a vehicle 2 traveling on a road to control or assist the vehicle 2 in traveling on the road. The control server device 3 in Fig. 3 includes a server communication device 43, a server GNSS receiver 41, a server DB (database) 42, a server memory 44, a server CPU 45, and a server internal bus 49 to which these are connected.

[0032] The server communication device 43 is connected to the carrier communication network 8. The server communication device 43 transmits and receives vehicle information including at least the driving position of each of the vehicles 2, individual control information, and the like, between the vehicle communication devices 35 provided in the vehicles 2. As a result, the server communication device 43 receives information regarding the driving of each of the vehicles 2.

[0033] The server GNSS receiver 41 receives radio waves from the GNSS satellites 110 and generates information about the position and time of the control server device 3. This allows the time of the control server device 3 to match the time of the multiple vehicles 2 with high accuracy.

[0034] The server DB 42 accumulates and records information on each of the multiple automobiles 2 under the control of the control server device 3. The server DB 42 may be provided with, for example, server map data 52, a vehicle position DB (database) 51, and the like, as will be described later.

[0035] The server map data 52 may include information equivalent to the high-precision map data 34 used by the automobile 2. Here, the server map data 52 may be about roads on which autonomous vehicles such as the automobile 2 can travel. The server map data 52 may generally be high-precision map data including information about each lane of the road, intersections, and the like. For example, FIG. 1 shows a two-lane road on which the automobile 2 travels. The server map data 52 includes information about links along the direction of the lanes for each lane of such a two-lane road, and nodes connecting multiple links. Nodes are set at points such as merging sections where one road connects to another, or diverging sections. Roads may be curved, and the entire curved section may be treated as a single link. In this case, the link may include attribute information such as the curvature of the road.

[0036] The server memory 44 records data such as programs executed by the server CPU 45 and setting values.

[0037] The server CPU 45 reads and executes the programs recorded in the server memory 44. This realizes a server control unit 46 that controls the operation of the control server device 3. The server control unit 46 includes functions such as a preprocessing unit 53 and a control control unit 54, as will be described later.

[0038] FIG. 4 is a timing chart showing the overall flow of individual control for individually controlling the traveling of automobiles 2 in the automobile traffic control system 1 of FIG. 1. Time flows from top to bottom. The overall flow of individual control in FIG. 4 is applicable not only when automobiles 2 are traveling in lanes while traveling on a road, but also when automobiles 2 are changing lanes. Due to the size of the drawing, only one automobile 2 is shown in FIG. 4. The control server device 3 of FIG. 4 has a preprocessing unit 53, a traffic control unit 54, server map data 52, and a vehicle position DB 51.

[0039] Each time the server communication device 43 receives new vehicle information from each vehicle 2 under its control, the preprocessing unit 53 executes preprocessing control to record the received vehicle information in the vehicle position DB 51. As a result, vehicle information such as the latest positions of the multiple vehicles 2 under the control of the control server device 3 can be accumulated and recorded in the vehicle position DB 51.

[0040] The control control unit 54 reads information recorded in the vehicle position DB 51 and executes individual control for individually controlling the traveling of each of the plurality of automobiles 2. In the individual control, the control control unit 54 basically periodically generates different individual control information for each of the plurality of automobiles 2 under its control and transmits it individually to each automobile 2. The vehicle communication device 35 of each automobile 2 receives the individual control information of its own vehicle from the control server device 3 and uses it to control the traveling of its own vehicle.

[0041] In such an automobile traffic control system 1, the control server device 3 can basically periodically and repeatedly generate a plurality of pieces of individual control information for controlling the traveling of a plurality of automobiles 2 traveling within its jurisdiction, under the control of the preprocessing unit 53 and the traffic control unit 54. Then, in each automobile 2 receiving the individual control information, the traveling control device 22 thereof can use the individual control information received from the control server device 3 to generate control values ​​in accordance with the requirements of the individual control information, thereby controlling the autonomous traveling of the automobile itself. Under the control of the control server device 3, the plurality of automobiles 2 can travel safely in an autonomous driving manner without interfering with each other by executing traveling control basically in accordance with the control of the control server device 3.

[0042] For example, the driving control device 22 of the automobile 2 acquires information about its own vehicle in step ST22, and transmits the vehicle information about its own vehicle to the control server device 3 in step ST24. The driving control device 22 also generates control values ​​for driving control in step ST28 using the information about its own vehicle and the individual control information about its own vehicle received from the control server device 3, and executes driving control of its own vehicle in step ST30. The driving control device 22 of the automobile 2 repeatedly and periodically executes steps ST22 to ST30 in FIG. 4. This allows the driving control device 22 of the automobile 2 to continue to control the autonomous driving of its own vehicle based on the latest driving state of its own vehicle as well as the latest information from the control server device 3.

[0043] In the control server device 3, when the pre-processing unit 53 receives new vehicle information from each vehicle 2 in step ST61, it records the received vehicle information in the vehicle position DB 51 in step ST62. The pre-processing unit 53 repeats the processes from step ST61 to step ST62 every time it receives new information from each vehicle 2. As a result, vehicle information indicating the past to latest traveling states of each of the multiple vehicles 2 is accumulated and recorded in the vehicle position DB 51.

[0044] In the control server device 3, the control control unit 54 selects a vehicle 2 in step ST1, reads information such as the position of the vehicle 2 from the vehicle position DB 51, and maps the multiple vehicles 2 to their respective positions on the ST chart in step ST2. Next, the control control unit 54 determines the possibility of interference with other vehicles for each vehicle 2 in step ST4. In step ST5, the control control unit 54 generates individual control information for each vehicle 2 to suppress interference, depending on the interference determination result in step ST4. In step ST6, the control control unit 54 transmits the generated individual control information to each vehicle 2.

[0045] When the automobile 2 receives the individual control information based on the interference determination by the control server device 3, the automobile 2 basically performs driving control in accordance with the individual control information. However, even if control under such control is performed, there remains a possibility that the driving state of the automobile 2 is not the driving state desired by the control server device 3. In this case, the control server device 3 transmits to the automobile 2 individual control information for further suppressing interference. As a result, the automobile 2 controls its driving in accordance with the individual control information multiple times, and may eventually reach the driving state expected by the control server device 3. Furthermore, the automobile 2 can be expected to continue driving in the state expected by the control server device 3. In this way, when the driving control device 22 of each of the multiple automobiles 2 receives the individual control information of its own vehicle from the control server device 3, it repeatedly performs driving control of its own vehicle using the received individual control information. The automobile 2 can control its autonomous driving driving under the control of the control server device 3 so that it drives in the manner expected by the control server device 3.

[0046] Through such server control, the control server device 3 can control or assist the driving of each of the multiple vehicles 2 using the individual control information generated for each vehicle 2 by the control control unit 54. Furthermore, in the vehicle control system 1 using the control server device 3, it is expected that the safety and stability of driving will be significantly improved compared to when each vehicle 2 drives autonomously based solely on detection information from its own vehicle sensor. In other words, when a vehicle 2 drives autonomously, the events that can be addressed by driving control are limited to those within the visual detection range of the vehicle sensor. In particular, if the detection range of the vehicle sensor is blocked by another vehicle, the vehicle 2 driving autonomously cannot respond to the driving of any vehicle ahead of the other vehicle. In response to this, the control server device 3 can map other vehicles located beyond the detection range of the vehicle sensor on the ST chart, determine the possibility of interference, and generate individual control information for each vehicle 2 to suppress the interference. The automobile 2, which is driven automatically under the control of the server, can control its own driving so as to suppress interference with other vehicles that are located beyond the detection range of the vehicle sensor.

[0047] Next, lane changing of the vehicle 2 by automatic driving under server control by the vehicle traffic control system 1 described above will be described.

[0048] Fig. 5 is a flowchart of the control by the control server device 3 of Fig. 1. The server CPU 45 of the control server device 3 functions as the control control unit 54 of the server control unit 46 and periodically repeats the control of Fig. 5 .

[0049] In step ST1, the server CPU 45 selects an unprocessed vehicle 2 from among a plurality of vehicles 2 traveling on a road.

[0050] In step ST2, the server CPU 45 generates a lane in motion chart corresponding to the lane in motion of the road on which the selected vehicle in step 1 is traveling, and maps the selected vehicle. Here, the lane in motion chart, for example, has the horizontal axis representing the direction of the lane in motion of the road and the vertical axis representing time, and is used by the server CPU 45 to determine the current driving environment of the selected vehicle. The server CPU 45 acquires the latest current position and speed of the selected vehicle from the vehicle position DB 51 and calculates the current position of the selected vehicle at the current time on the lane in motion chart. The server CPU 45 maps the selected vehicle to the current position at the current time on the lane in motion chart. The server CPU 45 also maps the line segment of the selected vehicle moving at the latest speed of the selected vehicle onto the lane in motion chart. The line segment of the selected vehicle indicates the predicted position of the selected vehicle at a future time after the current time. This allows the server CPU 45 to map the current position and predicted future position of the selected vehicle onto the lane in motion chart. The server CPU 45 also maps other vehicles traveling within the road section corresponding to the lane travelling chart onto the lane travelling chart using the same process as for the selected vehicle. As a result, the current and future positions of the selected vehicle and other vehicles traveling around it are mapped onto the lane travelling chart. The lane travelling chart can reproduce the current driving environment of the selected vehicle.

[0051] In step ST3, the server CPU 45 determines whether the selected vehicle needs to change lanes. For example, the server CPU 45 determines, using the server map data 52, whether a merging road or a branching road exists in the road section corresponding to the lane chart during travel. If a merging road or a branching road exists in the road section corresponding to the lane chart during travel and the selected vehicle may be affected by the merging road or the branching road, the server CPU 45 may determine that the selected vehicle needs to change lanes. Alternatively, for example, the server CPU 45 may determine that the selected vehicle needs to change lanes if it receives a lane change request from the selected vehicle. If the server CPU 45 determines that the selected vehicle needs to change lanes in any of the determinations, the server CPU 45 proceeds to step ST11 to have the selected vehicle execute a lane change under server control. On the other hand, if the server CPU 45 does not determine that the selected vehicle needs to change lanes in any of the determinations, the server CPU 45 proceeds to step ST4 to have the selected vehicle continue traveling in the current lane under server control.

[0052] From step ST4, the server CPU 45 starts traffic control to allow the selected vehicle to continue traveling in the current lane. The server CPU 45 first determines whether the selected vehicle is likely to interfere with another vehicle in the current lane chart. Specifically, the server CPU 45 determines whether the selected vehicle is likely to interfere with another vehicle in the current lane chart. For example, the server CPU 45 determines that the selected vehicle is likely to interfere with another vehicle when the line segment of the selected vehicle and the line segment of the other vehicle intersect in the current lane chart. The server CPU 45 may also determine that the selected vehicle is likely to interfere with another vehicle when the line segment of the selected vehicle and the line segment of the other vehicle approach each other within the inter-vehicle distance in the current lane chart.

[0053] In step ST5, the server CPU 45 generates individual control information for the selected vehicle. The server CPU 45 generates individual control information for the selected vehicle to avoid interference with other vehicles in the lane in which the selected vehicle is traveling. For example, if it is determined that the selected vehicle may interfere with other vehicles in the lane in which the selected vehicle is traveling, the server CPU 45 generates individual control information for controlling the speed to suppress the interference. In this case, the server CPU 45 may generate individual control information for adjusting the speed to the same as that of other vehicles that may interfere.

[0054] In step ST6, the server CPU 45 transmits the individual control information generated in this traffic control to the selected vehicle. The server CPU 45 transmits the individual control information from the server communication device 43 to the vehicle communication device 35 of the selected vehicle. The individual control information is received by the vehicle communication device 35 of the selected vehicle via the carrier communication network 8 and the base station 7.

[0055] In step ST7, the server CPU 45 determines whether the selection of vehicles 2 for the current traffic control has been completed. If the generation and transmission of individual control information for each vehicle 2 for all of the multiple vehicles 2 within the jurisdiction controlled by the control server device 3 has not been completed, the server CPU 45 determines that the selection of vehicles 2 for the current traffic control has not been completed. In this case, the server CPU 45 returns the process to step ST1. The server CPU 45 repeats the processes from step ST1 to step ST7 until the generation and transmission of individual control information for each vehicle 2 for all of the multiple vehicles 2 within the jurisdiction has been completed. Then, when the generation and transmission of individual control information for each vehicle 2 for all of the multiple vehicles 2 within the jurisdiction has been completed, the server CPU 45 terminates this control.

[0056] Next, traffic control for lane change of the selected vehicle will be described. In step ST11, the server CPU 45 generates a lane change direction request for the selected vehicle that has been determined to need to change lanes. Here, the lane change direction request may indicate the direction in which the selected vehicle will change lanes from the lane currently being driven. For example, if the selected vehicle is to deviate into a lane to the right of the lane currently being driven, the lane change direction request may include information indicating a lane change to the right. If the selected vehicle is to deviate into a lane to the left of the lane currently being driven, the lane change direction request may include information indicating a lane change to the left. As a result, the server CPU 45 generates a lane change direction request when a state occurs in which the vehicle 2 is changing lanes from the lane currently being driven to another lane adjacent to or connected to the lane currently being driven. The server CPU 45 can generate a lane change direction request when an event point that requires the vehicle 2 to change lanes is present in the direction of travel of the vehicle 2 in the lane currently being driven within a range of the travel distance that the vehicle 2 will travel if traveling at the current speed for a predetermined period of time.

[0057] In step ST12, the server CPU 45 generates an other lane chart corresponding to the other lane into which the selected vehicle will travel due to a lane change. Here, the other lane chart, for example, has the extension direction of the other lane on the horizontal axis and time on the vertical axis, and is used by the server CPU 45 to determine the current driving environment of the selected vehicle. The server CPU 45 also extracts other vehicles traveling within the road section corresponding to the other lane chart from the vehicle position DB 51. The server CPU 45 acquires the latest current position and speed of each extracted other vehicle and calculates the current position of the other vehicle at the current time on the other lane chart. The server CPU 45 maps the other vehicle to the current position at the time on the other lane chart. The server CPU 45 also maps the line segment of the other vehicle moving at the latest speed of the other vehicle onto the traveling lane chart. The line segment of the other vehicle indicates the predicted position of the other vehicle at a future time after the current time. This allows the server CPU 45 to map the current position and predicted future position of the other vehicle on the other lane chart. As a result, the current position and future position of the other vehicle traveling in the other lane into which the selected vehicle will travel due to a lane change are mapped on the other lane chart. The current driving environment of the selected vehicle that is changing lanes can be reproduced on the other lane chart. Furthermore, when a lane change direction request is generated, the server CPU 45 at least maps the predicted future position corresponding to the current position and current speed of the vehicle 2 onto the current lane chart corresponding to the current lane on the road on which the vehicle 2 is traveling. This allows the server CPU 45 to generate a current lane chart mapping the predicted future positions corresponding to the current positions and current speeds of one or more vehicles 2 traveling in the current lane, and an other lane chart mapping the predicted future positions of other vehicles traveling in the other lanes corresponding to the current positions and current speeds.

[0058] In step ST13, the server CPU 45 determines whether the selected vehicle will interfere with another vehicle in another lane after changing lanes. Specifically, the server CPU 45 determines whether the selected vehicle may interfere with another vehicle in another lane mapped on the other lane chart if it changes lanes to another lane. For example, the server CPU 45 may copy the line segment of the selected vehicle in the lane chart while traveling onto the other lane chart and determine whether the selected vehicle may interfere with another vehicle in another lane on the other lane chart in that state. For example, if the line segment of the selected vehicle mapped on the other lane chart and the line segment of the other vehicle intersect on the other lane chart, the server CPU 45 determines that the selected vehicle may interfere with another vehicle in another lane if it changes lanes. Furthermore, the server CPU 45 may determine that the selected vehicle may interfere with another vehicle in another lane if it changes lanes when the line segment of the selected vehicle mapped on the other lane chart and the line segment of the other vehicle approach each other within the inter-vehicle distance on the lane chart while traveling. This allows the server CPU 45 to use information from the current lane chart and other lane chart to determine the possibility of interference between the automobile 2 traveling in the current lane and other vehicles in other lanes.

[0059] From step ST14, the server CPU 45 starts generating and controlling individual control information for the selected vehicle that is changing lanes. The server CPU 45 sets a second passing point, which is the end point of the lane change reference section, to set a lane change reference section for the selected vehicle to execute a lane change under server control. The second passing point may be a position in the other lane in which the selected vehicle will travel after changing lanes.

[0060] In step ST15, the server CPU 45 sets a first passing point, which is the start point of the lane change reference section. The first passing point may be a position in the lane in which the selected vehicle is currently traveling.

[0061] In step ST16, the server CPU 45 generates a first passage time at which the selected vehicle passes the first passage point and a second passage time at which the selected vehicle passes the second passage point. If interference with another vehicle is determined in step ST13, the server CPU 45 may, for example, generate a first passage time and a second passage time at which the selected vehicle changes lanes behind the other vehicle to maintain a predetermined inter-vehicle distance. In this case, the server CPU 45 may move the line segment of the other vehicle that may be interfering by the inter-vehicle distance on the other lane chart to obtain the first passage time and the second passage time. This allows the server CPU 45 to generate a combination of the first passage point, first passage time, second passage point, and second passage time that will prevent the selected vehicle from interfering with another vehicle in the other lane that is determined to be likely to interfere even if the selected vehicle changes lanes. Here, the first passage point and first passage time are the location and time for starting a lane change on the traveling lane chart that the selected vehicle will pass through in the future. The second passage point and second passage time are the location and time for completing a lane change on the other lane chart that the selected vehicle will pass through in the future.

[0062] In step ST17, the server CPU 45 generates individual control information for the selected vehicle to change lanes. The server CPU 45 generates the individual control information including the lane change direction request, first passing point, first passing time, second passing point, and second passing time information generated in steps ST11 to ST16. Thereafter, in step ST6, the server CPU 45 transmits the individual control information generated in step ST17 to the selected vehicle. Thereafter, the server CPU 45 advances the processing to step ST6.

[0063] This allows the server CPU 45 to use the server communication device 43, which communicates with the selected vehicle, to transmit the first passing point and first passing time, the second passing point and second passing time, together with a lane change direction request, as individual control information to the vehicle 2. Furthermore, the control server device 3 can generate individual control information for each of the multiple vehicles 2 traveling within its jurisdiction based on interference determination using the current position and current speed on each lane of the road, and transmit this information to each vehicle 2.

[0064] Fig. 6 is a flowchart of the autonomous driving travel control under server control by the automobile 2 in Fig. 1. The travel control device 22 of the automobile 2 periodically and repeatedly executes the autonomous driving travel control under server control in Fig. 6 in order to control the autonomous driving travel of the automobile 2 itself.

[0065] In step ST21, the driving control device 22 determines whether a control period for controlling the autonomous driving of the vehicle has elapsed. The driving control device 22 may determine whether the control period has elapsed based on the time measured by a timer (not shown). If the control period has not elapsed, the driving control device 22 repeats this process. If the control period has elapsed, the driving control device 22 proceeds to step ST22.

[0066] In step ST22, the cruise control device 22 collects and acquires the latest current vehicle information from various parts of the vehicle. Here, the vehicle information may include the current position of the vehicle, the current time, the current vehicle speed, the current acceleration, detection information from vehicle sensors, the presence or absence of malfunctions or abnormalities, etc. The vehicle information may also include information such as the future route, which is the direction the vehicle will travel under automatic driving, and the operation state of the turn signal lever by the driver.

[0067] In step ST23, the driving control device 22 determines whether or not there is a lane change request for the vehicle to be transmitted to the control server device 3. If the vehicle information includes, for example, information indicating that the driver is operating a turn signal lever, the driving control device 22 determines that there is a lane change request. Also, if the future course included in the vehicle information indicates that the vehicle will deviate from the current lane, the driving control device 22 determines that there is a lane change request. If it is determined that there is a lane change request, the driving control device 22 proceeds to step ST25. If it is not determined that there is a lane change request, the driving control device 22 proceeds to step ST24.

[0068] In step ST24, the driving control device 22 transmits the vehicle information collected in step ST22 from the vehicle communication device 35 to the control server device 3. The vehicle information is received by the server communication device 43 of the control server device 3 from the vehicle communication device 35 via the base station 7 and the carrier communication network 8. Thereafter, the driving control device 22 proceeds to step ST26.

[0069] In step ST25, the driving control device 22 transmits vehicle information, in which a lane change request has been added to the information collected in step ST22, from the vehicle communication device 35 to the control server device 3. The vehicle information is received by the server communication device 43 of the control server device 3 from the vehicle communication device 35 via the base station 7 and the carrier communication network 8. Thereafter, the driving control device 22 proceeds to step ST26.

[0070] In step ST26, the driving control device 22 acquires the individual control information received by the vehicle communication device 35 from the control server device 3.

[0071] In step ST27, the driving control device 22 determines whether the individual control information includes a lane change direction request. If the individual control information includes a lane change direction request, the driving control device 22 proceeds to step ST28 to execute lane change control of the vehicle. If the individual control information does not include a lane change direction request, the driving control device 22 proceeds to step ST29 to perform automatic driving while maintaining the current lane.

[0072] In step ST29, the driving control device 22 determines whether the lane change in accordance with the lane change direction request included in the individual control information has been completed. If the lane change in accordance with the lane change direction request has been completed, the driving control device 22 proceeds to step ST29. If the lane change in accordance with the lane change direction request has not been completed, the driving control device 22 proceeds to step ST30.

[0073] In step ST29, the cruise control device 22 generates control values ​​for maintaining the current lane during autonomous driving under server control. The cruise control device 22 basically determines the safety of traveling according to the individual control information based on the detection information of the vehicle sensors. If traveling according to the individual control information is safe, the cruise control device 22 generates control values ​​for traveling in accordance with the individual control information. On the other hand, if it cannot be determined that traveling according to the individual control information is safe, the cruise control device 22 generates control values ​​for avoiding or suppressing the state included in the detection information of the vehicle sensors while following the individual control information. The cruise control device 22 then proceeds to step ST31.

[0074] In step ST30, the driving control device 22 generates a control value for changing lanes under traffic control as a lane change control value generation control. The driving control device 22 generates a control value for changing lanes according to each stage of the lane change. Details will be described later. Thereafter, the driving control device 22 proceeds to step ST31.

[0075] In step ST31, the cruise control device 22 outputs the control values ​​generated by the above processing to the drive control device 23, the steering control device 24, and the braking control device 25. This allows the cruise control device 22 to perform cruise control, such as lane changes, through automated driving under server control. For example, when a lane change direction request is included in the individual control information received by the automobile 2 communication device communicating with the control server device 3, the cruise control device 22 can perform lane change control from the currently traveling lane to another lane so as to pass a first passing point in the currently traveling lane at a first passing time and a second passing point in the other lane at a second passing time. The automobile 2 can travel so as to change lanes in automated driving under server control. Thereafter, the cruise control device 22 terminates this control.

[0076] FIG. 7 is an explanatory diagram of a state in which a vehicle 2 traveling in an overtaking lane on a two-lane road is traveling toward a branching lane. FIG. 7 shows a driving lane S1 and an overtaking lane S2 on the two-lane road, as well as a branching lane S3 branching off from a branching point PE in the driving lane S1. The vehicle 2, traveling autonomously under server control, is traveling in the overtaking lane S2, as indicated by a white circle 61 or a black circle 62 in FIG. 7. In this case, the overtaking lane S2 is the current lane. Furthermore, the vehicle 2 is attempting to travel toward the branching lane S3. Furthermore, another vehicle is traveling parallel to the vehicle 2 in the driving lane S1, as indicated by a white square 71 in FIG. 7.

[0077] In this case, the server CPU 45 of the control server device 3 determines in step ST3 that a lane change is necessary, and generates a lane change direction request in step ST11. In this case, the lane change direction request may be for changing lanes to the left driving lane S1. This allows the server CPU 45 to generate a lane change direction request when an event point that requires the vehicle 2 to change lanes is located in the direction of travel of the vehicle 2 on a road that includes the current lane and is within a range of travel distance when the vehicle 2 travels at the current speed for a predetermined period of time.

[0078] In step ST12, the server CPU 45 generates a driving lane chart for the lane change destination, and in step ST13, determines the possibility of interference between the automobile 2 and another vehicle. In step ST14, the server CPU 45 sets a second passing point P2 before the branch point PE. The second passing point P2 is set in the driving lane S1 connected to the branch lane S3. In step ST15, the server CPU 45 sets a first passing point P1 before the second passing point P2. The first passing point P1 is set in the overtaking lane S2, which is the driving lane in which the automobile 2 is traveling. Note that the figure shows a corresponding point P1' on the driving lane S1 that corresponds to the first passing point P1. Here, the section from the first passing point P1 to the second passing point P2 in the extension direction of the road is the section used by the automobile 2 to perform lane change control within that section. The distance of this lane change reference section may be the sum of the control start target distance from the first passing point P1 to the target point where the vehicle 2 starts lane change control by autonomous driving at its current vehicle speed, the turn signal illumination distance from when the vehicle 2 starts illuminating its turn signals for a lane change at the target point until when the vehicle 2 starts lane change control involving steering, the distance required for the vehicle 2 to execute lane change control involving steering from the current lane to another lane, and the buffer distance required for the vehicle 2 to stabilize in the other lane after the lane change. By setting the section to a distance longer than the required distance, the vehicle 2 can safely execute a lane change by autonomous driving under server control with ample time to maneuver. This allows the server CPU 45 to set a second passing point before the event point and generate a combination of the first passing point P1, the first passing time T1, and the second passing time T2 that will prevent the vehicle 2 from interfering with another vehicle in another lane that is determined to have the possibility of interference by the first interference determination unit even if the vehicle 2 changes lanes.

[0079] Then, in step ST3, the server CPU 45 determines that a lane change is necessary when the current position of the automobile 2 traveling in the overtaking lane S2 in the overtaking lane chart, which is the traveling lane chart, is within the lane change notification distance from the branch point PE. If the current position of the automobile 2 is, for example, the position of the white circle 61 in FIG. 7 , the server CPU 45 does not determine that a lane change is necessary in step ST3. In contrast, if the current position of the automobile 2 is the position of the black circle 62 in FIG. 7 , the server CPU 45 determines that a lane change is necessary in step ST3. Here, the lane change notification distance may be, for example, the travel distance of the automobile 2 traveling at the current speed for a predetermined time, for example, several tens of seconds. Such a lane change notification distance is longer than the lane change reference section. This makes it possible to essentially provide a speed control section before the lane change reference section for the automobile 2 to perform speed control, such as deceleration.

[0080] FIG. 8 is an explanatory diagram of an example of the ST chart of the overtaking lane S2 and the ST chart of the driving lane S1 in FIG. 7 at the time when the vehicle 2 in FIG. 7 enters the lane change notification distance. The horizontal axis of the ST chart indicates the direction of the lane to which the ST chart corresponds. The vertical axis indicates time. Time flows from top to bottom. In this case, the server CPU 45 transfers the line segment of the vehicle 2 in the ST chart of the overtaking lane S2 onto the ST chart of the driving lane S1, as shown by the dashed line in the ST chart of the driving lane S1. In the ST chart of the driving lane S1 generated in this way, the server CPU 45 determines the possibility of interference between the vehicle 2 and another vehicle. In FIG. 8, the vehicle 2 traveling in the overtaking lane S2 is traveling at approximately the same speed as another vehicle traveling approximately parallel to it in the driving lane S1. As a result, in the ST chart of the driving lane S1, the dashed line segment of the vehicle 2 does not intersect with the line segment of the other vehicle. In this case, the server CPU 45 determines in step ST13 that there is no possibility of interference between the automobile 2 and another vehicle. Then, in the generation control of individual control information for the selected automobile from step ST14, the server CPU 45 generates a second passing point P2, a second passing time T2, a first passing point P1, and a first passing time T1. Here, the second passing point P2, the second passing time T2, and the first passing time T1 in the case of FIG. 8 may be as shown in the figure. Furthermore, the first passing point P1 may be a position on the passing lane S2 corresponding to the corresponding point P1' on the driving lane S1 in FIG. 8.

[0081] FIG. 9 is an explanatory diagram of another example of the ST chart of the overtaking lane and the ST chart of the driving lane in FIG. 7 at the time when the vehicle 2 in FIG. 7 enters the lane change notification distance. In this case, the server CPU 45 transfers the line segment of the vehicle 2 in the ST chart of the overtaking lane S2 onto the ST chart of the driving lane S1, as shown by the dashed line in the ST chart of the driving lane S1. In the ST chart of the driving lane S1 generated in this way, the server CPU 45 determines the possibility of interference between the vehicle 2 and another vehicle. In FIG. 9, the vehicle 2 traveling in the overtaking lane S2 is traveling at a faster speed than the other vehicle traveling approximately parallel to it in the driving lane S1. As a result, in the ST chart of the driving lane S1, the dashed line segment of the vehicle 2 intersects with the line segment of the other vehicle. In this case, the server CPU 45 determines in step ST13 that there is a possibility of interference between the vehicle 2 and another vehicle. Then, in the generation control of individual control information for the selected vehicle from step ST14, the server CPU 45 generates a second passing point P2, a second passing time T2, a first passing point P1, and a first passing time T1. In the case of FIG. 9 , there is a possibility that vehicle 2 may interfere with another vehicle. Therefore, in order to avoid such interference, the server CPU 45 generates the second passing point P2, the second passing time T2, the first passing point P1, and the first passing time T1, as shown by the solid line in FIG. 9 , assuming that vehicle 2 decelerates before the lane change reference section and travels at the same speed as the other vehicle in the lane change reference section. In the case of FIG. 9 , the second passing point P2, the second passing time T2, and the first passing time T1 may be as shown in the figure. Furthermore, the first passing point P1 may be a position on the overtaking lane S2 corresponding to the corresponding point P1' on the driving lane S1 in FIG. 9 .

[0082] Next, the generation control of the lane change control value by the cruise control device 22 that controls cruise by automatic driving under server control will be described. Fig. 10 is a flowchart of the generation control of the lane change control value when the automobile 2 of Fig. 7 changes lanes. The cruise control device 22 executes the generation control of the lane change control value of Fig. 10 in stages by repeating the process of step ST30 of the cruise control of Fig. 6.

[0083] In step ST41, the cruise control device 22 calculates the section speed at which the first passing point P1 is passed at the first passing time T1 and the second passing point P2 is passed at the second passing time T2. The section speed calculated in this manner becomes the target speed for the host vehicle when changing lanes in the lane change reference section. Furthermore, the section speed becomes the target speed at which the host vehicle travels so as to maintain a predetermined inter-vehicle distance behind another vehicle after changing lanes, based on the settings of the first passing time T1 and the second passing time T2.

[0084] In step ST42, the cruise control device 22 generates a speed control value for passing the first passing point P1 at the first passing time T1. In addition, the cruise control device 22 generates a speed control value for traveling while maintaining the section speed after passing the first passing point P1 at the first passing time T1.

[0085] In step ST43, the cruise control device 22 sets a target point beyond the first passing point for starting lane change control.

[0086] In step ST44, it is determined whether the current position of the vehicle has reached the target point. If the current position of the vehicle has not reached the target point, the cruise control device 22 continues the speed control in step ST42. When the current position of the vehicle has reached the target point, the cruise control device 22 starts lane change control. In step ST45, the cruise control device 22 starts blinker illumination control. The cruise control device 22 blinks the blinker on the side of the lane change direction request. Note that the blinker may be turned off after a certain period of time or may be turned off after the lane change is completed.

[0087] In step ST46, the driving control device 22 determines whether the turn signal illumination duration is equal to or longer than a threshold value, such as a few seconds, that is considered sufficient for the driver of the other vehicle to recognize the turn signal. When the turn signal illumination duration is equal to or longer than the threshold value, the driving control device 22 starts generating a steering control value for lane change in step ST47. This causes the automobile 2 to start changing lanes from the current lane to another lane. The driving control device 22 starts steering for a lane change in the lane change reference section after the automobile 2 has passed the target point set in the lane change reference section and the predetermined turn signal illumination duration has elapsed. Furthermore, the driving control device 22 executes driving control in the lane change reference section, including steering in a direction in accordance with the lane change direction request. Furthermore, the driving control device 22 executes steering control for a lane change while traveling at the section speed.

[0088] In step ST48, the driving control device 22 determines whether the lane change is complete. If the generation of the steering control value for the lane change is complete, or if the host vehicle has reached the center of the other lane to which the vehicle is to change lanes, the driving control device 22 may determine that the lane change is complete. In this case, the driving control device 22 starts lane change termination control in step ST49. The driving control device 22 may turn off the blinker during lane change termination control. Furthermore, the vehicle 2 traveling in the other lane at the zone speed can pass the second passing point in the other lane at the second passing time, with the lane change from the current lane to the other lane completed. Thereafter, the driving control device 22 terminates this control. In this state, the driving control device 22 may determine that the lane change is complete in step ST28.

[0089] Figure 11 is an explanatory diagram of the state after automobile 2 in Figure 7 has changed lanes from the passing lane to the driving lane. Through the lane change control described above, automobile 2 has completed the lane change from passing lane S2 to driving lane S1, as indicated by a black circle 63 in Figure 11. Furthermore, automobile 2 is traveling in the driving lane behind another vehicle traveling parallel to it in the driving lane S1, with a predetermined inter-vehicle distance maintained between it and the other vehicle indicated by a white square 72 in Figure 11.

[0090] FIG. 12 is an explanatory diagram of the state in which automobile 2 in FIG. 7 is traveling in a branch lane. Subsequently, automobile 2 travels from traveling lane S1 to branch lane S3, as indicated by black circle 64 in FIG. 12. Autonomous driving under server control allows automobile 2 to travel as indicated by white circle 61 and black circle 62 in FIG. 7, black circle 63 in FIG. 11, and black circle 64 in FIG. 12. Furthermore, the other vehicle traveling parallel to automobile 2 in traveling lane S1 continues traveling in traveling lane S1, as indicated by white square 73 in FIG. 11. The other vehicle is traveling as indicated by white square 71 in FIG. 7, white square 72 in FIG. 11, and white square 73 in FIG. 12. During this time, it is considered unlikely that the other vehicle will make any sudden evasive steering maneuvers due to automobile 2's lane change.

[0091] FIG. 13 is an explanatory diagram of a state in which a vehicle 2 traveling in a driving lane changes lanes to an overtaking lane due to the occurrence of an event in the driving lane. FIG. 13 shows a driving lane S1 and an overtaking lane S2 on a two-lane road. The vehicle 2, traveling by automatic driving under server control, is traveling in the driving lane S1, as indicated by a white circle 81 or a black circle 82 in FIG. 13. In this case, the driving lane S1 is the lane in which the vehicle 2 is currently traveling. Furthermore, an event point PE exists in the driving lane S1 of the vehicle 2, which is caused by, for example, a fallen object or a stopped vehicle. Furthermore, another vehicle is traveling in the overtaking lane S2, traveling parallel to the vehicle 2, as indicated by a white square 74 in FIG. 13.

[0092] In this case, the server CPU 45 of the control server device 3 determines in step ST3 that a lane change is necessary, and generates a lane change direction request in step ST11. The lane change direction request in this case may be for changing lanes to the overtaking lane S2 on the left. This allows the server CPU 45 to generate a lane change direction request when an event point PE at which the vehicle 2 needs to change lanes is located in the direction of travel of the vehicle 2 on a road that includes the current lane and is within a range of travel distance if the vehicle 2 travels at the current speed for a predetermined period of time.

[0093] In step ST12, the server CPU 45 generates an overtaking lane chart for the lane change destination, and in step ST13, determines the possibility of interference between the automobile 2 and another vehicle. The server CPU 45 determines the possibility of interference between the automobile 2 and another vehicle in the ST chart for the overtaking lane S2 generated in this manner. The determination method may be similar to that shown in Figures 8 and 9. In step ST14, the server CPU 45 sets a second passing point P2 before the event point PE. The second passing point P2 is set in the overtaking lane S2 adjacent to the current lane. In step ST15, the server CPU 45 sets a first passing point P1 before the second passing point P2. The first passing point P1 is set in the current lane S1 in which the automobile 2 is traveling. The section from the first passing point P1 to the second passing point P2 in the extension direction of the road is a lane change reference section. In addition, a corresponding point P1' in the figure indicates the position on the overtaking lane S2 corresponding to the first passing point P1. As a result, the server CPU 45 can set a second passing point P2 before the event point PE and generate a combination of the first passing point P1, the first passing time T1, and the second passing time T2 that will prevent the automobile 2 from interfering with another vehicle in another lane that is determined to be a potential source of interference even if the automobile 2 changes lanes. Here, the second passing point P2, the second passing time T2, and the first passing time T1 in the case of FIG. 13 may be as shown in the figure. Furthermore, the first passing point P1 may be a position on the driving lane S1 that corresponds to the corresponding point P1' on the passing lane S2 in FIG. 13.

[0094] Then, when the current position of the automobile 2 traveling in the traveling lane S1 in the traveling lane chart as the traveling lane chart comes within the lane change notification distance from the branch point PE, the server CPU 45 determines in step ST3 that a lane change is necessary. If the current position of the automobile 2 is, for example, the position of the white circle 81 in Figure 13, the server CPU 45 does not determine in step ST3 that a lane change is necessary. On the other hand, if the current position of the automobile 2 is the position of the black circle 82 in Figure 13, the server CPU 45 determines in step ST3 that a lane change is necessary.

[0095] 6. The cruise control device 22 of the automobile 2 repeats the process of step ST30 of the cruise control in FIG. 6, thereby gradually executing the control of generating the lane change control value in FIG.

[0096] Figure 14 is an explanatory diagram of the state after automobile 2 in Figure 13 has changed lanes from the driving lane to the passing lane. Through the lane change control described above, automobile 2 has completed the lane change from driving lane S1 to passing lane S2, as indicated by the black circle 63 in Figure 14. Furthermore, automobile 2 is traveling in the driving lane behind the other vehicle traveling parallel to it in the passing lane S2, maintaining a predetermined distance between itself and the other vehicle indicated by the white square 75 in Figure 11.

[0097] FIG. 15 is an explanatory diagram of a state in which an automobile 2 traveling in a driving lane transmits a lane change request to change lanes from the driving lane to an overtaking lane to the control server device 3. FIG. 15 shows a driving lane S1 and an overtaking lane S2 on a two-lane road. The automobile 2, traveling by automatic driving under server control, is traveling in the driving lane S1, as indicated by the white circle 91 or the black circle 92 in FIG. 15. In this case, the driving lane S1 is the currently traveling lane. The automobile 2 also transmits vehicle information including a lane change request to the control server device 3 at the position of the white circle 91. In addition, another vehicle is traveling parallel to the automobile 2 in the overtaking lane S2, as indicated by the white square 76 in FIG. 15.

[0098] In this case, the server CPU 45 of the control server device 3 determines in step ST3 that a lane change is required, and generates a lane change direction request in step ST11. The lane change direction request in this case may be for changing lanes to the overtaking lane S2 on the left. As a result, the server CPU 45 can generate the lane change direction request when the server communication device 43 receives information requesting a lane change from the vehicle 2 traveling in the current lane.

[0099] In step ST12, the server CPU 45 generates an overtaking lane chart, which is a chart of other lanes to which the vehicle 2 will change lanes, and in step ST13, determines the possibility of interference between the vehicle 2 and another vehicle. The server CPU 45 determines the possibility of interference between the vehicle 2 and another vehicle in the ST chart of the overtaking lane S2 generated in this manner. The determination method may be similar to that shown in Figures 8 and 9. In step ST14, the server CPU 45 sets a second passing point P2 at a position corresponding to the travel distance from the current position (position of the white circle 91) of the vehicle 2 that has requested a lane change, if the vehicle 2 travels at the current speed for a predetermined period of time. The second passing point P2 is set in the overtaking lane S2, which is adjacent to the current lane. In step ST15, the server CPU 45 sets a first passing point P1 just before the second passing point P2. The first passing point P1 is set in the travel lane S1, which is the current lane in which the vehicle 2 is traveling. The section from the first passing point P1 to the second passing point P2 in the direction of extension of the road is defined as the lane change reference section. Furthermore, the corresponding point P1' in the figure indicates a position on the passing lane S2 corresponding to the first passing point P1. As a result, the server CPU 45 sets the second passing point P2 at a position a predetermined distance away from the current position of the vehicle 2 that has requested a lane change. The server CPU 45 can generate a combination of the first passing point P1, the first passing time T1, and the second passing time T2 that will prevent the vehicle 2 from interfering with other vehicles in other lanes that are determined to be likely to interfere, even if the vehicle 2 changes lanes. Here, the second passing point P2, the second passing time T2, and the first passing time T1 in the case of FIG. 15 may be as shown in the figure. Furthermore, the first passing point P1 may be defined as a position on the driving lane S1 corresponding to the corresponding point P1' on the passing lane S2 in FIG. 15.

[0100] When a lane change request is received from the automobile 2, the server CPU 45 determines in step ST3 that a lane change is required.

[0101] 6. The cruise control device 22 of the automobile 2 repeats the process of step ST30 of the cruise control in FIG. 6, thereby gradually executing the control of generating the lane change control value in FIG.

[0102] Figure 16 is an explanatory diagram of the state after automobile 2 in Figure 15 has changed lanes from the driving lane to the passing lane. Through the lane change control described above, automobile 2 has completed the lane change from driving lane S1 to passing lane S2, as indicated by a black circle 93 in Figure 16. Furthermore, automobile 2 is traveling in the driving lane behind the other vehicle traveling parallel to it in the passing lane S2, maintaining a predetermined inter-vehicle distance from the other vehicle indicated by the white square 77 in Figure 11.

[0103] As described above, in the control server device 3 of this embodiment, the server CPU 45 at least maps the future predicted position of the vehicle 2 according to the current position and current speed onto a chart corresponding to the lane in which the vehicle 2 is traveling. This allows the server CPU 45 to generate a lane in which the vehicle 2 is traveling and an other lane chart. The lane in which the vehicle 2 is traveling is a chart in which the future predicted positions of one or more vehicles 2, including the vehicle 2 traveling in the lane in which the vehicle 2 is traveling, are mapped according to the current position and current speed. The other lane chart is a chart in which the future predicted positions of other vehicles traveling in the other lane, which are adjacent to or connected to the lane in which the vehicle 2 is traveling, are mapped according to the current position and current speed. The server CPU 45 uses information from the lane in which the vehicle 2 is traveling in the lane in which the vehicle 2 is traveling, to determine the possibility of interference with other vehicles in other lanes. The server CPU 45 generates information sets of multiple passing points and passing times at which the automobile 2 will not interfere with other vehicles in other lanes that are determined by the first interference determination unit to have a possibility of interference even if the automobile 2 changes lanes. In this embodiment, the server CPU 45 generates a first passing point and a first passing time for starting a lane change on a current lane chart that the automobile 2 is to pass through in the future, and a second passing point and a second passing time for ending the lane change on a other lane chart that the automobile 2 is to pass through in the future. The driving control device 22 of the automobile 2 then executes lane change control from the current lane to another lane so as to pass the first passing point on the current lane at the first passing time and the second passing point on the other lane at the second passing time. This allows the automobile 2, traveling autonomously under the control of the control server device 3, to change lanes from the current lane to another lane without interfering with other vehicles traveling in adjacent or connected lanes.

[0104] Moreover, in this embodiment, the server CPU 45 of the control server device 3 executes the above-described processing based on the generation of a lane-change direction request when a situation occurs in which the automobile 2 is changing lanes from the lane in which it is traveling to another lane. Therefore, for example, if there is an obstacle or the like in the lane in which the automobile 2 is traveling, the control server device 3 generates a lane-change direction request to avoid the obstacle or the like. The control server device 3 also generates a set of first and second passing points, along with information on the passing times of each, that allow the automobile 2 to change lanes to avoid the obstacle and not interfere with other vehicles traveling in the other lane to which the automobile 2 is traveling. This embodiment can cause the automobile 2 to change lanes in response to multiple situations that may involve lane changes, for example, to respond to both an obstacle or the like in the lane in which the automobile 2 is traveling and other vehicles in the other lane.

[0105] Furthermore, in this embodiment, the control server device 3 transmits to the vehicle 2 information required for a lane change, together with a lane change direction request, as a single piece of individual control information. Therefore, even if a communication failure occurs between the control server device 3 and the vehicle 2, the vehicle 2 can execute a lane change under the control of the control server device 3 based on the information already received. This ensures high robustness against communication failures. Furthermore, in this embodiment, even if the number of other vehicles that may interfere with the vehicle 2 changing lanes increases, the control server device 3 can collectively determine the possibility of interference with multiple other vehicles by performing interference determination using information from the traveling lane chart and the other lane chart. Moreover, because the control server device 3 determines interference with multiple other vehicles that may interfere with the vehicle 2 changing lanes, the vehicle 2 does not need to determine interference with multiple other vehicles by itself when changing lanes. Note that even in this case, the vehicle 2 may also determine interference with nearby vehicles while changing lanes based on detection by a vehicle sensor installed on the vehicle. Furthermore, in this embodiment, the information generated by the control server device 3 for lane changes by the automobile 2 is basically generated by processing using the lane information and current speed of the automobile 2 and other vehicles. In this case, the control server device 3 does not need to use an obstacle database or store past lane change trajectories of the automobile 2. The control server device 3 can achieve highly safe lane changes by determining the current road situation and executing lane change control. Although the information in the obstacle database and the information on the past lane change trajectories of the automobile 2 are required to be updated immediately to respond to changes in the current situation, such instantaneous data updates are not necessarily required in this embodiment. Alternatively, for example, the control server device 3 could generate a lane change trajectory for avoiding obstacles in the current lane while traveling based on information registered in the obstacle information database and transmit the trajectory to the automobile 2.However, when a fixed trajectory for lane changes is generated and transmitted to the automobile 2, the automobile 2 can only travel by tracing that fixed trajectory. In this case, the automobile 2 that changes lanes by tracing the fixed trajectory may come close to or interfere with other vehicles traveling in other lanes after the lane change. By instructing a fixed trajectory to avoid such obstacles, it is difficult to deal with both the obstacles and other vehicles in other lanes.

[0106] In this embodiment, the distance of the lane change reference section along the road extension direction from the first passing point to the second passing point is not the distance required for the vehicle 2 to execute lane change control involving steering from the current lane to another lane, but is the sum of the control start target distance, the blinker activation distance, and the buffer distance. Therefore, when changing lanes under server control, the vehicle 2 can activate its blinker while continuing to travel in the current lane and then initiate lane change control involving steering. The vehicle 2 changing lanes under server control can effectively utilize the lane change reference section, which is longer than when a lane change is instructed based only on the distance required for executing lane change control involving steering, to safely change lanes after fully informing surrounding vehicles of the lane change. In contrast, when the control server 3 specifies a fixed trajectory and the vehicle 2 receives and traces the specified trajectory, the distance required to inform surrounding vehicles of the lane change is not taken into account. As a result, it is highly necessary for the automobile 2 to immediately initiate lane change control, including steering, after receiving the specified trajectory. In this case, the drivers of other vehicles in the vicinity will see the blinkers of the automobile 2, which has already started to change lanes, suddenly turn on after the start of the lane change. In addition, the other vehicles in the vicinity may be required to respond immediately, which involves a sudden change in their driving conditions, in order to respond to the automobile 2, which has already started to change lanes.

[0107] In this embodiment, the cruise control device 22 of the automobile 2 calculates a section speed for passing a first passing point in the current lane at a first passing time and a second passing point in the other lane at a second passing time, and executes speed control so as to travel at the section speed in the lane change reference section. As a result, the cruise control device 22 passes the first passing point at the first passing time and executes cruise control involving steering in a direction in accordance with the lane change direction request in the lane change reference section. The cruise control device 22 controls the traveling of the automobile 2 so as to change lanes from the current lane to the other lane and, after completing the lane change from the current lane to the other lane, pass a second passing point in the other lane at a second passing time. As a result, the automobile 2 can execute lane change control from the current lane to the other lane so as to pass the first passing point in the current lane at the first passing time and pass the second passing point in the other lane at the second passing time.

[0108] In this embodiment, the server CPU 45 generates a lane change direction request when an event point that requires the vehicle 2 to change lanes is present within a range of travel distance in the direction of travel of the vehicle 2 when traveling at the current speed for a predetermined period of time on a road including the current lane. The server CPU 45 then first sets a second passing point before the event point. Next, the server CPU 45 generates a combination of a first passing point, a first passing time, and a second passing time that prevents the vehicle 2 from interfering with another vehicle in another lane that is determined to have the possibility of interference by the first interference determination unit even if the vehicle 2 changes lanes. This allows the server CPU 45 to set the second passing point and the first passing point before the event point. The vehicle 2 can complete the lane change before the event point.

[0109] In this embodiment, when the server communication device 43 receives information requesting a lane change from the automobile 2 traveling in the current lane, the server CPU 45 generates a lane change direction request. The server CPU 45 then first sets a second passing point at a position corresponding to the distance traveled by the automobile 2 from its current location if it were to travel for a predetermined period of time at its current speed. Next, the server CPU 45 generates a combination of a first passing point, a first passing time, and a second passing time that will prevent the automobile 2 from interfering with another vehicle in another lane for which the first interference determination unit has determined the possibility of interference, even if the automobile 2 changes lanes. This allows the server CPU 45 to set the second passing point and the first passing point while still away from the current location. The automobile 2 can control its speed before the first passing point and execute a lane change so that it is completed between the first passing point and the second passing point.

[0110] [Second Embodiment] In the above-described embodiment, the control server device 3 uses the second passing point as a reference and transmits to the vehicle 2 a first passing point that is a lane change reference distance away from the second passing point. In this case, the vehicle 2 will start steering for a lane change after passing the first passing point. The vehicle 2 cannot start steering for a lane change under server control until it passes the first passing point. However, for example, if the vehicle 2 transmits a lane change request to the control server device 3, it is desirable for the vehicle 2 to be able to start a lane change immediately after the request. The following mainly describes differences from the above-described embodiment. The same components and processes as those in the above-described embodiment are designated by the same reference numerals as those in the above-described embodiment, and description thereof will be omitted.

[0111] 17 is a flowchart of the control by the control server device 3 according to the second embodiment of the present invention. The server CPU 45 of the control server device 3 periodically and repeatedly executes the control of FIG. 17 as the control control unit 54 of the server control unit 46. The processes of steps ST1 to ST7, steps ST11 to ST16, and step ST17 in FIG. 17 are the same as those in FIG. 4. After step ST16, the server CPU 45 advances the process to step ST51.

[0112] In step ST51, the server CPU 45 determines the possibility of interference with another vehicle in another lane when the selected vehicle that is changing lanes changes lanes in the section from the current position to the first passing point. As illustrated in Figures 8 and 9, the server CPU 45 may copy the line segment of the vehicle 2 in the ST chart of the current lane onto the ST chart of the other lane, and determine the possibility of interference based on whether or not the line segment of the vehicle 2 intersects with the line segment of the other vehicle in the ST chart of the other lane. If there is no possibility of interference, the server CPU 45 proceeds to step ST52. If there is a possibility of interference, the server CPU 45 proceeds to step ST17.

[0113] In step ST53, the server CPU 45 changes the first passage point and the first passage time to the current position and the current time of the automobile 2. Thereafter, the server CPU 45 advances the process to step ST17.

[0114] As a result of the processing of step ST53, the individual control information that the server CPU 45 transmits to the vehicle 2 in step ST6 includes the first passing point based on the current position of the vehicle 2 and the first passing time based on the current time. In this case, the cruise control device 22 of the vehicle 2 starts generating control of the lane change control value in Fig. 10 in the processing of step ST30 in Fig. 6 immediately after receiving the individual control information. The vehicle 2 can start lane change control before arriving at the first passing point P1 in Fig. 7, Fig. 13, or Fig. 15.

[0115] In this embodiment, the server CPU 45 of the control server device 3 uses information from the current lane chart and the other lane chart to determine the possibility of interference between the vehicle 2 in the current lane and another vehicle in another lane when changing lanes in the section from the current position of the vehicle 2 to the first passing point. If it is determined that there is no possibility of interference, the server CPU 45 changes the first passing point and first passing time included in the individual control information to the current position and current time of the vehicle 2. This allows the vehicle 2 to, for example, immediately start changing lanes just before the first passing point after transmitting a lane change request to the control server device 3.

[0116] The above-described embodiment is an example of a preferred embodiment of the present invention, but the present invention is not limited to this, and various modifications and changes are possible within the scope of the gist of the invention.

[0117] The control server device 3 in the above-described embodiment does not record an obstacle information database in the server DB 42. Alternatively, for example, the control server device 3 may record an obstacle information database in the server DB 42. In this case, the server CPU 45 may regard the position of an obstacle, such as a lane, during travel as an event position and generate individual control information for changing lanes to avoid the event position.

[0118] 1... traffic control system, 2... automobile (vehicle), 3... control server device, 6... carrier communication system, 7... base station, 8... carrier communication network, 20... control system, 21... sensor control device, 22... driving control device, 23... drive control device, 24... steering control device, 25... braking control device, 26... exterior communication control device, 31... GNSS receiver, 32... exterior camera, 33... acceleration sensor, 34... high-precision map data, 35... vehicle communication device, 41... server GNSS receiver, 42...server DB, 43...server communication device, 44...server memory, 45...server CPU, 46...server control unit, 49...server internal bus, 51...vehicle position DB, 52...server map data, 53...preprocessing unit, 54...traffic control unit, 100...road, 110...GNSS satellite, P1...first passing point, T1...first passing time, P2...second passing point, T2...second passing time, S1...driving lane, S2...overtaking lane, S3...branch lane

Claims

1. A server device having a server control unit that generates individual control information for the vehicle's travel based on an interference judgment using the vehicle's current position on a lane of a road and current speed; and a vehicle capable of traveling by autonomous driving using the individual control information, wherein the server control unit generates a lane change direction request when a state occurs in which the vehicle is changing lanes from the current lane to another lane adjacent to or connected to the current lane, and when the lane change direction request is generated, maps at least a future predicted position according to the current position and current speed of the vehicle onto a chart corresponding to the current lane of the road on which the vehicle is traveling, to generate a current lane chart mapping future predicted positions according to the current position and current speed of one or more vehicles including the vehicle traveling in the current lane, and an other lane chart for the other lanes mapping future predicted positions according to the current position and current speed of other vehicles traveling in the other lanes, Using information on the current lane chart and the other lane chart, determine the possibility of interference with other vehicles in the other lanes for the vehicle traveling in the current lane, and generate a first passing point and a first passing time for starting a lane change on the current lane chart that the vehicle will pass through in the future, and a second passing point and a second passing time for ending a lane change on the other lane chart that the vehicle will pass through in the future, so that the vehicle will not interfere with other vehicles in the other lanes for which interference has been determined even if the vehicle changes lanes, and use a server communication device that communicates with the vehicle to transmit the first passing point and the first passing time, and the second passing point and the second passing time, together with the lane change direction request, to the vehicle as the individual control information, and when the lane change direction request is included in the individual control information received by the vehicle communication device that communicates with the server device, the vehicle: a driving control unit that executes lane change control from the currently traveling lane to another lane so that the first passing point of the currently traveling lane is passed at the first passing time, and the second passing point of the other lane is passed at the second passing time.

2. A traffic control system for vehicle lane changes as described in claim 1, wherein the server control unit uses, as the distance of the lane change reference section along the extension direction of the road from the first passing point to the second passing point, a distance obtained by adding together at least the control start target distance from the first passing point to the target point at which the vehicle will start lane change control by autonomous driving, the turn signal lighting distance from when the vehicle starts to turn on its turn signal for lane change at the target point to when it starts lane change control involving steering, and the distance required for the vehicle to execute lane change control involving steering from the current lane to the other lane.

3. A traffic control system for vehicle lane changes as described in claim 2, wherein the driving control unit of the vehicle: calculates a section speed at which the first passing point in the currently traveling lane will be passed at the first passing time and the second passing point in the other lane will be passed at the second passing time; executes speed control to travel at the section speed in the lane change reference section, thereby passing the first passing point at the first passing time; executes driving control involving steering in the lane change reference section in a direction in accordance with the lane change direction request, thereby changing lanes from the currently traveling lane to the other lane; and controls the driving of the vehicle so that, after the lane change from the currently traveling lane to the other lane has been completed, the second passing point in the other lane will be passed at the second passing time.

4. A control system for vehicle lane changes as described in claim 3, wherein the server control unit uses information from the current lane chart and the other lane chart to determine the possibility of interference between the vehicle in the current lane and other vehicles in the other lanes when changing lanes in the section from the current position of the vehicle to the first passing point, and if it is determined that there is no possibility of interference between the vehicle in the current lane and other vehicles in the other lanes in the section from the current position of the vehicle to the first passing point, changes the first passing point and the first passing time included in the individual control information to the current position and current time of the vehicle.

5. A control system for vehicle lane changes as described in any one of claims 1 to 4, wherein the server control unit generates the lane change direction request when there is an event point in the vehicle's direction of travel on a road including the current lane, where the event point requires the vehicle to change lanes, sets the second passing point before the event point, and generates a combination of the first passing point, the first passing time, and the second passing time such that even if the vehicle changes lanes, it will not interfere with other vehicles in other lanes that are determined to have the possibility of interference.

6. A control system for vehicle lane changes as described in any one of claims 1 to 4, wherein the server control unit generates the lane change direction request when the server communication device receives information requesting a lane change from a vehicle traveling in the current lane, sets the second passing point at a position corresponding to the distance traveled by the vehicle when traveling for a predetermined period of time at the current speed from its current position, and generates a combination of the first passing point, the first passing time, and the second passing time such that even if the vehicle changes lanes, it will not interfere with the other vehicle in the other lane that is determined to have the possibility of interference.

7. A server device having a server control unit that generates individual control information for server-controlling the traveling of a vehicle based on an interference judgment using the current position and current speed of the vehicle on a lane of a road, wherein the server control unit: generates a lane change direction request when a state occurs in which the vehicle is changing lanes from the current lane to another lane adjacent to or connected to the current lane; and when the lane change direction request is generated, maps at least a future predicted position according to the current position and current speed of the vehicle onto a chart corresponding to the current lane of the road on which the vehicle is traveling, to generate a current lane chart mapping future predicted positions according to the current position and current speed of one or more vehicles including the vehicle traveling in the current lane, and an other lane chart for the other lanes mapping future predicted positions according to the current position and current speed of other vehicles traveling in the other lanes, a server device that uses information from the lane in motion chart and the other lane chart to determine the possibility of interference with other vehicles in the other lanes for the vehicle traveling in the current lane; generates a first passing point and a first passing time for starting a lane change on the lane in motion chart that the vehicle will pass through in the future, and a second passing point and a second passing time for ending a lane change on the other lane chart that the vehicle will pass through in the future, so that the vehicle will not interfere with other vehicles in the other lanes for which interference has been determined to be possible even if it changes lanes; and transmits the first passing point and the first passing time, and the second passing point and the second passing time, together with the lane change direction request, to the vehicle as the individual control information using a server communication device that communicates with the vehicle.

Images