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WO2016113890A1 - Dispositif de création de plan de déplacement et procédé de modification de plan de déplacement - Google Patents

Dispositif de création de plan de déplacement et procédé de modification de plan de déplacement Download PDF

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Publication number
WO2016113890A1
WO2016113890A1 PCT/JP2015/051011 JP2015051011W WO2016113890A1 WO 2016113890 A1 WO2016113890 A1 WO 2016113890A1 JP 2015051011 W JP2015051011 W JP 2015051011W WO 2016113890 A1 WO2016113890 A1 WO 2016113890A1
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WO
WIPO (PCT)
Prior art keywords
travel plan
vehicle
travel
information
plan
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2015/051011
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English (en)
Japanese (ja)
Inventor
亮 岡部
靖之 野田
下谷　光生
克治 淺賀
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Electric Corp
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Mitsubishi Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to JP2016569185A priority Critical patent/JP6257808B2/ja
Priority to PCT/JP2015/051011 priority patent/WO2016113890A1/fr
Publication of WO2016113890A1 publication Critical patent/WO2016113890A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles

Definitions

  • the present invention relates to a vehicle travel plan creation technique, and particularly to recalculation of a vehicle travel plan having a function of traveling following other vehicles.
  • Patent Documents 1 to 9 In recent years, development of vehicles having a function of following other vehicles has been progressing (for example, Patent Documents 1 to 9 below).
  • automatic driving including semiautomatic driving such as automatic steering
  • following vehicle can be realized. Thereby, it is possible to reduce the burden on the driver of the following vehicle and to contribute to the efficient operation of the traffic infrastructure.
  • JP 2009-157790 A International Publication No. 2008-018607 JP-A-10-293899 JP 2009-262755 A JP 2010-247758 A JP 2010-146428 A Japanese Patent No. 3818722 Japanese Patent Laid-Open No. 2003-115095 JP 2008-275500 A
  • Patent Documents 1 to 9 consider only the leading vehicle that the following vehicle can follow at the present time, and do not consider the future position of the following vehicle and the leading vehicle. It is possible that it cannot be used. For example, when the destination vehicle cannot find the same leading vehicle as the following vehicle at the time when the following vehicle starts traveling, it is difficult to sufficiently extend the distance that the following vehicle follows.
  • Patent Document 9 it is considered that the follower vehicle changes the leading vehicle in the middle of traveling.
  • the change of the leading vehicle in Patent Document 9 can be performed when the current leading vehicle can no longer be tracked or is new. This is performed when a route or a new leading vehicle is found, and is not planned to use a plurality of leading vehicles in advance in consideration of the future position of the following vehicle.
  • Patent Document 9 discloses a technique for executing recalculation of a travel plan (re-searching for another route) as necessary while the following vehicle is traveling, but before the driver notices it. If the travel plan is changed, the driver may be confused if the actual follow-up travel is different even though the driver assumes the travel plan presented at the time of the travel plan, and the psychological burden may increase.
  • the present invention has been made in order to solve the above-described problems, and is intended to calculate a travel plan again when a situation change that does not exist in a prior travel plan occurs, and further, the driver does not notice. It is an object of the present invention to provide a travel plan creation device and a travel plan change method capable of preventing the travel plan from being changed and increasing the driver's psychological burden.
  • a travel plan creation device includes a processor that executes a program and a storage device that stores the program, and when the program is executed by the processor, the travel plan route and the departure schedule of the host vehicle.
  • a travel plan change notification screen for notifying the user of the change of the travel plan, or a travel plan selection for allowing the user to select whether or not to allow the travel plan to be changed.
  • the screen is intended to be displayed on the display device.
  • a travel plan creation device includes a processor that executes a program and a storage device that stores the program.
  • the program executes a program
  • the planned travel route and departure schedule of the host vehicle are provided.
  • the travel plan change notification screen for notifying the user of the change of the travel plan or the change of the travel plan is displayed. Since the travel plan selection screen that allows the user to select whether to permit or not is displayed, it is possible to prevent the travel plan from being changed without the driver being aware and to reduce the psychological burden on the driver. .
  • the travel plan creation device when the travel plan creation device outputs a recalculated travel plan in a situation where the current travel plan is available, the travel plan recalculated rather than the current travel plan.
  • the travel plan of the own vehicle is changed. Therefore, it is possible to prevent a travel plan having a higher driver burden than the current travel plan from being selected even though the current travel plan is available.
  • FIG. It is a figure which shows the structure of the travel plan presentation apparatus which concerns on Embodiment 1.
  • FIG. It is a figure which shows the structure of the vehicle information delivery system which concerns on Embodiment 1.
  • FIG. It is a figure which shows the example of the own vehicle information. It is a figure which shows the example of vehicle information (other vehicle information).
  • FIG. It is a figure which shows the hardware constitutions of the travel plan presentation apparatus which concerns on Embodiment 1.
  • FIG. It is a figure for demonstrating the relationship between following driving
  • FIG. 4 is a flowchart showing the operation of the travel plan creation device according to the first embodiment. It is a flowchart of a travel plan calculation process. It is a figure which shows the example of a display of a travel plan. It is a figure which shows the example of a display of a travel plan. It is a figure which shows the example of a display of a travel plan. It is a figure which shows the example of a display of a some travel plan. It is a figure which shows the example in the case of recalculating a travel plan.
  • FIG. 10 is a flowchart showing an operation in a follow-up traveling section of the navigation device according to the second embodiment. 10 is a flowchart of travel plan recalculation processing in the second embodiment.
  • FIG. 1 is a diagram illustrating a configuration of a travel plan presentation device 20 according to the first embodiment.
  • FIG. 2 is a diagram showing a configuration of a vehicle information distribution system that distributes information (vehicle information) of vehicles traveling in various places to the travel plan presentation device 20.
  • the travel plan presentation device 20 is a device that creates a travel plan for the user's vehicle (hereinafter also referred to as “own vehicle”) 100 and presents the created travel plan to the user.
  • the travel plan presentation device 20 is mounted on a device independent of the host vehicle 100 such as a mobile phone or a smartphone.
  • the travel plan presentation device 20 is associated with the own vehicle 100 by registering the information of the own vehicle 100 (own vehicle information) in the travel plan presentation device 20.
  • the travel plan presented by the travel plan presentation device 20 is not only the planned travel route of the own vehicle 100 but also a follow-up plan for traveling by causing the own vehicle 100 to follow another vehicle (hereinafter also referred to as “other vehicle”) 101. Is also included. That is, the travel plan includes at least information on the planned travel route of the host vehicle 100, information indicating a section (manual operation section) in which the host vehicle 100 travels by manual operation on the planned travel route, and the host vehicle on the planned travel route. Information indicating a section (following traveling section) in which the vehicle 100 is caused to follow the other vehicle 101 (leading vehicle) and information indicating the other vehicle 101 that is the leading vehicle in each following traveling section are included.
  • the travel plan presentation device 20 includes a travel plan creation device 10, an input device 21 that operates in cooperation with the travel plan creation device 10, a communication device 22, a map information storage device 23, and a display device 24. It is configured as a system consisting of
  • the input device 21 is a user interface that receives operations and information input by the user to the travel plan creation device 10.
  • the input device 21 may be hardware such as operation buttons and a mouse, or may be a software key using icons displayed on the screen.
  • a voice recognition device in which a user inputs operation contents by voice may be used.
  • Information input from the input device 21 includes information on the own vehicle 100 (vehicle information) necessary for the travel plan creation device 10 to create a travel plan, and when the travel plan creation device 10 creates a travel plan. And an item to be prioritized (priority item).
  • the travel plan creation device 10 communicates with the follow-up travel control device 40 and transmits a follow-up travel instruction according to the travel plan to the follow-up travel control device 40.
  • the follow-up travel control device 40 controls the travel control system (not shown) of the own vehicle 100 based on the follow-up travel instruction, and causes the own vehicle 100 to follow the preceding vehicle to be followed.
  • the follow-up travel control device 40 allows the host vehicle 100 to run at a constant speed when the host vehicle 100 is traveling in a section where manual driving is planned (manual driving section), or allows the user to run the host vehicle. Or urging them to perform 100 manual operations.
  • the priority items are not limited to those input by the user, and may be predetermined items, for example.
  • FIG. 3 is a diagram showing an example of own vehicle information.
  • the own vehicle information only needs to include at least information that can identify a scheduled travel route from the departure point to the destination of the own vehicle 100 and information about the scheduled departure time of the own vehicle.
  • information on performance such as the maximum speed and optimum speed of the own vehicle 100 and guidance when the own vehicle 100 follows the vehicle.
  • Vehicle conditions to be permitted (lead vehicle conditions).
  • the vehicle performance information is used when the travel plan creation device 10 creates a travel plan to make another vehicle 101 that the vehicle 100 can follow in terms of performance a candidate for a leading vehicle.
  • the leading vehicle condition is used to make the other vehicle 101 according to the user's preference a candidate for the leading vehicle when the travel plan creation device 10 creates a travel plan.
  • FIG. 3 shows an example in which the leading vehicle condition is “excluding small cars”.
  • the leading vehicle condition is “excluding small cars”.
  • “vehicles with inferior vehicle performance compared to own vehicle”, “running constraint conditions are the same as the own vehicle”, “driving method ( Vehicles having the same engine, EV (Electric vehicle), FCV (Fuel Cell), etc.) may be used.
  • the leading vehicle condition is not an alternative of being acceptable or not, and priority may be provided (for example, “a small vehicle or a normal vehicle is given priority over a light vehicle”).
  • the travel plan creation device 10 has a route search function, and when the user inputs a departure place and a destination (and a waypoint) using the input device 21, the travel plan creation device. 10 is configured to search for an appropriate route and determine a planned travel route.
  • the expression format of the departure point, destination, and waypoint may be an address, or a latitude / longitude.
  • the priority item is an evaluation standard for evaluating the magnitude of the burden on the driver (driver burden) for the travel plan.
  • a plurality of items are prepared in advance as priority item candidates, and the user selects one or more of them as priority items.
  • priority items the ratio of the follow-up travel section in the total length of the planned travel route (length of the follow-up travel distance), the arrival time at the destination, the ratio of the travel time in the follow-up travel section in the total travel time (follow-up travel time) Length) and the number of changes in the leading vehicle. It is also conceivable that information on the other vehicle 101 as the leading vehicle (driving evaluation value, route certainty, etc. shown in FIG. 4) is a priority item.
  • the travel plan creation device 10 creates a travel plan so that the driver burden evaluated based on the priority item set (selected) by the user is minimized. Further, when a plurality of priority items are set, the travel plan creation device 10 creates a travel plan that minimizes the driver burden for each priority item, and the user selects one of them. You may do it.
  • the communication device 22 of the travel plan presentation device 20 is for the travel plan creation device 10 to communicate with the vehicle information server 102 of the vehicle information distribution system (FIG. 2).
  • the vehicle information server 102 collects vehicle information transmitted by a plurality of vehicles (other vehicles) 101 that travel in various places, and in response to a request from the travel plan creation device 10, It transmits to the travel plan creation apparatus 10 as other vehicle information.
  • the vehicle information server 102 does not necessarily have to transmit the vehicle information of all the other vehicles 101 as the other vehicle information to the travel plan creation device 10. Only the vehicle information of the other vehicle 101 may be transmitted, or only the vehicle information of the other vehicle 101 existing within a certain range from the planned travel route of the host vehicle 100 may be transmitted.
  • the other vehicle 101 that is a private vehicle directly transmits vehicle information to the vehicle information server 102.
  • the other vehicle 101 is a commercial vehicle (route bus, express bus, delivery vehicle, commercial leading vehicle, etc.)
  • the other vehicle 101 transmits not only the vehicle information directly to the vehicle information server 102 but also the other vehicle.
  • a mode in which the company 103 to which the company 101 belongs transmits vehicle information of the other vehicle 101 to the vehicle information server 102 is also conceivable.
  • the vehicle information may include bus operation information (route map, timetable, operation delay information, etc.), delivery vehicle delivery information (delivery route and delivery schedule), and the like.
  • FIG. 4 is a diagram illustrating an example of vehicle information (other vehicle information) transmitted from the vehicle information server 102 to the travel plan creation device 10.
  • the other vehicle information only needs to include at least information capable of predicting the planned traveling route of the plurality of other vehicles 101 and the scheduled passage time of each point on the planned traveling route.
  • the information may be obtained from bus operation information or delivery information of a delivery vehicle.
  • the estimated departure time, departure location, destination, quality evaluation value (driving evaluation value) of the other vehicle 101 It includes certainty of the scheduled travel route and scheduled passage time (route certainty), and vehicle conditions (tracking vehicle conditions) that allow tracking when the vehicle is a leading vehicle.
  • the driving evaluation is determined based on, for example, a track record as a leading vehicle (for example, a length of travel time as a leading vehicle), an evaluation from a follower who has led in the past, or the like.
  • the route certainty is low for other vehicles 101 (mainly private cars) that do not require high planning for the planned travel route and waypoints, and other vehicles 101 (for which high planning properties are required for the planned travel route and waypoints). High value (mainly for commercial vehicles).
  • the other vehicle information may include information on the predicted speed of the other vehicle 101.
  • the travel plan creation device 10 can estimate the scheduled passage time of each point from the planned travel route and the predicted speed. In that case, the vehicle information server 102 does not necessarily have to distribute information on the scheduled passage time of each point. On the other hand, as shown in FIG. 4, if the scheduled passage time of each point is included, the travel plan creation device 10 can calculate the predicted speed of the other vehicle 101 from those values.
  • the map information storage device 23 of the travel plan presentation device 20 is a storage medium that stores map information including road network data, and includes, for example, a hard disk, a removable disk, and a memory. This map information is used when the travel plan creation device 10 performs a route search for determining the planned travel route of the vehicle 100 or when the created travel plan is displayed superimposed on a map.
  • the display device 24 is for displaying the travel plan created by the travel plan creation device 10 and presenting it to the user.
  • the display device 24 and the input device 21 may be configured as one touch panel having both functions.
  • the travel plan creation device 10 includes a host vehicle information acquisition unit 11, an other vehicle information acquisition unit 12, a travel plan calculation unit 13, a priority item setting unit 14, a travel plan holding unit 15, a display processing unit 16, and a travel plan recalculation instruction unit. 17.
  • the own vehicle information acquisition unit 11 acquires information on the own vehicle 100 (own vehicle information) input from the input device 21 by the user.
  • An example of the own vehicle information is shown in FIG. 3, but the own vehicle information includes at least information that can specify a planned travel route from the departure point of the own vehicle 100 to the destination, information on the scheduled departure time of the own vehicle, and As long as it is included.
  • the host vehicle information acquisition unit 11 includes a planned travel route acquisition unit 11a that performs route search using map information stored in the map information storage device 23.
  • the scheduled travel route acquisition unit 11a determines the planned travel route of the host vehicle 100 by searching for an optimal route between the departure point and the destination of the host vehicle 100. According to this configuration, the user only has to input the information of the departure place and the destination to the input device 21 instead of the information of the planned travel route of the host vehicle 100, so that convenience is improved.
  • the planned travel route acquisition unit 11a may acquire the planned travel route calculated by an external navigation device without calculating the planned travel route of the vehicle 100 itself.
  • the planned travel route acquisition unit 11a may be omitted.
  • the other vehicle information acquisition unit 12 acquires vehicle information (other vehicle information) of a plurality of other vehicles 101 from the vehicle information server 102 using the communication device 22.
  • vehicle information other vehicle information
  • An example of other vehicle information is shown in FIG. 4, but the other vehicle information includes information that can predict at least a scheduled travel route of each other vehicle 101 and a scheduled passage time of each point on the planned travel route. It only has to be included.
  • the travel plan calculation unit 13 creates a travel plan for the host vehicle 100 based on the host vehicle information and the other vehicle information. As described above, the travel plan includes at least information on the planned travel route, information indicating the manual operation section and the follow travel section on the travel planned route, and the other vehicle 101 that is a leading vehicle in each follow travel section. And information indicating. In addition, the travel plan calculation unit 13 selects a leading vehicle from a plurality of other vehicles 101 for each following travel section.
  • the priority item setting unit 14 acquires information on the priority item selected by the user using the input device 21 and sets the selected priority item in the travel plan calculation unit 13.
  • the travel plan holding unit 15 holds the travel plan calculated by the travel plan calculation unit 13.
  • the display processing unit 16 performs a process for causing the display device 24 to display the travel plan held in the travel plan holding unit 15.
  • the travel plan recalculation instruction unit 17 instructs the travel plan calculation unit 13 to recalculate the travel plan when a predetermined condition is satisfied.
  • the travel plan recalculation instruction unit 17 travels when a predetermined time has elapsed since the previous travel plan calculation and when other vehicle information distributed by the vehicle information server 102 has changed.
  • the plan calculation unit 13 is instructed to recalculate the travel plan.
  • FIG. 5 is a diagram illustrating a hardware configuration of the travel plan creation device 10 according to the first embodiment.
  • the travel plan creation device 10 includes at least a processor 51, a memory 52 (storage device), and an input / output interface 53.
  • the host vehicle information acquisition unit 11, the other vehicle information acquisition unit 12, the travel plan calculation unit 13, the priority item setting unit 14, the travel plan holding unit 15, the display processing unit 16, and the travel plan recalculation instruction unit 17 include a processor 51. Is realized by executing a program stored in the memory 52 (a storage area as the travel plan holding unit 15 is secured in the memory 52).
  • the input device 21, the communication device 22, the map information storage device 23, and the display device 24 constituting the travel plan presentation device 20 are connected to the input / output interface 53, and the processor 51 executes a program stored in the memory 52. Is controlled by In FIG. 1, the input device 21, the communication device 22, the map information storage device 23, and the display device 24 are configured to be externally attached to the travel plan creation device 10. You may make it arrange
  • processor 51 and one memory 52 are shown, but a plurality of processors 51 and a plurality of memories 52 may cooperate to realize the function of each element of the travel plan creation device 10. .
  • the own vehicle S corresponds to the own vehicle 100 of FIG. 2, and each of the other vehicles X1, X2,... Corresponds to the other vehicle 101 of FIG.
  • the own vehicle S scheduled to travel on the roads R1 and R2 and the other vehicle X1 scheduled to travel on the roads R3 and R2 are approximately at the intersection C1 (connection point of the roads R1, R2 and R3).
  • the driver of the host vehicle S After the host vehicle S and the other vehicle X1 enter the road R2, the driver of the host vehicle S performs a specific operation on the host vehicle S in a state where the host vehicle S follows the other vehicle X1 as shown in FIG. Then, the own vehicle S starts following traveling with the other vehicle X1 as the leading vehicle. Normally, the driver's burden is reduced by causing the vehicle S to follow the vehicle.
  • the speed of the other vehicle X1 is very slow, for example, if the own vehicle S is made to follow the other vehicle X1, the arrival time at the destination will be delayed (running time will be longer), so it will be burdened to drive for a long time.
  • the driver burden may increase.
  • the driver's burden is reduced by manually driving the vehicle S on the road R2 to shorten the travel time to the destination.
  • the follow-up driving and the driver's burden are not in a fixed relationship and vary depending on the driver's preference.
  • Priority items that the user inputs to the travel plan creation device 10 using the input device 21 are evaluation criteria for evaluating the driver burden based on such driver preferences. For example, if the priority item is “the length of the following travel distance”, it is evaluated that the travel plan as shown in FIG. 8 has a greater burden on the driver than the travel plan as shown in FIG. Is done. If the priority item is “arrival time at the destination”, the travel plan as shown in FIG. 8 in which the travel time is shortened is evaluated as having a smaller driver burden than the travel plan as shown in FIG. Is done.
  • FIG. 9 a case is considered where there are two other vehicles X1 and X2 that the vehicle S scheduled to travel on the roads R1 and R2 can follow.
  • the other vehicle X1 is scheduled to travel on the roads R1 and R2 like the host vehicle S
  • the other vehicle X2 is scheduled to travel on the roads R1 and R3.
  • the other vehicle X1 is assumed to be slower than the other vehicle X2.
  • the vehicle R when the own vehicle S is made to follow the other vehicle X1, the vehicle R can run by following the other vehicle X1 on the roads R1 and R2. Although the burden can be reduced, the arrival time at the destination will be delayed. Further, as shown in FIG. 11, when the own vehicle S is made to follow the other vehicle X2, the burden on the driver can be reduced in that the travel time can be reduced, but only the vehicle up to the intersection C1 (the connection point of the roads R1, R2, R3). Since the vehicle S cannot be caused to follow, the following travel distance is shortened.
  • the leading vehicle is changed during the follow-up running.
  • the vehicle S scheduled to travel on the roads R1 and R4 follows the road R1 with the other vehicle X1 scheduled to travel on the roads R1 and R2 as a leading vehicle.
  • the other vehicle X1 and the other vehicle X2 reach the intersection C1 (connection point of the roads R1 to R4) at substantially the same time.
  • the tracking of the host vehicle S to the other vehicle X1 can be terminated at the intersection C1, and then the host vehicle S can be tracked to the other vehicle X2 as shown in FIG.
  • the follow-up travel distance can be increased by transferring the leading vehicle.
  • the ease of changing the leading vehicle is also taken into consideration.
  • FIG. 14 there are two other vehicles X1 and X2 that the vehicle S scheduled to travel on the roads R1 and R4 can follow, and both the other vehicles X1 and X2 are scheduled to travel on the roads R1 and R2.
  • the distance at which the host vehicle S can follow the other vehicle X1 and the distance at which the host vehicle S can follow the other vehicle X2 are the same.
  • the driver's burden changes depending on which of the other vehicles X1 and X2 the vehicle S follows.
  • the other vehicle X1 reaches the intersection C1 (connection point of the roads R1 to R4) at almost the same time as the other vehicle X3, and the other vehicle X2 Assume that the intersection C1 is reached at a time earlier than X3.
  • the connection to the other vehicle X3 can be easily performed as shown in FIG. 17 (if the own vehicle S is made to follow the other vehicle X2, Without waiting for the other vehicle X3, the host vehicle S cannot follow the other vehicle X3), and the driver's burden can be reduced.
  • the driver's burden may increase due to the arrival time at the destination being delayed.
  • the host vehicle S is made to follow the other vehicle X2 as shown in FIG. 18 to quickly reach the intersection C1, and the host vehicle S is manually driven on the road R4 as shown in FIG.
  • the driver burden can be reduced.
  • the host vehicle S when there is no other vehicle that can be a leading vehicle in the vicinity of the own vehicle S, it is also considered to stop the own vehicle S and wait for the other vehicle.
  • FIG. 20 consider a case in which there is another vehicle X1 having the road R1 as a travel route behind the host vehicle S scheduled to travel on the road R1.
  • the host vehicle S is stopped in the service area SA, waits for the other vehicle X1 to approach, and then the host vehicle S follows the other vehicle X1 as shown in FIG.
  • the own vehicle S can be caused to follow the road R1.
  • the follow-up mileage can be lengthened and the driver's burden can be reduced (the arrival time at the destination is delayed, but the driver's burden can be reduced by stopping the vehicle S and waiting). Increase is suppressed).
  • the waiting of the own vehicle S can also be used to change (transfer) the leading vehicle.
  • the vehicle S scheduled to travel on the roads R1 and R2 travels following the other vehicle X1 scheduled to travel on the roads R1 and R3.
  • the tracking of the host vehicle S to the other vehicle X1 is terminated before the service area SA, and as shown in FIG. 24, the host vehicle S is stopped in the service area SA and waits for the other vehicle X2 to approach.
  • the leading vehicle can be changed from the other vehicle X1 to the other vehicle X2 by making the own vehicle S follow the other vehicle X2 as shown in FIG.
  • the host vehicle S can be caused to follow the road R2 as well as the road R2.
  • the travel plan creation device 10 of the present embodiment further travels on the road ahead.
  • a travel plan for the vehicle 100 is created in consideration of the presence of the vehicle.
  • the host vehicle S when the host vehicle S is scheduled to travel on the roads R1, R8, R9, and R6, not only the traveling road R1 and the next road R8, but also a further road Consider other vehicles traveling on R9 and R6.
  • the priority item when the priority item is set to “the length of the following travel distance”, the vehicle S is caused to follow the other vehicle X1 on the road R8 as shown in FIG. 27, and the road R9 is shown as shown in FIG.
  • the travel plan of the host vehicle S is created so that the host vehicle S follows the other vehicle X2 (that is, so as to transfer between the other vehicle X1 and the other vehicle X2).
  • the priority item is set to “the length of the follow-up mileage”, when it is predicted that there is no other vehicle that the vehicle S can follow on the road R6 as shown in FIG. 29, the road R6 A travel plan for manually driving the host vehicle S is established.
  • FIG. 32 is a flowchart showing the operation.
  • the own vehicle information acquisition unit 11 and the priority item setting unit 14 acquire information input by the user from the input device 21 (step S101). Specifically, the host vehicle information acquisition unit 11 acquires host vehicle information input by the user, and the priority item setting unit 14 acquires the priority item selected by the user.
  • the own vehicle information includes at least information that can identify a scheduled travel route from the departure point of the own vehicle 100 to the destination, and information of the scheduled departure time of the own vehicle. Since the own vehicle information acquisition unit 11 of the present embodiment includes the planned travel route acquisition unit 11a, if the user inputs the departure point and the destination of the own vehicle 100, the own vehicle information acquisition unit 11 The planned travel route of the car 100 can be acquired.
  • the other vehicle information acquisition unit 12 acquires the other vehicle information via the communication device 22 (step S102).
  • the other vehicle information includes at least information capable of predicting the planned traveling route of the plurality of other vehicles 101 and the scheduled passage time of each point on the planned traveling route.
  • the travel plan calculation unit 13 performs a process (travel plan calculation process) for calculating the travel plan of the host vehicle 100 (step S103). Details of the travel plan calculation process will be described later.
  • the travel plan calculated by the travel plan calculation unit 13 is stored in the travel plan holding unit 15 (step S104).
  • the display processing unit 16 generates image data for displaying the travel plan stored in the travel plan holding unit 15 on the display device 24 (step S105).
  • the image data generated by the display processing unit 16 is input to the display device 24. As a result, the travel plan is displayed on the display device 24 (step S106).
  • FIG. 33 is a flowchart of a travel plan calculation process.
  • the travel plan calculation unit 13 divides the vehicle into a plurality of sections by setting a plurality of division points on the planned travel route of the vehicle 100 (step S201). Between two adjacent division points is one section, and each section is a unit for calculating a travel plan. Any method may be used for arranging the dividing points. For example, a method is considered in which a point having a specific attribute such as a point where a plurality of roads are connected (intersection, branching point, etc.) or a point where a vehicle can be stopped (parking area, service area, road station, etc.) is used as a division point. It is done. Further, a simple method of arranging the dividing points for every fixed distance may be used.
  • the number of division points may be determined according to the calculation capability of the processor 51 as the travel plan calculation unit 13 and the definition required for the travel plan.
  • N + 1 divided points P 0 to P N are set, where the start point (starting point) of the planned travel route is the division point P 0 and the end point (destination) of the planned travel route is the division point P N.
  • the planned travel route is divided into N sections.
  • a section divided by the division point P i and the division point P i + 1 is defined as a section Q i . That is, the first interval is represented as Q 0 and the last interval is represented as Q N ⁇ 1.
  • the travel plan calculation unit 13 clears “calculated travel plan set RF” that is a collection of data in which the calculated travel plan data is stocked (step S202).
  • the travel plan calculation unit 13 calculates a plurality of travel plans having different patterns, stores them in the calculated travel plan set RF, and then conforms to the priority item selected by the user from the stored travel plans. Is extracted and output.
  • the travel plan calculation unit 13 clears “during travel plan R”, which is data of a travel plan being calculated (step S203).
  • each variable used for calculating the traveling plan is initialized based on the vehicle information.
  • a variable T representing time, a variable L representing a position, and a variable D representing a section are used (hereinafter, these variables are simply referred to as “time T”, “position L”, “section D ”).
  • time T is set to the scheduled departure time of the vehicle 100
  • the position L is set to the division point P 0 is the starting place
  • the interval D is set to the interval Q 0 is the first interval.
  • the travel plan calculation unit 13 refers to the map information in the map information storage device 23 and can stop the own vehicle 100 near the position L and wait for the other vehicle 101 as a leading vehicle. It is determined whether there is a (standby possible point) (step S204).
  • the “near position L” here may be in front of or in the middle of section D (including position L) (however, when position L is division point P 0 , it is in front of section D (section Q 0 )). There is no leg).
  • a certain distance from the position L may be defined as “near position L”, or two sections (section D and the section immediately before it) sandwiching position L may be defined as “near position L”. Good.
  • the standby possible point may not be a point on the planned travel route, and a standby point may be a point within a certain range around the planned travel route (for example, a range of 20 m around the section D and the immediately preceding section). It is good. In this case, the shorter the distance between the planned travel route and the standby point, the faster the time that can be merged with the leading vehicle, that is, the follow-up traveling can be started earlier, so the driver's burden is reduced.
  • the travel plan calculation unit 13 searches for other vehicles 101 that are candidates for a leading vehicle that can wait at the standby point. Specifically, the travel plan calculation unit 13 searches for other vehicles 101 that pass through the section D within a predetermined time from the time T based on the other vehicle information. Step S205).
  • whether or not the other vehicle 101 can join the own vehicle 100 in the section D is determined by whether or not the own vehicle 100 can join within a predetermined time after entering the section D (standby is possible). If the point is an intermediate point in the section D, it is determined based on whether or not the vehicle 100 can join the waiting point after the vehicle 100 has departed). For example, the other vehicle 101 that travels in the section D at a speed that exceeds the vehicle performance of the host vehicle 100 cannot merge.
  • the travel plan calculation part 13 selects the action in the area D from the following two types, and adds the selected content to the travel plan R being calculated (step S206).
  • [Action 1-1] Wait for the other vehicle 101 found in step S205 at the standby possible point.
  • [Action 1-2] Do not wait for the other vehicle 101. If the action 1-1 is selected in step S206, the time T is updated by adding the waiting time to the time T. If action 1-2 is selected in step S206, the value of time T is maintained.
  • step S206 either action 1-1 or action 1-2 is selected.
  • the travel plan for selecting action 1-1 and action 1-2 are finally selected. Both the travel plan to be created will be created. However, if the corresponding other vehicle 101 is not found in step S205, the action 1-1 is not selected.
  • step S205 If a plurality of corresponding other vehicles 101 are found in step S205, the action 1-1 is further divided into a plurality of options, and a travel plan for waiting for each of the other vehicles 101 is created. For example, if two vehicles A and B are found as corresponding other vehicles 101 in step S205, one of the following three actions is selected in step S206. [Action 1-1A] Wait for vehicle A at a point where standby is possible. [Action 1-1B] Wait for vehicle B at a point where standby is possible. [Action 1-2] Do not wait for the other vehicle 101 (vehicle A, vehicle B).
  • the target of the action 1-1 may be limited to a part of them. For example, among the corresponding other vehicles 101, only those having a relatively short waiting time may be targeted, or only those having a destination relatively close to the destination of the vehicle 100 may be targeted. Conceivable. By doing so, the choices in step S206 are reduced, and the calculation load of the processor 51 as the travel plan calculation unit 13 can be reduced.
  • the travel plan calculation unit 13 searches for other vehicles 101 that are candidates for the leading vehicle of the vehicle 100 in the section D. Specifically, the travel plan calculation unit 13 can pass through the section D and join the own vehicle 100 in the section D among the other cars 101 in the vicinity of the position L at the time T based on the other vehicle information. Is searched (step S207). Here again, whether or not the other vehicle 101 can join the own vehicle 100 in the section D is determined by whether or not the own vehicle 100 can join within a predetermined time after entering the section D.
  • step S207 when the priority item selected by the user includes an item related to the other vehicle 101 as the leading vehicle, only the other vehicle 101 suitable for the priority item may be searched. For example, when the driving evaluation value or the route certainty of the other vehicle 101 is selected as the priority item, only the other vehicle 101 having a certain level or higher is selected as a search target.
  • step S207 when the difference between the time T and the current time is larger than a predetermined threshold (that is, when the time T indicates a time after a long time has elapsed from the current time), the path certainty is obtained. It is preferable to search only the other vehicle 101 having a high speed. This is because, after a long time has elapsed, there is a high possibility that the planned travel route and the scheduled passage time of the other vehicle 101 with low route certainty have been changed. In addition, it is preferable to search only the other vehicle 101 having a vehicle performance equal to or lower than that of the own vehicle 100. This is because it may be difficult for the host vehicle 100 to travel following the other vehicle 101 having higher vehicle performance than the host vehicle 100.
  • the travel plan calculation unit 13 selects an action in the section D from the following two ways, and adds the contents to the calculated travel plan R (step S208).
  • the host vehicle 100 is caused to travel following the other vehicle 101 found in step S207.
  • the own vehicle 100 is driven manually.
  • the section D is a follow-up traveling section, and information for identifying the other vehicle 101 that is the leading vehicle in the section D (for example, a vehicle body number, a registration ID for the vehicle information distribution system, etc.) Is added to the calculated travel plan R.
  • the time T is updated by adding the travel time of the section D calculated from the predicted speed of the other vehicle 101 as the leading vehicle to the time T.
  • the position L is updated by setting the position L to the next division point.
  • the section D is updated by setting the position D to the next section (section starting from the updated position L).
  • the traveling plan is such that the leading vehicle is not changed in those sections.
  • section D is a manual operation section.
  • the time T is updated by adding the travel time of the section D calculated based on the speed of the vehicle 100 to the time T.
  • the position L is updated by setting the position L to the next division point.
  • the section D is updated by setting the position D to the next section (section starting from the updated position L).
  • step S208 either action 2-1 or action 2-2 is selected. However, in the process of step S211 described later, a travel plan for selecting action 2-1 and action 2-2 are finally selected. Both the travel plan to be created will be created. However, if the corresponding other vehicle 101 is not found in step S207, the action 2-1 is not selected in step S208.
  • the action 2-1 is further divided into a plurality of options, and a travel plan for causing each other vehicle 101 to follow the own vehicle 100 is created.
  • a travel plan for causing each other vehicle 101 to follow the own vehicle 100 is created.
  • two vehicles A and B are found as corresponding other vehicles 101 in step S207.
  • one of the following three actions is selected.
  • [Action 2-1A] The host vehicle 100 is caused to travel following the vehicle A.
  • Action 2-1B The host vehicle 100 is caused to travel following the vehicle B.
  • the own vehicle 100 is driven manually.
  • the target of the action 2-1 (the target that the host vehicle 100 follows) may be limited to a part of them according to the priority items. . For example, only the other vehicle 101 whose destination is a point relatively close to the destination of the own vehicle 100 may be targeted. By doing so, the choices in step S208 are reduced, and the calculation load of the processor 51 as the travel plan calculation unit 13 can be reduced.
  • the travel plan calculation unit 13 checks whether or not the updated position L is a destination (division point P N ) (step S209). If the position L is not the destination, that is, if the position L is an intermediate point on the planned travel route (NO in step S209), in order to calculate a travel plan for the section starting from the position L (updated section D), The process returns to step S204.
  • step S209 When the position L is the destination (the end point of the planned travel route) (YES in step S209), the travel plan for the entire travel planned route is stored in the calculated travel plan R, and the calculated travel is calculated. It adds to the plan set RF (step S210). Then, it is determined whether or not all the action combination patterns (behavior combination patterns) that can be selected in step S206 and step S208 have been selected (whether all travel plans corresponding to each action combination pattern have been created). (Step S211).
  • step S211 If there are unselected action combination patterns (NO in step S211), the process returns to step 203 to create a travel plan corresponding to these action combination patterns. In the second and subsequent loops, the same action combination pattern as previously selected is not selected.
  • step S211 When all the action combination patterns have been selected (YES in step S211), all the travel plans corresponding to the respective action combination patterns are stored in the calculated travel plan set RF. In this case, a travel plan that is determined to have a low driver burden is extracted from the calculated travel plan set RF and output (step S212). At this time, the driver burden of each travel plan is evaluated in consideration of priority items.
  • the priority item is “the length of the follow-up travel distance”, it is determined that the travel plan having the largest proportion of the follow-up travel section in the total length of the planned travel route has a smaller driver burden.
  • the priority item is “arrival time at destination”, it is determined that the driving plan with the earliest expected arrival time at the destination has a smaller driver burden.
  • the priority item is “the length of the follow-up travel time”, it is determined that the travel plan having the largest travel time ratio of the follow-up travel section in the total travel time has a smaller driver burden.
  • the priority item is “the number of changes of the leading vehicle”, it is determined that the driving plan with a smaller number of changes of the leading vehicle has a smaller driver burden.
  • the priority item when the priority item is “driving evaluation value”, it is determined that the driving plan with a higher average driving evaluation value of the other vehicle 101 serving as the leading vehicle has a smaller driver burden.
  • the priority item is “route certainty”, it is determined that the driving plan with a higher average value of the route certainty evaluation value of the other vehicle 101 serving as the leading vehicle has a smaller driver burden.
  • the calculation of the driver burden for each travel plan does not necessarily have to be performed after the travel plans for all the sections have been determined (for example, step S212), and the process for determining the travel plans for each section (a loop of steps S204 to S209). May be performed in parallel.
  • the travel plan calculation unit 13 may output a plurality of travel plans so that the user can select one of them. For example, a mode in which the travel plan calculation unit 13 outputs a predetermined number of travel plans from the one with the smallest driver burden or the one with the smallest driver burden for each selection item is conceivable.
  • the travel plan output by the travel plan calculation unit 13 is displayed on the display device 24 by the processes of steps S105 and S106 in FIG.
  • an example of the display mode of the travel plan output by the travel plan calculation unit 13 is shown.
  • the travel plan may be displayed as a graph as shown in FIG. As shown in FIG. 35, by color-coding the follow-up travel section and the manual operation section, it becomes easy to grasp the proportion of the follow-up travel section or the manual operation section in the entire planned travel route. Therefore, there is an advantage that the user can intuitively recognize the driver burden of the travel plan.
  • characters and figures representing the travel plan may be displayed superimposed on the map.
  • a line indicating the planned travel route of the host vehicle 100 (a triangular icon surrounded by a circle) is displayed in different colors for the following travel section and the manual operation section.
  • the current position (triangle icon) of the other vehicle 101 serving as the leading vehicle and its planned travel route are also shown.
  • FIG. 37 is a display example when a plurality of travel plans are respectively graphed and displayed simultaneously.
  • the travel plans are graphed, the user can intuitively recognize the driver burden of the travel plans. Therefore, when the travel plans that are graphed are displayed side by side, the driver burdens of the travel plans can be easily compared. For example, if the user looks at the screen of FIG. 37, the travel plan with the longest follow-up travel distance is “travel plan 3”, and the travel plan with the smallest number of changes in the leading vehicle is “travel plan 1”. Can be seen at a glance.
  • the length of the horizontal axis of each graph represents distance, but may represent time.
  • the display form in which the length of the horizontal axis with each graph represents time is when the driver wants to select a travel plan with a long follow-up travel time or when he wants to select a travel plan with the earliest arrival time at the destination, Selection is easy and effective.
  • the information indicating the leading vehicle is simply displayed as ⁇ follow the vehicle X1 '', but actually the leading vehicle is more specifically shown.
  • Information that can be identified is displayed. Since the driver must visually find the leading vehicle before starting follow-up, information that can identify the leading vehicle from the appearance, such as the vehicle type, vehicle name, body color, number of the license plate, etc. It is desirable to display it as information indicating. Further, the vehicle type, the vehicle name, and the color of the vehicle body may be expressed using a photograph or image of the vehicle.
  • the travel plan recalculation instruction unit 17 travels when a certain time has elapsed since the previous travel plan calculation and when other vehicle information distributed by the vehicle information server 102 has changed.
  • the plan calculation unit 13 is instructed to recalculate the travel plan.
  • a travel plan that causes the vehicle 100 to follow the other vehicle X1 and the other vehicle X2 is created as shown in FIGS. R8, R9).
  • the travel plan is created, as shown in FIG. 38, when another vehicle X3 scheduled to travel on the roads R4, R9, and R6 appears, the vehicle S follows the other vehicle X3 on the road R9 instead of the other vehicle X2. If the travel plan is changed so that the vehicle travels, the road R6 can also follow the road as shown in FIG. As a result, the follow-up mileage becomes longer, so the driver's burden can be reduced (when the priority item is “the length of the follow-up mileage”).
  • the travel plan recalculation instruction unit 17 makes it possible to change such a travel plan.
  • the travel plan It is desirable to change the travel plan if the recalculated travel plan can make the driver's burden smaller than the current travel plan.
  • the travel plan is recalculated if the current travel plan is not available. I have to change it. However, even in such a case, it is not preferable to change the travel plan without user approval.
  • the display processing unit 16 selects which one as shown in FIG. A screen (travel plan selection screen) that allows the driver to select whether to adopt the travel plan is displayed on the display device 24.
  • the travel plan selection screen of FIG. 40 the recalculated travel plan and text and icons for selecting whether to change the travel plan are superimposed on the map.
  • a text representing the current travel plan and a text representing the recalculated new travel plan may be displayed side by side.
  • a graph representing the current travel plan and a graph representing the recalculated new travel plan may be displayed side by side on the travel plan selection screen. If both the current travel plan and the recalculated travel plan are displayed on the travel plan selection screen as shown in FIGS. 41 and 42, the user can easily compare the two.
  • the travel plan change notification screen for notifying the driver to that effect is displayed.
  • the travel plan change notification screen of FIG. 43 the travel plan after the change (recalculated travel plan) and the text indicating that the travel plan has been changed are superimposed on the map.
  • illustration is omitted, on the travel plan change notification screen, the travel plan after the change may be displayed as text or a graph.
  • the travel plan change notification screen or the travel plan selection screen is displayed on the display device 24 so that the user (driver) is not aware. It is possible to prevent the travel plan from being changed and to reduce the psychological burden on the driver.
  • FIG. 44 is a flowchart showing the processing.
  • the travel plan recalculation instruction unit 17 confirms whether or not a certain time has elapsed since the previous travel plan creation (step S301). When a certain time has elapsed since the previous travel plan creation (YES in step S301), the travel plan recalculation instruction unit 17 causes the travel plan calculation unit 13 to perform a travel plan calculation process to recalculate the travel plan ( Step S306).
  • the travel plan calculation process in step S306 may be the same as that shown in FIG.
  • the travel plan recalculation instruction unit 17 transmits the other vehicle 101 serving as the leading vehicle of the host vehicle 100 via the communication device 22.
  • Other vehicle information is acquired (step S302), and it is confirmed whether or not the other vehicle information has been changed (step S303).
  • the travel plan recalculation instruction unit 17 causes the travel plan calculation unit 13 to recalculate the travel plan (step S306).
  • step S303 If a certain time has not elapsed since the previous travel plan was created and no other vehicle information has been changed (NO in step S303), the travel plan is not recalculated and the current travel plan is It is maintained (step S304). That is, the travel plan stored in the travel plan holding unit 15 is maintained.
  • the travel plan recalculation instruction unit 17 checks whether or not the current travel plan is available. (Step S307). If there is a large change in the other vehicle information that contributes to the current travel plan 101 (a change that cannot maintain the current travel route), the current travel plan becomes unusable. This determination can be made by checking whether or not the same travel plan as the current travel plan is stored in the calculated travel plan set RF during the travel plan calculation process in step S306.
  • step S307 it is confirmed whether the driver burden can be reduced by the recalculated travel plan. That is, it is confirmed whether or not the driver burden of the recalculated travel plan is smaller than the driver burden of the current travel plan. If the driver burden cannot be reduced by the recalculated travel plan (NO in step S308), the current travel plan is maintained (step S304).
  • step S308 If the driver burden can be reduced by the recalculated travel plan (YES in step S308), image data of the travel plan selection screen as shown in FIG. 40 is generated (step S309), and the travel plan selection screen is displayed on the display device 24. (Step S310). If there is a travel plan change instruction from the user (YES in step S311), the recalculated travel plan is adopted. That is, the travel plan held in the travel plan holding unit 15 is changed from the current travel plan to the recalculated one (step S312).
  • step S304 If the user does not receive a travel plan change instruction (NO in step S311), the current travel plan is maintained (step S304).
  • the recalculated travel plan is more burdensome to the driver than the current travel plan.
  • the travel plan can be changed only when is small. Accordingly, it is possible to prevent a travel plan having a larger driver burden than the current travel plan from being selected even though the current travel plan is available.
  • step S313 the recalculated travel plan is automatically adopted (step S313), and an image of the travel plan change notification screen as shown in FIG. Data is generated (step S314), and a travel plan change notification screen is displayed on the display device 24 (step S315).
  • step S305 it is confirmed whether or not the vehicle 100 has finished traveling. If the user inputs that fact or the travel plan creation device 10 can confirm that the current location of the host vehicle 100 is the destination, it is determined that the travel of the host vehicle 100 has ended (YES in step S305), and travel The plan recalculation process is terminated. If the traveling of the host vehicle 100 is not completed, the above processing is repeatedly executed until the traveling is completed.
  • FIG. 45 is a diagram illustrating a configuration of the navigation device 30 according to the second embodiment.
  • the navigation device 30 is configured by adding a current position acquisition device 31, a route search device 32, and a guidance device 33 to the travel plan presentation device 20 of FIG.
  • the hardware configuration of the navigation device 30 is basically the same as that in FIG. 5, and the current position acquisition device 31, the route search device 32, and the guidance device 33 are also processor 51, as are the elements of the travel plan creation device 10. Is realized by executing a program stored in the memory 52.
  • FIG. 46 is a diagram showing a configuration of a vehicle information distribution system according to the second embodiment.
  • the vehicle information distribution system is substantially the same as that in FIG. 2, but has a configuration in which a navigation device 30 including a travel plan presentation device 20 is mounted on the host vehicle 100.
  • the navigation device 30 may not be permanently installed in the host vehicle 100, and may be a portable navigation device that can be brought into the host vehicle 100, for example.
  • the current position acquisition device 31 of the navigation device 30 calculates the current location of the navigation device 30 from position information acquired from GPS (Global Positioning System) or the like.
  • GPS Global Positioning System
  • the route search device 32 searches for an optimum route from the departure point to the destination set by the user. Normally, since the current location acquired by the current location acquisition device 31 is automatically set as a departure location, the user simply inputs the destination and the route from the current location to the destination (the planned travel route of the vehicle 100). Can be obtained.
  • the planned travel route acquisition unit 11 a included in the own vehicle information acquisition unit 11 acquires the planned travel route of the host vehicle 100 calculated by the route search device 32.
  • the guidance device 33 provides guidance information to the driver so that the host vehicle 100 travels according to the travel plan created by the travel plan creation device 10 (travel plan stored in the travel plan holding unit 15). .
  • the guide device 33 guides the host vehicle 100 to the position of the leading vehicle or guides the host vehicle 100 so that the host vehicle 100 can follow and follow the traveling plan as well as guide the planned travel route as in the conventional navigation device.
  • the vehicle 100 is guided to a waiting point (service area or the like).
  • the guide device 33 acquires the position of the leading vehicle (other vehicle 101) by inter-vehicle communication using the communication device 22. And the own vehicle 100 is guided to the position which can follow a leading vehicle from the positional relationship of the own vehicle 100 and a leading vehicle. For example, if the positions of the host vehicle 100 and the leading vehicle are displayed on the map displayed on the display device 24 and the host vehicle 100 approaches the leading vehicle to some extent, the positional relationship between the host vehicle 100 and the leading vehicle as shown in FIG. Should be enlarged. At that time, it is more preferable to indicate an area (followable area) where the own vehicle 100 can start following traveling.
  • the image showing the positional relationship between the host vehicle 100 and the leading vehicle is an example created by a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit) included in the processor 51 of FIG.
  • a CPU Central Processing Unit
  • a GPU Graphics Processing Unit
  • an image in front of the host vehicle 100 captured by a camera mounted on the host vehicle 100 may be used.
  • the head-up display is a display device that directly displays an image in the driver's field of view by displaying an image on a screen (for example, a windshield) through which the driver can see forward.
  • the travel plan creation device 10 communicates with the follow-up travel control device 40 and transmits a follow-up travel instruction according to the travel plan to the follow-up travel control device 40.
  • the follow-up travel control device 40 controls the travel control system (not shown) of the own vehicle 100 based on the follow-up travel instruction, and causes the own vehicle 100 to follow the preceding vehicle to be followed. Further, the follow-up travel control device 40 allows the host vehicle 100 to run at a constant speed when the host vehicle 100 is traveling in a section where manual driving is planned (manual driving section), or allows the user to run the host vehicle. Or urging them to perform 100 manual operations.
  • the guide information generated by the guide device 33 may be displayed as a voice message from a speaker or the like in the host vehicle 100, in addition to being displayed on the display device 24.
  • a voice message “Please move to a position where automatic tracking can be performed” is output to the user. It is good to urge the own vehicle 100 to follow the leading vehicle.
  • a voice message such as “Please move to a followable area. When you enter the followable area, follow-up running automatically starts” may be output.
  • the followable area depends on the performance of the follow-up traveling control device 40, typically the inter-vehicle distance that can be followed.
  • the performance of the follow-up travel control device 40 may be stored in advance in the travel plan creation device 10, or the travel plan creation device 10 may obtain through communication with the follow-up travel control device 40. In the case of the latter method, it is possible to reflect the dynamic performance of the follow-up travel control device 40 according to the travel environment such as weather, brightness, and time, and the travel plan creation device 10 can provide a more accurate followable area. It can be displayed on the display device 24.
  • a special display effect may be given to the image of the leading vehicle. For example, if the leading vehicle image that is currently being tracked is surrounded by a blue solid line frame and the leading vehicle is changed, the frame of the leading vehicle image that is following is changed to a yellow dashed line, and the vehicle to be newly tracked is blue. It is preferable to display so that the current and future leading vehicles can be identified, for example, by enclosing with a dashed frame and completing the transfer of the leading vehicle, such as enclosing the new leading vehicle with a blue solid frame. Further, when it is difficult to follow the current leading vehicle, when a new following vehicle to be transferred cannot be found, a red dashed frame may be added to the image of the current leading vehicle.
  • the timing for giving such a special display effect may be only for a certain period before and after changing the leading vehicle. Further, such a special display effect may be applied to a case where an image in front of the host vehicle 100 taken by the camera is displayed on the display device 24 or a head-up display is used.
  • the special display effect is not limited to the display of the frame, and may be an effect using other figures or characters.
  • FIG. 48 is a flowchart showing the operation. Note that the operation of the guide device 33 when the host vehicle 100 travels in the manual driving section may be the same as that of a general navigation device, and thus description thereof is omitted here.
  • the guide device 33 guides the host vehicle 100 to a position where the other vehicle 101 that is the leading vehicle in the section can travel following the travel plan (step S401). (When the vehicle 100 is already following the leading vehicle as planned, the guidance is not necessary).
  • the guidance apparatus 33 confirms whether there is a change of the leading vehicle based on a travel plan (step S402). If there is a change in the leading vehicle (YES in step S402), the guidance device 33 sets the leading vehicle targeted for guidance as the leading vehicle after the change (step S403), and returns to step S401.
  • the guidance device 33 checks whether there is a change in the lead vehicle due to the change (re-creation) of the travel plan (step S404). ). If there is a change in the leading vehicle due to the change in the travel plan (YES in step S404), the guide device 33 sets the leading vehicle targeted for guidance to the changed leading vehicle (step S405), and the process proceeds to step S401. Return.
  • the guidance device 33 confirms whether or not the own vehicle 100 has arrived at the destination. (Step S406). If own vehicle 100 has arrived at the destination (YES in step S406), guide device 33 ends the guidance process. If the vehicle 100 has not arrived at the destination (NO in step S406), the process returns to step S401.
  • the guidance device 33 can always grasp the leading vehicle that is the target of guidance.
  • FIG. 49 is a flowchart of the travel plan recalculation process.
  • the flow in FIG. 49 is basically the same as the flow shown in FIG. 44, but the condition for executing the travel plan calculation process (step S306) for recalculating the travel plan is greater than the flow in FIG. is doing.
  • step S306 is executed when a certain time has elapsed since the previous travel plan was created and when other vehicle information of the other vehicle 101 serving as the leading vehicle is changed.
  • step S306 is also executed in the following cases. Since the other flow is the same as that of FIG. 44, description thereof is omitted here.
  • the travel plan recalculation instructing unit 17 acquires the position of the own vehicle 100 (own vehicle position) from the current position acquisition device 31 (step S351), and the position of the own vehicle 100 or its change amount (that is, the change amount) Even when the traveling distance of the host vehicle 100 satisfies a predetermined condition (YES in step S352), step S306 is executed.
  • the “predetermined condition” in step S352 is, for example, when the vehicle 100 has traveled a certain distance, the vehicle 100 is a predetermined point (for example, a point having a specific attribute such as an intersection or a service area, This is the case where the vehicle 100 has passed the time when the travel plan is created (such as the division point determined in step S201 in FIG. 33), or when the vehicle 100 has taken an action different from that of the travel plan.
  • step S353 when it is detected by vehicle-to-vehicle communication via the communication device 22 that the currently following leading vehicle is taking an action different from the vehicle information (other vehicle information) (YES in step S353). ), The travel plan calculation process of step S306 is executed.
  • the action different from the other vehicle information is, for example, traveling on a route different from the planned traveling route, passing through each point at a time greatly deviating from the scheduled passing time, and the like.
  • the operation of the navigation device 30 has been described on the assumption that the host vehicle 100 is moved to the followable area by manual driving.
  • the follow-up running control device 40 has an automatic running speed control function and
  • the driver only has to manually perform the driving operation for changing the lane, and the driver's burden can be further reduced.
  • the navigation device 30 notifies the driver of switching to the driving mode using the driving speed automatic control function and the lane keeping function by voice announcement or screen display, the psychological burden on the driver can be reduced.
  • the host vehicle 100 is separated from the leading vehicle due to the influence of a traffic light or an interrupting vehicle while the host vehicle 100 is traveling following the leading vehicle.
  • the traveling direction is the same as that of the leading vehicle (original leading vehicle), and the other vehicle traveling at a higher speed than the original leading vehicle is used as a temporary leading vehicle to follow the own vehicle 100.
  • the driver is encouraged to change to the original leading vehicle by performing a display and voice announcement so that the driver can identify the original leading vehicle. It may be.
  • the method for calculating or recalculating the travel plan is not limited to that described above. That is, the present invention recalculates the travel plan when a specific condition related to the follow-up travel is satisfied regardless of the method and content of the travel plan, the travel plan change notification screen or the travel plan selection screen, It is characterized by being displayed on a display device. For example, the travel plan does not have to be created by dividing the planned travel route into a plurality of sections, even if it is a simpler travel plan (for example, “follow the vehicle X1”), The invention is applicable.
  • the present invention can be freely combined with each other or can be appropriately modified or omitted.
  • travel plan creation device 11 own vehicle information acquisition unit, 11a planned travel route acquisition unit, 12 other vehicle information acquisition unit, 13 travel plan calculation unit, 14 priority item setting unit, 15 travel plan holding unit, 16 display processing unit, 17 travel plan recalculation instruction unit, 20 travel plan presentation device, 21 input device, 22 communication device, 23 map information storage device, 24 display device, 30 navigation device, 31 current position acquisition device, 32 route search device, 33 guidance device , 51 processor, 52 memory, 53 input / output interface, 100 own vehicle, 101 other vehicle, 102 vehicle information server, 103 companies.

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Abstract

La présente invention concerne un dispositif (10) de création de plan de déplacement équipé des éléments suivants : une unité (11) d'acquisition d'informations de véhicule hôte qui obtient des informations de véhicule hôte comprenant un itinéraire de déplacement programmé et une heure de départ programmée pour un véhicule hôte (100) ; une unité (12) d'acquisition d'informations d'autres véhicules qui obtient des informations d'autres véhicules comprenant des informations susceptibles de prédire des itinéraires de déplacement programmés et des heures de passage programmées pour chaque site sur les itinéraires de déplacement programmés pour de multiples autres véhicules (101) ; et une unité (13) de calcul de plan de déplacement qui calcule un plan de déplacement pour le véhicule hôte (100) sur la base des informations de véhicule hôte et des informations d'autres véhicules. L'unité (13) de calcul de plan de déplacement recalcule le plan de déplacement lorsqu'une condition prédéfinie a été satisfaite. Lorsque l'unité (13) de calcul de plan de déplacement produit un plan de déplacement recalculé, une unité (16) de traitement d'affichage affiche sur un dispositif d'affichage (24) un écran notifiant à l'utilisateur la modification du plan de déplacement (un écran de notification de modification de plan de déplacement) ou un écran permettant à l'utilisateur de choisir s'il autorise une modification du plan de déplacement (un écran de sélection de plan de déplacement).
PCT/JP2015/051011 2015-01-16 2015-01-16 Dispositif de création de plan de déplacement et procédé de modification de plan de déplacement Ceased WO2016113890A1 (fr)

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CN113919732B (zh) * 2021-10-25 2023-10-17 车主邦（北京）科技有限公司 园区车辆调度方法、装置、设备以及存储介质

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