WO2016143113A1 - 車群管理装置、車群管理方法、車群管理プログラム及び車群表示装置 - Google Patents
車群管理装置、車群管理方法、車群管理プログラム及び車群表示装置 Download PDFInfo
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- WO2016143113A1 WO2016143113A1 PCT/JP2015/057269 JP2015057269W WO2016143113A1 WO 2016143113 A1 WO2016143113 A1 WO 2016143113A1 JP 2015057269 W JP2015057269 W JP 2015057269W WO 2016143113 A1 WO2016143113 A1 WO 2016143113A1
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3667—Display of a road map
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/09626—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages where the origin of the information is within the own vehicle, e.g. a local storage device, digital map
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
- G08G1/096741—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where the source of the transmitted information selects which information to transmit to each vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
- G08G1/09675—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where a selection from the received information takes place in the vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/22—Platooning, i.e. convoy of communicating vehicles
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/005—Moving wireless networks
Definitions
- the present invention relates to a vehicle group management device, a vehicle group management method, and a vehicle group management program for managing a plurality of vehicles moving in series as a vehicle group.
- the present invention also relates to a vehicle group display device that displays the vehicle group.
- Patent Document 1 discloses a method of collecting the position, traveling direction, and speed of surrounding vehicles using inter-vehicle communication and enlarging and displaying a region where information on the surrounding vehicles is collected by the navigation device of the host vehicle. .
- Patent Document 2 discloses a method of configuring a vehicle group from detected surrounding vehicles, calculating a range in which the vehicle is not safe to enter by the vehicle group, and displaying the calculated range on the driver's field of view. .
- Patent Document 3 discloses a method of defining the magnitude of the influence of each vehicle's action on the action of another vehicle as an interaction, estimating the interaction, and determining a group of vehicles having a predetermined interaction or more as a vehicle group. ing.
- Patent Document 1 since the collected information is displayed for each individual vehicle on the screen of the navigation device, the driver must check the situation for each individual vehicle. Therefore, it becomes difficult for the driver to understand the situation when the number of displayed vehicles is large. In Patent Document 1, an attempt is made to solve this problem by setting the display priority based on the degree of attention of the driver. However, the information that there is a further vehicle behind a certain vehicle is important, for example, when joining a highway, and the display priority should not be lowered just because the vehicle is far away.
- Patent Document 2 the problem in Patent Document 1 is solved by providing information to the driver as a vehicle group instead of individual vehicles.
- these are defined as a vehicle group.
- it is defined as one vehicle group, and there is a possibility that an appropriate vehicle group cannot be defined.
- Patent Document 3 solves the problem in Patent Document 1 by providing information to the driver as a vehicle group instead of individual vehicles.
- the specification and state of the host vehicle are not taken into account in determining the vehicle group.
- an appropriate vehicle group cannot be defined without considering various characteristics on the own vehicle side.
- the present invention has been made to solve the above-described problems, for example, and an object thereof is to provide a vehicle group corresponding to each vehicle.
- a vehicle group management apparatus includes a first management unit that manages vehicle information including position information indicating positions of a plurality of other vehicles that move in series, a distance between other vehicles based on the position information, And a calculation unit that calculates vehicle group information indicating a vehicle group including at least one other vehicle using the movement characteristics of the vehicle.
- the vehicle group management method includes a first management step for managing vehicle information including position information indicating positions of a plurality of other vehicles moving in series, a distance between other vehicles based on the position information, And a calculation step of calculating vehicle group information indicating a vehicle group including at least one other vehicle using the movement characteristics of the vehicle.
- a vehicle group management program includes: a first management unit that manages vehicle information including position information indicating positions of a plurality of other vehicles that move together with a computer; a distance between other vehicles based on the position information; The vehicle functions as a calculation unit that calculates vehicle group information indicating a vehicle group including at least one other vehicle using the movement characteristics of the host vehicle.
- the vehicle group display device shows a vehicle group including at least one other vehicle determined in accordance with the distance between other vehicles moving in a row and the movement characteristics of the own vehicle.
- a communication unit that receives the image data and a display unit that displays the image data received by the communication unit.
- the vehicle group management device can provide an appropriate vehicle group according to each vehicle.
- the vehicle group management method according to the present invention can provide an appropriate vehicle group corresponding to each vehicle.
- the vehicle group management program according to the present invention can provide an appropriate vehicle group corresponding to each vehicle.
- an appropriate vehicle group corresponding to each vehicle can be provided.
- FIG. 2 is a configuration diagram illustrating an example of a vehicle group management device 10 and a vehicle group display device 20 according to Embodiment 1.
- FIG. 2 is a hardware configuration diagram illustrating an example of a hardware configuration of a vehicle group management device 10 and a vehicle group display device 20 according to Embodiment 1.
- FIG. It is a figure which shows an example of a structure of the vehicle information 2 in Embodiment 1.
- FIG. 5 is a flowchart showing an operation when the vehicle group management device 10 in the first embodiment transmits vehicle information 2; 6 is a diagram illustrating an example of a configuration of vehicle group information 3 according to Embodiment 1.
- FIG. 4 is a flowchart illustrating an operation when the vehicle group management device 10 according to the first embodiment receives vehicle information 2;
- 6 is a diagram illustrating an example of image data displayed on a display unit 202 according to Embodiment 1.
- FIG. 6 is a diagram illustrating an example of image data displayed on a display unit 202 according to Embodiment 1.
- FIG. It is a figure which shows an example of a structure of the vehicle information 2a in Embodiment 1.
- FIG. 6 is a configuration diagram illustrating an example of a vehicle group management device 10a and a vehicle group display device 20 according to Embodiment 2.
- FIG. It is a flowchart which shows operation
- FIG. 10 is a configuration diagram showing an example of a vehicle group management device 10b and a vehicle group display device 20 in a third embodiment.
- 14 is a flowchart illustrating an operation when the vehicle group management device 10b according to the third embodiment executes classification of driving situations.
- FIG. 10 is a configuration diagram showing an example of a vehicle group management device 10c and a vehicle group display device 20 in a fourth embodiment. It is a figure which shows the positional relationship of the own vehicle and other vehicle in Embodiment 4.
- FIG. It is a flowchart which shows operation
- FIG. 10 is a configuration diagram showing an example of a vehicle group management device 10d and a vehicle group display device 20 in a fifth embodiment. 10 is a flowchart showing an operation when a vehicle group management device 10d in the fifth embodiment transmits vehicle information 2.
- the vehicle is not limited to a four-wheeled vehicle, but includes a two-wheeled vehicle.
- FIG. 1 is a configuration diagram showing an example of a vehicle group management device 10 and a vehicle group display device 20 according to Embodiment 1 showing an embodiment of the present invention.
- a vehicle group management apparatus 10 includes a communication unit 101, a host vehicle information acquisition unit 102, a host vehicle information generation unit 103, another vehicle information management unit 104, a host vehicle specification acquisition unit 105, a vehicle group calculation unit 106, a display.
- An information generation unit 107 and a map screen creation unit 108 are provided.
- the vehicle group display device 20 includes a communication unit 201 and a display unit 202.
- the own vehicle information acquisition unit 102 corresponds to a first acquisition unit.
- the own vehicle information generation unit 103 corresponds to a second generation unit.
- the other vehicle information management unit 104 corresponds to a first management unit.
- the own vehicle specification acquisition unit 105 corresponds to a second acquisition unit.
- the vehicle group calculation unit 106 corresponds to a calculation unit.
- the display information generation unit 107 corresponds to a first generation unit.
- the map screen creation unit 108 corresponds to a creation unit.
- the communication unit 101 of the vehicle group management device 10 is a device that exchanges data with the communication device and the vehicle group display device 20 outside the vehicle group management device 10.
- the own vehicle information acquisition unit 102 includes information related to the state of the own vehicle such as the number of passengers and the weight of the own vehicle, information related to driving operation of the own vehicle such as an accelerator, a handle, and a direction indicator, and the own vehicle such as vehicle speed and acceleration. This is a device that collects information on the movement of the vehicle, position information on the position of the host vehicle such as the current location, and the like.
- the own vehicle information acquisition unit 102 is realized as, for example, a CAN (Controller Area Network).
- the own vehicle information generation unit 103 is a device that generates the vehicle information 2 using information obtained from the own vehicle information acquisition unit 102.
- the vehicle information 2 will be described later.
- the other vehicle information management unit 104 is a device that manages the vehicle information 2 of other vehicles obtained through the communication unit 101.
- the vehicle information 2 is stored in the other vehicle information management unit 104.
- the own vehicle specification acquisition unit 105 is a device that acquires specifications indicating the static performance of the vehicle on which the vehicle group management device 10 is mounted.
- the own vehicle specification acquisition unit 105 is realized as a storage device, for example. Or it is implement
- the vehicle group calculation unit 106 uses a distance between other vehicles based on position information indicating the positions of a plurality of other vehicles that move in series and a movement characteristic of the own vehicle to determine a vehicle group including at least one other vehicle. It is an apparatus for calculating the vehicle group information shown.
- the position information is included in the vehicle information 2 managed by the other vehicle information management unit 104.
- the movement characteristics of the host vehicle are characteristics that affect the movement of the host vehicle, and are information collected by the host vehicle information acquisition unit 102 and information acquired by the host vehicle specification acquisition unit 105.
- the vehicle information 2 of the other vehicle managed by the other vehicle information management unit 104, the information acquired by the own vehicle information acquisition unit 102, and the specification acquired by the own vehicle specification acquisition unit 105 Calculate group information.
- the display information generation unit 107 is an apparatus that generates image data indicating a vehicle group using the vehicle group information calculated by the vehicle group calculation unit 106.
- the generated image data is transmitted to the vehicle group display device 20 and displayed on the display unit 202.
- the map screen creation unit 108 is a device that stores map data and creates a map screen using the map data and the position information of the host vehicle acquired by the host vehicle information acquisition unit 102.
- the communication unit 201 of the vehicle group display device 20 is a device that exchanges data with the vehicle group management device 10.
- the image data generated by the display information generation unit 107 is received.
- the display unit 202 is a device that displays the image data received by the communication unit 201.
- a display device such as a display.
- the vehicle group calculated by the vehicle group calculation unit 106 is shown on the map screen created by the map screen creation unit 108.
- FIG. 2 is a hardware configuration diagram showing an example of the hardware configuration of the vehicle group management device 10 and the vehicle group display device 20 according to the first embodiment showing an embodiment of the present invention.
- the vehicle group management device 10 includes a communication device 301, a storage device 302, a calculation device 303, and a CAN 304.
- the vehicle group display device 20 includes a communication device 305, a storage device 306, a calculation device 307, and a display 308.
- the communication device 301 corresponds to the communication unit 101 and includes a wireless communication device such as BLUETOOTH (registered trademark), a wireless LAN (Local Area Network) adapter, or the like. Further, data exchange with the vehicle group display device 20 may be realized by wired communication.
- a wireless communication device such as BLUETOOTH (registered trademark), a wireless LAN (Local Area Network) adapter, or the like. Further, data exchange with the vehicle group display device 20 may be realized by wired communication.
- the storage device 302 realizes the functions of the own vehicle information generation unit 103, the other vehicle information management unit 104, the own vehicle specification acquisition unit 105, the vehicle group calculation unit 106, the display information generation unit 107, and the map screen creation unit 108. Program and data.
- the storage device 302 includes, for example, a ROM (Read Only Memory), a RAM (Random Access Memory), an HDD (Hard Disk Drive), and an SSD (Solid State Drive).
- the computing device 303 reads out the program and data stored in the storage device 302 as appropriate, and the own vehicle information generation unit 103, the other vehicle information management unit 104, the vehicle group calculation unit 106, the display information generation unit 107, and the map screen generation unit Each function of 108 is realized.
- CAN 304 corresponds to the own vehicle information acquisition unit 102.
- the communication device 305 corresponds to the communication unit 201 and includes a wireless communication device such as BLUETOOTH (registered trademark), a wireless LAN (Local Area Network) adapter, and the like. Moreover, you may implement
- BLUETOOTH registered trademark
- LAN Local Area Network
- the storage device 306 stores a program and data for realizing the function of the display unit 202. Image data is also stored as data.
- the storage device 306 includes, for example, a ROM (Read Only Memory), a RAM (Random Access Memory), an HDD (Hard Disk Drive), and an SSD (Solid State Drive).
- the computing device 307 reads the program and data stored in the storage device 302 as appropriate, and realizes the function of the display unit 202.
- the display 308 corresponds to the display unit 202, and includes, for example, a liquid crystal or an LED (Light Emitting Diode). As described above, the display unit 202 is realized by the storage device 306, the arithmetic device 307, and the display 308.
- a plurality of processing circuits cooperate to communicate the communication unit 101, the own vehicle information acquisition unit 102, the own vehicle information generation unit 103, the other vehicle information management unit 104, the own vehicle specification acquisition unit 105, the vehicle group calculation unit 106, the display. You may comprise so that the function of the information generation part 107, the map screen creation part 108, the communication part 201, and the display part 202 may be performed.
- FIG. 3 is a diagram showing an example of the configuration of the vehicle information 2 in this embodiment.
- the vehicle information 2 has information indicating the type and the number at the head, which means the type and number of information including a subsequent vehicle identifier to a traveling direction as a set.
- FIG. 3 includes information indicating a vehicle identifier, a transmission time, a current location, a vehicle speed, and a traveling direction, other items may be included.
- the vehicle identifier is information for uniquely identifying a vehicle on which the vehicle group management device 10 is mounted, or information for uniquely identifying the vehicle group management device 10 itself.
- the transmission time is information indicating the time when the vehicle group management device 10 transmits the vehicle information 2.
- the current location is information indicating the position at the time when the vehicle group management device 10 transmits the vehicle information 2, and is obtained from the own vehicle information acquisition unit 102.
- the vehicle speed is information indicating the speed of the vehicle on which the vehicle group management device 10 is mounted when the vehicle group management device 10 transmits the vehicle information 2 and is obtained from the own vehicle information acquisition unit 102.
- the traveling direction is information indicating a direction in which the vehicle on which the vehicle group management device 10 is mounted when the vehicle group management device 10 transmits the vehicle information 2 and is obtained from the own vehicle information acquisition unit 102.
- the value of each item shown in FIG. 3 is an example, and may be in a different format as long as the vehicle group management apparatus 10 mounted on each vehicle can be interpreted.
- FIG. 4 is a diagram showing the positional relationship between the host vehicle and other vehicles in this embodiment.
- the arrows on the left side of the host vehicle a and the other vehicles b to i mean the respective traveling directions. That is, FIG. 4 shows a situation where the host vehicle a is about to enter the lane in which the other vehicles b to i are traveling.
- the inter-vehicle distance between the other vehicle b and the other vehicle c is D1
- the inter-vehicle distance between the other vehicle d and the other vehicle e is D2
- the inter-vehicle distance between the other vehicle f and the other vehicle g is D3.
- the host vehicle a and the other vehicles b to i are equipped with the vehicle group management device 10.
- FIG. 5 is a flowchart showing an operation when the vehicle group management apparatus 10 in this embodiment transmits the vehicle information 2. Note that the transmission of the vehicle information 2 is executed periodically, and FIG. 5 shows the operation for one cycle.
- the own vehicle information generation unit 103 acquires a vehicle identifier.
- the vehicle identifier is stored in, for example, the host vehicle specification acquisition unit 105, and the host vehicle information generation unit 103 acquires the vehicle identifier from the host vehicle specification acquisition unit 105. This process may be executed once after the vehicle group management device 1 is activated, and the values stored in the host vehicle information generation unit 103 may be used thereafter.
- the own vehicle information generation unit 103 acquires the current location, vehicle speed, and traveling direction from the own vehicle information acquisition unit 102.
- the own vehicle information generation unit 103 generates the vehicle information 2 using the information acquired in ST101 and ST102. At this time, the type is set to “vehicle” and the number is set to 1. Further, time information that can be acquired by the vehicle group management apparatus 10 is set as the transmission time.
- the vehicle group management device 10 is time-synchronized with a vehicle group management device other than itself using information related to time obtained from outside the vehicle, for example, a GPS signal (Global Positioning System signal). And
- ST104 The communication unit 101 transmits the vehicle information 2 generated in ST103.
- FIG. 6 is a diagram showing an example of the configuration of the vehicle group information 3 in this embodiment.
- the vehicle group information 3 is created by the vehicle group calculation unit 106 and passed to the display information generation unit 107.
- the vehicle group information 5 includes information indicating the number, vehicle speed, traveling direction, leading vehicle, and trailing vehicle, but may include other items.
- the number is information indicating the number of vehicles belonging to the vehicle group.
- the vehicle speed is a value obtained from the vehicle speed of a vehicle belonging to the vehicle group, and for example, an average value or a maximum value is used.
- the traveling direction is a value obtained using the traveling direction of the vehicles belonging to the vehicle group.
- the head vehicle is information indicating the vehicle information 2 corresponding to the vehicle corresponding to the head of the vehicle group.
- the end vehicle is information indicating vehicle information 2 corresponding to the vehicle corresponding to the end of the vehicle group. In FIG. 6, only the vehicle identifier is described in the head vehicle and the end vehicle, but actually includes other items.
- the value of each item shown in FIG. 6 is an example, and may be in a different format as long as the vehicle group management apparatus 10 mounted on each vehicle can be interpreted.
- FIG. 7 is a flowchart showing an operation when the vehicle group management apparatus 10 according to this embodiment receives the vehicle information 2.
- the communication unit 101 passes the vehicle information 2 to the other vehicle information management unit 104.
- the other vehicle information management unit 104 stores the passed vehicle information 2. For example, if there is vehicle information 2 having the same vehicle identifier based on the vehicle identifier of the vehicle information 2, the other vehicle information management unit 104 overwrites and stores the passed vehicle information 2. When there is no vehicle information 2 having the same vehicle identifier, the passed vehicle information 2 is newly stored.
- the vehicle group calculation unit 106 calculates the inter-vehicle distance between adjacent vehicles based on the current location of each vehicle information.
- the vehicle group calculation unit 106 calculates a standard vehicle group.
- the vehicle group calculation unit 106 uses standard inter-vehicle distance data indicating the relationship between the vehicle speed of two vehicles and the standard inter-vehicle distance between the two vehicles, and the standard inter-vehicle distance based on the data. The distance is compared with the inter-vehicle distance calculated in ST202. When the latter is longer, the two vehicles belong to the same vehicle group. Then, the vehicle group information 5 is created or updated based on the result.
- the standard inter-vehicle distance data is, for example, static data embedded in the vehicle group calculation unit 106.
- the number, vehicle speed, and traveling direction must be changed, and either the leading vehicle or trailing vehicle is updated.For example, when this process is started from the leading vehicle based on the traveling direction, The last vehicle is updated every time. Although not shown, if the number of vehicle groups is one as a result of executing ST203, the processing after ST204 is not performed.
- the vehicle group calculation unit 106 calculates the distance between adjacent vehicle groups using the two or more vehicle group information 5 created or updated in ST203.
- the vehicle group calculation unit 106 acquires the vehicle speed of the host vehicle from the host vehicle information acquisition unit 102.
- the vehicle group calculation unit 106 uses the vehicle speed in the vehicle group information 5 and the vehicle speed of the host vehicle to specify the time required for the host vehicle to reach the same speed as the vehicle group.
- the vehicle group calculation unit 106 uses information related to specifications stored in the own vehicle specification acquisition unit 105.
- the own vehicle specification acquisition unit 105 stores a specification indicating the time required to reach the target vehicle speed from the current vehicle speed.
- the horizontal axis represents the current vehicle speed
- the vertical axis represents the target vehicle speed.
- the numerical values at the intersecting portions are stored as a table unique to each vehicle indicating the time required to reach the target vehicle speed.
- the vehicle group calculation unit 106 makes an inquiry to the host vehicle specification acquisition unit 105 to identify the time required for the host vehicle to reach the same speed as the vehicle group.
- the vehicle group calculation unit 106 adjusts the time required for the host vehicle to reach the same speed as the vehicle group. For example, the vehicle group calculation unit 106 uses the vehicle weight Wb stored as a specification in the host vehicle specification acquisition unit 105 and the actual weight Wa acquired in the host vehicle information acquisition 102. The vehicle group calculation unit 106 acquires the vehicle weight Wb from the host vehicle specification acquisition unit 105, and acquires the actual weight Wa from the host vehicle information acquisition 102. Then, the previously obtained time is adjusted by multiplying the value obtained by dividing the weight Wa by the weight Wb by the time required for the host vehicle to reach the same speed as the vehicle group. By adjusting in this way, it is possible to increase the accuracy of the time required for the host vehicle to reach the same speed as the vehicle group.
- the vehicle group calculation unit 106 calculates the distance between the vehicle groups when the time finally calculated in ST206 has elapsed. For example, the vehicle group calculation unit 106 uses the information included in the vehicle group information 3 to multiply the difference between the vehicle speed of the preceding vehicle group and the vehicle speed of the subsequent vehicle group by the time calculated last in ST206. Then, the amount of change in the distance between the vehicle groups is calculated. Then, by adding the amount of change to the current inter-vehicle group distance, the inter-vehicle group distance when the time last calculated in ST206 has elapsed is calculated.
- the vehicle group calculation unit 106 calculates a standard distance between vehicle groups. For example, the vehicle group calculation unit 106 uses the standard inter-vehicle group distance data indicating the relationship between the vehicle speed of two vehicle groups and the standard inter-vehicle group distance between the two vehicle groups. The standard inter-vehicle group distance corresponding to the vehicle speed of each vehicle group included in is obtained.
- the vehicle group calculation unit 106 determines whether the vehicle group distance calculated in ST207 is shorter than the standard vehicle group distance calculated in ST208. If it is shorter (Yes), the process proceeds to ST210. If equal or longer (No), the process proceeds to ST211.
- the vehicle group calculation unit 106 combines the vehicle group information 3 corresponding to the two vehicle groups focused on in ST209.
- the vehicle group calculation unit 106 determines whether the processing from ST206 to ST210 has been completed for all the vehicle groups to be processed, and if completed (Yes), ends the processing. When that is not right (No), the process from ST206 is started for the following vehicle group.
- the display information generation unit 107 When the generation of the vehicle group information 5 by the vehicle group calculation unit 106 is completed, the display information generation unit 107 generates image data indicating the vehicle group using the vehicle group information. The image data generated by the display information generation unit 107 is passed to the communication unit 101. The communication unit 101 transmits the received image data to the vehicle group display device 20.
- the image data has a vehicle group superimposed on the map screen created by the map screen creation unit 108.
- the map screen creation unit 108 creates a map screen using the map data stored therein and the position information of the host vehicle acquired by the host vehicle information acquisition unit 102.
- the display information generation unit 107 receives the map screen from the map screen creation unit 108 and also receives the vehicle group information 3 from the vehicle group calculation unit 106. And the information regarding the position of the map data matched with the map screen and the present location of the vehicle included in the vehicle group included in the vehicle group information 3 are collated, and the vehicle group is superimposed on the map screen. Generate data.
- the communication unit 201 of the vehicle group display device 20 receives the image data.
- the received image data is stored in the display unit 202 and displayed.
- FIG. 8 is a diagram showing an example of image data displayed on the display unit 202 of this embodiment.
- the positional relationship between the host vehicle and the other vehicle is the same as in FIG.
- the image meaning another vehicle and the inter-vehicle group distances D1, D2, and D3 are illustrated for explanation, they may not appear on the screen shown to the driver.
- FIG. 8A shows a display example when the vehicle group combination determination (ST204 to ST221 in FIG. 7) described in this embodiment is not performed. That is, a standard vehicle group using a standard inter-vehicle distance is shown. Since all the inter-vehicle distances D1, D2, and D3 are longer than the reference inter-vehicle distance, four vehicle groups are displayed as a result.
- FIG. 8B shows a display example when the vehicle group combination determination described in this embodiment is performed.
- the inter-vehicle group distance D2 should not be merged from the viewpoint of the specifications and state of the host vehicle, that is, it is determined that the inter-vehicle group distance is short, and the front and rear vehicle groups are combined, resulting in three vehicles. A group is displayed.
- the vehicle group management device 10 receives the vehicle information 2 from the other vehicle using the communication unit 101, accumulates it in the other vehicle information management unit 104, and the vehicle group calculation unit 106
- the vehicle group is calculated using information from the own vehicle information acquisition unit 102, the other vehicle information management unit 104, and the own vehicle specification acquisition unit 105. Then, as the specification of the own vehicle, the time required to reach the target vehicle speed and the weight of the vehicle are used, and whether the adjacent vehicle group is combined using the vehicle speed and the actual weight as the state of the own vehicle. Judgment was made, and the vehicle groups were combined based on the determination result. That is, the vehicle group information is calculated using the distance between the other vehicles when the host vehicle has the same speed as the other vehicles.
- the vehicle group display device 20 displays an image showing the vehicle group corresponding to the vehicle group information calculated in this way.
- the vehicle group which considered the specification and state of the own vehicle is calculated, and the effect that it becomes possible to display the calculated vehicle group with respect to a driver
- the space between the vehicle groups that should not be merged from the viewpoint of the specification and state of the host vehicle is not presented to the driver, and an effect of providing an appropriate vehicle group according to the host vehicle can be obtained.
- the vehicle group is calculated using information from the own vehicle information acquisition unit 102, the other vehicle information management unit 104, and the own vehicle specification acquisition unit 105 is described, but the present invention is not limited to this. Absent. What is necessary is just to calculate vehicle group information using the distance between the said other vehicles based on the positional information which shows the position of another vehicle, and the movement characteristic of the own vehicle.
- the movement characteristic of the own vehicle is a characteristic that affects the movement of the own vehicle, and includes at least one movement characteristic such as information collected by the own vehicle information acquisition unit 102 and information acquired by the own vehicle specification acquisition unit 105. Anything can be used.
- the actual weight of the host vehicle may be used as the value of the movement characteristic of the host vehicle.
- threshold information indicating a relationship between a standard inter-vehicle distance, that is, a threshold of inter-vehicle distance and an actual weight of the host vehicle
- the vehicle group calculation unit 106 calculates the standard vehicle group and then determines whether to combine the calculated adjacent vehicle groups. However, the vehicle group calculation unit 106 calculates the standard vehicle group. Instead, the vehicle group information may be calculated using the distance between other vehicles and the movement characteristics of the host vehicle.
- vehicle information 2 reaches the host vehicle a is not shown, but one-to-one communication with other vehicles, broadcast by other vehicles, representative vehicles and vehicle group management devices 1 and
- the method is not particularly limited, such as batch transmission of vehicle information of a plurality of vehicles by a communicable roadside device.
- the vehicle group calculation unit 106 calculates the inter-vehicle distance between adjacent vehicles based on the current location of each vehicle information.
- the vehicle group calculation unit 106 may be operated periodically. For example, the update interval of the display unit 202 may be set. Thereby, the effect that the useless process which is not reflected in an actual display is suppressed is acquired.
- the vehicle group calculation unit 106 obtains the difference between the calculation start time and the transmission time in the vehicle information 2, and uses the difference and the vehicle speed included in the vehicle information 2 to You may correct your current location. Thereby, the effect that the precision of vehicle group calculation is improved is acquired.
- vehicle information for the past several times may be accumulated for each vehicle identifier, and used for correcting the current location of the other vehicle. By doing in this way, the effect that it becomes possible to predict whether the vehicle is accelerating or decelerating can be obtained.
- the description has been made focusing only on the lanes to be merged, but there are actual roads with more than two lanes.
- the vehicle group may be calculated in units of lanes.
- the lane information may be obtained from map data stored in the map screen creation unit 108, for example. By doing in this way, the effect that the space which can be merged can be displayed appropriately is acquired.
- the display information generation unit 107 generates image data in which spaces between vehicle groups of a plurality of vehicle groups are emphasized.
- FIG. 9 is a diagram showing an example of image data displayed on the display unit 202 of this embodiment.
- FIG. 9A is the same as FIG. 8B and shows the vehicle group highlighted.
- FIG. 9B highlights the space between the vehicle groups with respect to FIG. 9A.
- the image meaning another vehicle may not actually be displayed.
- the vehicle group management device 10 that has transmitted the data representing the vehicle group from the vehicle running in the platoon and received the data, the vehicle group calculated by the vehicle group calculation unit 106, and the received vehicle You may display so that the data which mean a group can be distinguished.
- FIG. 10 shows the configuration of the vehicle information 2a indicating the vehicle group.
- the configuration of the vehicle information 2a is the same as the configuration of the vehicle information 2, except that a “vehicle group” indicating that the type is a vehicle group is included.
- “3” is included in the number, and three sets of items from the vehicle identifier to the traveling direction are included correspondingly.
- the vehicle group management device 10 uses the vehicle information 2 received from the other vehicle on the same lane, and uses the movement direction information related to the movement direction such as the traveling direction included in the vehicle information 2.
- the vehicle group may be calculated on the assumption that another vehicle on the same lane enters the lane to be merged. For example, in FIG.
- the other vehicles b to i go straight in the same lane, but there is a possibility that the lane may be changed to the right lane (right side of the dotted line in FIG. 3). In such a situation, there is a high possibility that the shape of the vehicle group will change. Therefore, movement direction information relating to the movement direction such as the direction indicator is added to the vehicle information 2 and used to change the lane or turn left or right.
- the schedule may be detected and reflected in the calculation and display contents of the vehicle group. That is, the display information generation unit 107 generates image data that is displayed in a different manner when the moving direction of the other vehicle included in the vehicle group is different from the case where the moving direction of the other vehicle included in the vehicle group is the same.
- a vehicle that is scheduled to change lanes or turn left or right is excluded from the vehicle group calculation target as if it is in a different lane when it reaches the vicinity of the host vehicle a, or only the vehicle is highlighted, You may change the display of the vehicle group to which it belongs so that it may differ from other vehicle groups. By doing in this way, the effect that it becomes possible to provide the driver
- map screen creation unit 108 when image data in which a vehicle group is superimposed and displayed on the map screen is not generated, for example, when a map image is not included in the figure data.
- the map screen creation unit 108 may be deleted.
- the vehicle group display device 20 includes the display unit 202 has been described.
- the vehicle group management device 10 may include the display unit 109.
- the display information generation unit 107 may be provided outside the vehicle group management device 10, for example, in the vehicle group display device 20.
- Embodiment 2 FIG. In the present embodiment, differences from the first embodiment will be mainly described.
- FIG. 11 is a configuration diagram showing an example of the vehicle group management device 10a and the vehicle group display device 20 according to the second embodiment showing an embodiment of the present invention.
- the vehicle group management device 10 a has a configuration in which a driving tendency management unit 110 is added to the vehicle group management device 10.
- the driving tendency management unit 110 is an apparatus that manages operation tendency information indicating an operation tendency of an operator of the host vehicle.
- the operator is the driver
- the operation tendency information indicating the operation tendency is the feature when the driver joins or changes lanes, and the driver identification and the characteristics when each driver joins or changes lanes It is a device that can memorize.
- the driving tendency management unit 110 is realized by the storage device 302 shown in FIG.
- the driving tendency management unit 110 corresponds to a second management unit.
- FIG. 12 is a flowchart showing an operation when the vehicle group management apparatus 10a in this embodiment receives vehicle information. Note that the identification of the driver by the driving tendency management unit 110 has been completed before the start of driving, and the description thereof will be omitted. Moreover, in order to clarify the difference from Embodiment 1, it demonstrates as what does not have the process regarding the calculation process of the vehicle group using the specification and state of the own vehicle.
- ST301 The same processing as ST201 is performed.
- ST302 The same processing as ST202 is performed.
- the vehicle group calculation unit 106 acquires, from the driving tendency management unit 110, the average and variance of the inter-vehicle distance of the area that has entered at the time of merging as the current driving tendency of the driver.
- the result obtained by subtracting the variance from the acquired average is defined as the inter-vehicle distance at the time of entry.
- ST304 The vehicle group calculation unit 106 is an iterative process executed for each inter-vehicle distance from ST304 to ST307.
- the approaching inter-vehicle distance calculated in ST303 is compared with the inter-vehicle distance calculated in ST302. If the inter-vehicle distance is shorter (Yes), the process proceeds to ST305, and otherwise (No), the process proceeds to ST306.
- the vehicle group calculation unit 106 creates or updates the vehicle group information 5 on the assumption that two vehicles corresponding to the target inter-vehicle distance belong to the same vehicle group.
- the vehicle group calculation unit 106 creates vehicle group information 5 on the assumption that two vehicles corresponding to the target inter-vehicle distance belong to another vehicle group.
- the vehicle group calculation unit 106 inspects whether or not the repetitive processing has been completed for all the inter-vehicle distances. If completed (Yes), the process ends. If not completed, the process of ST304 is started for the next inter-vehicle distance.
- the driving tendency management unit 110 identifies the inter-vehicle distance of the entered space and stores it in the driving tendency management unit 110 each time the host vehicle on which the vehicle group management device 10a is mounted joins. At the same time, the average and variance are calculated and stored in the driving tendency management unit 110.
- the vehicle group management device 10a receives the vehicle information 2 using the communication unit 101, accumulates it in the other vehicle information management unit 104, and the other vehicle information is stored in the vehicle group calculation unit 106.
- the information from the information management unit 104 and the driving tendency management unit 110 is used to determine whether adjacent vehicles belong to the same vehicle group based on the driving tendency of the driver, and the vehicle group is calculated based on the determination result. That is, the vehicle group information is calculated using the operation tendency information indicating the operation tendency of the operator of the own vehicle. Further, the vehicle group display device 20 displays an image showing the vehicle group corresponding to the vehicle group information calculated in this way. By doing in this way, the effect that the calculation and display of a vehicle group reflecting the operator's operation tendency, such as a driver's usual driving, becomes possible.
- the processing described above and the processing described in the present embodiment may be combined.
- the driving tendency management unit 110 has a small number of data that is the basis of the driving tendency of the driver, only the processing described in the first embodiment is valid, and the number of data that is the basis of the driving tendency is sufficient. In such a case, only the processing described in this embodiment may be validated.
- the driving tendency management unit 110 is a part of the vehicle group management device 10a. However, it may be a device different from the vehicle group management device 1a. For example, it may be realized as an application on a smartphone. By doing in this way, even if the vehicle to drive changes, the effect that the utilization of a driving tendency is attained is acquired. Moreover, the driving
- Embodiment 3 FIG. In the present embodiment, differences from the first embodiment will be mainly described.
- FIG. 13 is a configuration diagram showing an example of the vehicle group management device 10b and the vehicle group display device 20 according to Embodiment 3 showing an embodiment of the present invention.
- the vehicle group management device 10 b has a configuration in which a driving situation classification unit 111 is added to the vehicle group management device 10.
- the driving status classification unit 111 is a device that determines what driving status the vehicle on which the vehicle group management device 10b is mounted is currently located.
- the driving situation classification unit 111 is realized by the storage device 302 and the arithmetic device 303 shown in FIG.
- the driving situation classification unit 111 corresponds to a classification unit.
- FIG. 14 is a flowchart showing an operation when the vehicle group management device 10b in this embodiment executes classification of driving situations. The process shown in FIG. 14 is periodically executed, and FIG. 14 shows an operation for one cycle.
- the driving situation classification unit 111 acquires information indicating the current location, vehicle speed, state of the direction indicator, and the like as the state of the host vehicle from the host vehicle information acquisition unit 102.
- the driving situation classification unit 111 acquires the shape of the road around the host vehicle from the map screen creation unit 108.
- the driving situation classification unit 111 determines the driving situation using the information acquired in ST401 and ST402. For example, driving conditions such as merge, lane change, intersection, right turn, left turn, and the like.
- the driving situation classification unit 111 instructs the display information generation unit 107 so that the display area of the vehicle group to be noted is larger than the entire screen according to each situation.
- information that associates the driving situation with the display area of the vehicle group to be noticed is stored in advance in the driving situation classification unit 111, and the driving situation classification unit 111 uses this information to enlarge the display area.
- the display information generation unit 107 is instructed to do this.
- the display information generation unit 107 generates image data in which a display area of a notable vehicle group is displayed largely on the entire screen in response to an instruction from the driving situation classification unit 111.
- the vehicle group management device 10b acquires the state of the host vehicle and the road shape around the host vehicle from the host vehicle information acquisition unit 102 and the map screen creation unit 108 in the driving situation classification unit 111. Then, based on these, the driving situation is determined, and the display information generation unit 107 is instructed so that the display area of the vehicle group to be noticed becomes large with respect to the entire screen according to each situation. Further, the vehicle group display device 20 displays an image showing the vehicle group generated in response to this instruction. That is, the display information generation unit 107 generates image data in which the display area of the vehicle group corresponding to the situation is greatly shown on the entire screen. By doing so, it is possible to display a remarkable display area of the vehicle group on the entire screen, and it is possible to obtain an effect that the driver can easily see the vehicle group.
- the display area of the notable vehicle group is displayed larger than the entire screen has been described, but it may be displayed smaller.
- other vehicle groups may be displayed in a small size so that the display area of the vehicle group to be noted is displayed larger on the entire screen.
- Embodiment 4 FIG. In the present embodiment, differences from the first embodiment will be mainly described.
- FIG. 15 is a configuration diagram showing an example of the vehicle group management device 10c and the vehicle group display device 20 according to the fourth embodiment showing an embodiment of the present invention.
- the vehicle group management device 10 c has a configuration in which a peripheral image acquisition unit 112 and an image recognition unit 113 are added to the vehicle group management device 10.
- the surrounding image acquisition unit 112 is a device that captures an image around the vehicle on which the vehicle group management device 10c is mounted, and is realized by, for example, a camera.
- the ambient video acquisition unit 112 corresponds to a third acquisition unit.
- the image recognition unit 113 is a device that recognizes a vehicle, a two-wheeled vehicle, a person, a road surface, and the like from the captured image acquired by the surrounding image acquisition unit 112.
- the image recognition unit 113 is realized by the storage device 302 and the arithmetic device 303 shown in FIG.
- the image recognition unit 113 corresponds to a recognition unit.
- FIG. 16 is a diagram showing the positional relationship between the host vehicle and other vehicles in this embodiment.
- the arrows on the left side of the other vehicles m to t mean the traveling directions of the host vehicle j and the other vehicles m to t.
- the inter-vehicle distance between the other vehicle m and the other vehicle n is D4
- the inter-vehicle distance between the other vehicle o and the other vehicle p is D5
- the inter-vehicle distance between the other vehicle q and the other vehicle r is D6. That is, FIG. 16 shows a situation where the host vehicle j and the other vehicles m to t are running in parallel. In the following description, it is assumed that the host vehicle j and the other vehicles m to t are all equipped with the vehicle group management device 10c.
- FIG. 17 is a flowchart showing an operation when the vehicle group management apparatus 10c in this embodiment displays a vehicle group. This operation is executed in synchronization with the screen switching cycle in the display unit 202, for example. The process for calculating the vehicle group is the same as that in the first embodiment.
- the surrounding image acquisition unit 112 acquires the current location of the other vehicle from the other vehicle information management unit 104, and acquires an image of the direction in which the other vehicle is present.
- the image recognition unit 113 performs image recognition on the captured image acquired in ST501, and calculates where the vehicle is in the image.
- the display information generation unit 107 generates image data in which the vehicle group is superimposed on the captured image acquired from the surrounding video acquisition unit 112 based on the association in ST504. For example, the display information generation unit 107 receives the map screen from the map screen creation unit 108 and receives the vehicle group information 3 from the vehicle group calculation unit 106. And the information regarding the position of the map data matched with the map screen and the present location of the vehicle included in the vehicle group included in the vehicle group information 3 are collated, and the vehicle group is superimposed on the map screen. Generate data.
- the surrounding image acquisition unit 112 acquires the image in the direction in which the other vehicle is present, and the image recognition unit 113 recognizes where the vehicle is in the image by image recognition.
- the display information generation unit 107 associates the vehicle information 5 with the image recognition result, and generates image data in which the vehicle group is superimposed on the captured image. Then, the display unit 202 displays the image data. By doing so, it is possible to obtain an effect that it is possible to provide information in an intuitively understandable manner for the driver.
- the entire video acquired by the surrounding video acquisition unit 112 is displayed on the display unit 202.
- the display range may be narrowed down.
- the range may be narrowed down to the range of other vehicles m to o located on the left front side of the host vehicle j or other vehicles q to t on the left rear side.
- the vehicle group is superimposed and displayed on the captured image acquired by the surrounding image acquisition unit 112.
- the space between the vehicle groups is emphasized. It does not matter as a display.
- Embodiment 5 FIG. In the present embodiment, differences from the first embodiment will be mainly described.
- FIG. 18 is a configuration diagram showing an example of the vehicle group management device 10d and the vehicle group display device 20 according to Embodiment 5 showing an embodiment of the present invention.
- the vehicle group management device 10 d has a configuration in which a peripheral object recognition unit 114 is added to the vehicle group management device 10.
- the surrounding object recognition unit 114 recognizes vehicles, obstacles, pedestrians, and the like around the vehicle on which the vehicle group management device 10d is mounted, and the position, relative speed, and moving direction of the recognition result from the amount of change over time.
- the surrounding object recognition unit 114 corresponds to a second recognition unit.
- FIG. 19 is a flowchart showing an operation when the vehicle group management apparatus 10d in this embodiment transmits the vehicle information 2.
- ST601 Same as ST101 in FIG.
- ST602 Same as ST102 in FIG.
- ST603 Same as ST103 in FIG.
- the own vehicle information generation unit 103 acquires the position, moving direction, and relative speed of the surrounding vehicle from the surrounding object recognition unit 114.
- the own vehicle information generation unit 103 checks whether or not the confirmation of whether or not the vehicle group management device is installed is completed for all the surrounding vehicles acquired in ST603. If completed (Yes), the process proceeds to ST608. Otherwise (No), the process proceeds to ST606.
- the own vehicle information generation unit 103 compares the position of the surrounding vehicle acquired in ST603 with the position of the other vehicle stored in the other vehicle information management unit 104, and the difference is less than a predetermined value. In the case (Yes), the vehicle is interpreted as having the vehicle group management device 1d, and the process proceeds to ST605. In other cases (No), it is interpreted that the vehicle does not have the vehicle group management device 1d, that is, the vehicle does not inform other vehicles of its own position, and the process proceeds to ST607.
- the vehicle information generation unit 103 adds the information of the other vehicle inspected in ST606 to the vehicle information 2.
- the transmission time is set to the value set in ST603 as it is
- the current position is the position acquired in ST604
- the vehicle speed is the vehicle speed acquired in ST602
- the vehicle speed is acquired in ST604.
- the value acquired in ST604 is set in the traveling direction. Further, the number of vehicle information 2 is increased by one.
- the vehicle group management apparatus 10d uses the surrounding vehicle information acquired from the surrounding object recognition unit 114 and the vehicle information 2 accumulated in the other vehicle information management unit 104 to It is determined whether or not the vehicle has the vehicle group management device 10d, and a vehicle that does not have the vehicle group management device 10d is added to the vehicle information 2 and transmitted. That is, the vehicle information generation unit 103 generates vehicle information including position information indicating the positions of other vehicles existing around the host vehicle. By doing in this way, the own vehicle which has received the vehicle information 2 has the same accuracy as in the situation where only the vehicle having the vehicle group management device 10d exists even in the situation where the vehicle without the vehicle group management device 10d exists. The effect that the vehicle group can be calculated with is obtained.
- the case where the vehicle information 2 targeting the same vehicle is transmitted from a plurality of other vehicles is not considered. Therefore, there may occur a problem that the number of vehicles referred to when calculating the vehicle group is larger than the number of vehicles that actually exist.
- the other vehicle information management unit 104 of the vehicle group management device 10d calculates the distance between the vehicles for vehicles for which the vehicle identifier is not set. It doesn't matter if you do. By doing in this way, the effect that the vehicle referred at the time of vehicle group calculation becomes nearer to the actual situation is acquired. As described in the first embodiment, it may be considered that each vehicle is moving by the difference between the transmission time of the vehicle information 2 and the start time of the processing described here.
- the content displayed on the display unit 202 is not mentioned, but the display content of the vehicle group is changed according to the number and ratio of vehicles that do not have the vehicle group management device 10d belonging to each vehicle group. It may be changed. By doing in this way, the effect that it becomes possible to notify the driver
- the vehicle group management device 10d transmits the vehicle information and the surrounding vehicles as one vehicle information 2 in a collective manner.
- the vehicle group management device, the vehicle group management method, the vehicle group management program, and the vehicle group display device according to the present invention are applied to, for example, those that manage a plurality of vehicles moving in series as a vehicle group. Is suitable.
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Abstract
Description
図1は、この発明の一実施の形態を示す実施の形態1における車群管理装置10及び車群表示装置20の一例を示す構成図である。
また、車群表示装置20は、通信部201、表示部202を備える。
ここでは、他車両情報管理部104で管理された他車両の車両情報2と、自車両情報取得部102で取得される情報と、自車両仕様取得部105で取得される仕様を用いて、車群情報を算出する。
表示部202は、通信部201で受信された画像データを表示する装置である。例えば、ディスプレイなどの表示装置である。ここでは、画像データは、地図画面作成部108で作成された地図画面に、車群算出部106で算出された車群が示される。
以上のように、表示部202は、記憶装置306、演算装置307及びディスプレイ308により実現される。
車両情報2は、先頭に種別と個数を示す情報を持ち、これらは以降の車両識別子から進行方向までを一組とする情報の種別と個数を意味する。図3では車両識別子、送信時刻、現在地、車速、進行方向を示す情報を含んでいるが、他の項目を含めても構わない。
図4において、自車両a及び他車両b~iの左側にある矢印は、それぞれの進行方向を意味する。つまり、図4は、自車両aは他車両b~iが走行中の車線に進入しようとしている状況を示している。また、他車両bと他車両cの車間距離をD1、他車両dと他車両eの車間距離をD2、他車両fと他車両gの車間距離をD3とする。なお、以降の説明において、自車両a及び他車両b~iは、いずれも車群管理装置10を搭載するものとする。
なお、車両情報の送信時と受信時の二つに分けて動作を説明する。
図5は、この実施の形態における車群管理装置10が車両情報2を送信するときの動作を示すフローチャートである。
なお、車両情報2の送信は周期的に実行され、図5は一周期分の動作を示すものである。
なお、車群情報3は、車群算出部106が作成して表示情報生成部107に渡される。
車群情報5は、台数、車速、進行方向、先頭車両、末尾車両を示す情報を持つが、他の項目を含めても構わない。
ST206では、まず、車群算出部106は、車群情報5にある車速と、自車両の車速を用いて、自車両が車群と同じ速さになるまでに要する時間を特定する。例えば、車群算出部106は、自車両仕様取得部105に記憶されている仕様に関する情報を用いる。自車両仕様取得部105には、現在の車速から目標の車速に達するまでに要する時間を示す仕様が記憶されている。この仕様は、例えば、横軸は現在の車速、縦軸は目標の車速。交差する部分にある数値が、目標車速に到達するまでの時間を示す各車両固有の表として記憶されている。車群算出部106は、自車両仕様取得部105に問い合わせることで、自車両が車群と同じ速さになるまでに要する時間を特定することを実現する。
地図画面作成部108は、内部に記憶している地図データ、及び自車両情報取得部102で取得された自車両の位置情報を用いて、地図画面を作成する。
図8において、自車両と他車両の位置関係は図4と同じである。なお、他車両を意味する画像と、車群間距離D1、D2、D3は説明のために図示しているが、運転手に見せる画面には現れなくてもよい。
図9(a)は、図8(b)と同じであり、車群を強調表示したものである。
図9(b)は、図9(a)に対し、車群間の空間を強調表示したものである。なお、他車両を意味する画像は、実際は表示されなくてもよい。
本実施の形態について、主に実施の形態1との差異を説明する。
運転傾向管理部110は、自車両の操作者の操作傾向を示す操作傾向情報を管理する装置である。ここでは、操作者を運転手とし、操作傾向を示す操作傾向情報を運転手の合流や車線変更時の特徴とし、運転手の運転者識別と、各運転手の合流や車線変更時の特徴を記憶することが可能な装置である。また、運転傾向管理部110は、図2で示される記憶装置302で実現される。なお、運転傾向管理部110は、第2の管理部に相当する。
なお、運転傾向管理部110による、運転者識別は、運転開始前に完了しているものとして説明を省略する。また、実施の形態1との差異を明確にするため、自車両の仕様と状態を用いた車群の算出処理に関する処理がないものとして説明する。
(ST302):ST202と同じ処理を行う。
本実施の形態について、主に実施の形態1との差異を説明する。
運転状況分類部111は、車群管理装置10bを搭載した自車両が、現時点でどのような運転状況にいるのかを判断する装置である。また、運転状況分類部111は、図2で示される記憶装置302及び演算装置303で実現される。なお、運転状況分類部111は、分類部に相当する。
なお、図14に示す処理は周期的に実行され、図14は一周期分の動作を示すものである。
(ST402):運転状況分類部111は、地図画面作成部108から、自車両周辺の道路の形状を取得する。
(ST403):運転状況分類部111は、ST401及びST402で取得した情報を用いて、運転状況を判断する。例えば、合流、車線変更、交差、右折、左折などの運転状況である。
(ST404):運転状況分類部111は、各状況に応じて、注目すべき車群の表示領域が画面全体に対して大きくなるよう、表示情報生成部107に指示する。例えば、運転状況と注目すべき車群の表示領域とを対応付けた情報が予め運転状況分類部111内に記憶されており、この情報を用いて、運転状況分類部111は、表示領域を大きくする指示を表示情報生成部107に指示する。
本実施の形態について、主に実施の形態1との差異を説明する。
周囲映像取得部112は、車群管理装置10cを搭載した車両の周囲の映像を撮影する装置であり、例えばカメラで実現される。なお、周囲映像取得部112は、第3の取得部に相当する。
画像認識部113は、周囲映像取得部112で取得した撮像画像から、車両、二輪車、人、路面等を認識する装置である。また、画像認識部113は、図2で示される記憶装置302及び演算装置303で実現される。なお、画像認識部113は、認識部に相当する。
図16において、他車両m~tの左側にある矢印は、自車両j及び他車両m~tの進行方向を意味する。また、他車両mと他車両nの車間距離をD4、他車両oと他車両pの車間距離をD5、他車両qと他車両rの車間距離をD6とする。つまり、図16は、自車両j及び他車両m~tが並走している状況を示している。なお、以降の説明において、自車両j及び他車両m~tは、いずれも車群管理装置10cを搭載するものとする。
この動作は、例えば、表示部202における画面切り替えの周期と同期して実行する。なお、車群を算出する処理は実施の形態1と同じである。
(ST502):画像認識部113は、ST501で取得した撮像画像に対して画像認識を実行し、車両が画像内のどの場所にいるかを算出する。
本実施の形態について、主に実施の形態1との差異を説明する。
周囲物体認識部114は、車群管理装置10dを搭載した車両の周囲にある車両、障害物、歩行者などを認識し、認識結果の時間経過に対する変化量からそれらの位置、相対速度、移動方向などを算出する装置であり、カメラ、レーダなどと、それらからのデータを処理する演算装置303及び記憶装置302で構成され、実現される。なお、周囲物体認識部114は、第2の認識部に相当する。
(ST602):図5のST102と同様である。
(ST603):図5のST103と同様である。
Claims (16)
- 連なって移動する複数の他車両の位置を示す位置情報を含む車両情報を管理する第1の管理部と、
前記位置情報に基づく前記他車両間の距離と、自車両の移動特性とを用いて、前記他車両を少なくとも一つ含む車群を示す車群情報を算出する算出部と
を備えたことを特徴とする車群管理装置。 - 前記算出部は、前記自車両の移動特性の値と、同一の前記車群に含まれる複数の前記他車両間の距離の閾値との関係を示す閾値情報を用いて車群情報を算出する
ことを特徴とする請求項1に記載の車群管理装置。 - 前記移動特性として、前記自車両の速度を示す速度情報を取得する第1の取得部と、
前記移動特性として、前記自車両の速度変化量と所要時間との対応を示す加速度仕様情報を取得する第2の取得部とを備え、
前記車両情報は、前記他車両の移動に関する移動情報を含み、
前記算出部は、前記自車両の速度情報、前記自車両の加速度仕様情報及び前記他車両の移動情報を用いて、前記自車両が前記他車両と同じ速度になった場合における前記他車両間の距離を用いて車群情報を算出する
ことを特徴とする請求項1に記載の車群管理装置。 - 前記移動特性として、前記自車両の操作者の操作傾向を示す操作傾向情報を管理する第2の管理部を備え、
前記算出部は、前記操作傾向情報を用いて車群情報を算出する
ことを特徴とする請求項1に記載の車群管理装置。 - 前記車両情報は、前記他車両の移動方向に関する移動方向情報を含み、
前記算出部は、前記移動方向情報を用いて車群情報を算出する
ことを特徴とする請求項1に記載の車群管理装置。 - 前記車両情報は、複数の前記他車両が隊列をなして移動していることを示す隊列情報を含み、
前記算出部は、前記隊列情報を用いて車群情報を算出する
ことを特徴とする請求項1に記載の車群管理装置。 - 前記算出部で算出された車群情報を用いて、車群を示す画像データを生成する第1の生成部を備えた
ことを特徴とする請求項1に記載の車群管理装置。 - 前記自車両の位置を示す位置情報を含む車両情報を生成する第2の生成部と、
前記第2の生成部で生成された前記車両情報を前記他車両に送信する通信部と
を備えたことを特徴とする請求項1に記載の車群管理装置。 - 前記第2の生成部は、前記自車両の周辺に存在する他車両の位置を示す位置情報を含む車両情報を生成する
ことを特徴とする請求項8に記載の車群管理装置。 - 連なって移動する複数の他車両の位置を示す位置情報を含む車両情報を管理する第1の管理ステップと、
前記位置情報に基づく前記他車両間の距離と、自車両の移動特性とを用いて、前記他車両を少なくとも一つ含む車群を示す車群情報を算出する算出ステップと
を有することを特徴とする車群管理方法。 - コンピュータを
連なって移動する複数の他車両の位置を示す位置情報を含む車両情報を管理する第1の管理部と、
前記位置情報に基づく前記他車両間の距離と、自車両の移動特性とを用いて、前記他車両を少なくとも一つ含む車群を示す車群情報を算出する算出部
として機能させるための車群管理プログラム。 - 連なって移動する複数の他車両の他車両間の距離と、自車両の移動特性とに対応して定められた前記他車両を少なくとも一つ含む車群を示す画像データを受信する通信部と、
前記通信部で受信した画像データを表示する表示部と
を備えたことを特徴とする車群表示装置。 - 前記画像データは、複数の前記車群の車群間の空間が強調されていることを特徴とする請求項12に記載の車群表示装置。
- 前記画像データは、状況に対応した車群の表示領域が画面全体に対して大きく、又は小さく示されることを特徴とする請求項12に記載の車群表示装置。
- 前記画像データは、前記車群に含まれる前記他車両の移動方向が異なる場合と、前記車群に含まれる前記他車両の移動方向が同じ場合とが異なる態様で示されていることを特徴とする請求項12に記載の車群表示装置。
- 前記画像データは、前記他車両が撮像された撮像画像に車群が重畳されていることを特徴とする請求項12に記載の車群表示装置。
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