JP2018010552A - Appropriate vehicle speed calculation method, driving support method, vehicle control method, and appropriate vehicle speed calculation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent and improve traffic congestion. An appropriate vehicle speed calculation device 1 receives vehicle state information including a position on a map of a vehicle and a vehicle speed and external information outside the vehicle from a plurality of vehicles 2 and stores them in a storage device. Then, the traffic condition is received from the traffic condition analysis device 3 for the predetermined road, and the traffic condition is stored in the storage device by including it in the external information about the vehicle existing at the corresponding position. Then, based on the vehicle speed included in the other vehicle condition information having the same or similar items other than the vehicle speed among the one vehicle condition information and the external information, the target vehicle corresponding to the one vehicle condition information does not cause traffic congestion. Calculate the appropriate vehicle speed. [Selection diagram] Fig. 4

Description

  The present invention relates to an appropriate vehicle speed calculation method, a driving support method, a vehicle control method, and an appropriate vehicle speed calculation device.

  2. Description of the Related Art Conventionally, a technique for performing traffic jam prediction by calculating the predicted number of vehicles existing on each link after a predicted time from the number of existing vehicles and the existing probability is known.

Japanese Patent Laying-Open No. 2015-184945

  The above technology predicts traffic jams, and it is impossible to prevent or improve traffic jams.

  The present invention has been made in view of the above problems, and an object thereof is to provide an appropriate vehicle speed calculation method, a driving support method, a vehicle control method, and an appropriate vehicle speed calculation device for preventing and improving congestion.

  The method for calculating an appropriate vehicle speed according to an aspect of the present invention stores vehicle state information including a vehicle position on a map and vehicle speed and external information outside the vehicle in a storage device. Then, the traffic situation of the predetermined road is included in the external information and stored in the storage device. And based on the vehicle speed contained in the other vehicle state information with the same or similar item except vehicle speed among one vehicle state information and external information, the suitable vehicle speed of the object vehicle corresponding to one vehicle state information is calculated. .

  According to the present invention, congestion can be prevented and improved.

FIG. 1 is a diagram illustrating an example of a communication network including an appropriate vehicle speed calculation device, a plurality of vehicles, and a traffic situation analysis device. FIG. 2 is a block diagram showing a part of the configuration of the vehicle. FIG. 3 is a flowchart of an example in which the vehicle transmits vehicle state information and external information to the appropriate vehicle speed calculation device. FIG. 4 is a block diagram showing an example of the configuration of the appropriate vehicle speed calculation device. FIG. 5 is a diagram illustrating an example of vehicle state information and external information stored in the storage device of the appropriate vehicle speed calculation device. FIG. 6 is a flowchart of an example of calculating an appropriate vehicle speed. FIG. 7 is a flowchart of an example of driving assistance for bringing the current vehicle speed of the target vehicle closer to the appropriate vehicle speed. FIG. 8 is a flowchart showing one specific example of driving assistance.

  Hereinafter, embodiments will be described with reference to the drawings. The same members are denoted by the same reference numerals and the description thereof is omitted.

  The appropriate vehicle speed calculation device 1 shown in FIG. 1 can communicate with a plurality of vehicles 2 and a traffic condition analysis device 3, receives vehicle state information indicating the state of the vehicle 2 and external information outside the vehicle from each vehicle 2, A traffic situation on a predetermined road is received from the traffic situation analysis device 3. And the appropriate vehicle speed of the vehicle 2 is calculated based on vehicle state information, external information, and traffic conditions. The traffic situation indicates the degree of smoothness of the flow of trains.

  For example, the appropriate vehicle speed calculation device 1 notifies the vehicle 2 of the appropriate vehicle speed, and if necessary, the vehicle 2 performs driving support to bring the current vehicle speed closer to the appropriate vehicle speed. Alternatively, the vehicle 2 performs vehicle control that brings the current vehicle speed closer to the appropriate vehicle speed.

  As shown in FIG. 2, the vehicle 2 includes a storage device 21, a control unit 22, and a plurality of sensors 23. In addition, for example, a display device 24, an audio reproduction device 25, and a navigation device 26 are provided.

  As the sensor 23, for example, (1) vehicle speed as vehicle state information, (2) position on the map of the vehicle (hereinafter referred to as vehicle position), (3) accelerator opening, (4) brake hydraulic pressure value, ( 5) Time, (6) Something to get the wiper switch state. In addition, there are (7) the number of people loaded, (8) one for detecting the loading amount, and the like. The sensor 23 for detecting the vehicle position receives radio waves from, for example, GPS satellites. The navigation device 26 detects the vehicle position from the radio wave and the map information held by itself.

  Examples of the sensor 23 include (A) weather, (B) outside air temperature, (C) outside air humidity, (D) road surface condition, and (E) road surface brightness as external information.

  The control unit 22 generates vehicle state information and external information from the latest sensor value, for example, at a constant cycle, stores the vehicle state information in the storage device 21, and transmits the vehicle state information and the external information to the appropriate vehicle speed calculation device 1.

  The vehicle state information includes at least the vehicle speed and the vehicle position, and preferably includes the accelerator opening, the brake fluid pressure value, the time, the wiper switch state, the number of persons loaded, the sensor value of the sensor 23 for detecting the load amount, and the horsepower of the vehicle. Includes one or more of the capabilities. For example, performance stored in advance in the storage device 21 is used. Here, for convenience of explanation, it is assumed that the vehicle state information includes vehicle speed, vehicle position, wiper switch state, and time.

  The external information preferably includes one or more of weather, outside air temperature, outside air humidity, road surface condition, and road surface brightness. Here, for convenience of explanation, it is assumed that the external information includes weather and outside temperature.

With reference to FIG. 3, the operation when the control unit 22 transmits vehicle state information and external information to the appropriate vehicle speed calculation device 1 will be described.
The control unit 22 determines the state of the ignition key (S1), and determines the state of the ignition key again if the ignition key is OFF (S1).

  If the ignition key is ON, the vehicle state information is generated and stored in the storage device 21 (S3). Further, external information is generated and stored in the storage device 21 in association with the vehicle state information (S5). Next, the control unit 22 transmits the stored vehicle state information and external information to the appropriate vehicle speed calculation device 1 (S7).

  Next, the control unit 22 determines the state of the ignition key (S9). If the ignition key is ON (on), the process returns to step S3. If the ignition key is OFF (off), the process returns to step S1.

  As shown in FIG. 4, the appropriate vehicle speed calculation device 1 includes a storage device 11 and a control unit 12. The control unit 12 receives vehicle state information and external information from each vehicle 2 and stores them in the storage device 11. Moreover, the control part 12 receives the traffic condition of a predetermined | prescribed road from the traffic condition analysis apparatus 3, and includes a traffic condition in the external information about the vehicle which exists in a corresponding position. Further, the control unit 12 notifies the vehicle 2 of the calculated appropriate vehicle speed.

  As shown in FIG. 5, the storage device 11 stores a large number of records including the received vehicle state information and external information. The vehicle state information and the external information included in one record are received from the same vehicle 2 at the same timing.

  When receiving the vehicle state information and the external information, the control unit 12 creates a record including these in the storage device 11. And the traffic condition of the road of the vehicle position of the vehicle condition information which comprises a record is received from the traffic condition analysis apparatus 3, and the received traffic condition is included in the external information of a record.

  The vehicle speed is expressed in, for example, an hourly speed. For example, the time is represented by a three-digit number consisting of a hundred digit indicating the day of the week and a tenth digit indicating the hour. For example, the wiper switch state is represented by 1 when the wiper switch is used, and 0 when the wiper switch is not used. The traffic situation is divided into three stages according to, for example, the smoothness of the flow of the train. The weather is classified into five levels depending on, for example, the presence or absence of rain and the intensity. The outside air temperature is expressed, for example, in increments of 5 ° C with 0 ° C as a reference.

With reference to FIG. 6, the appropriate vehicle speed calculation method by the appropriate vehicle speed calculation apparatus 1 is demonstrated.
The control unit 12 waits for a processing request for an appropriate vehicle speed to be transmitted from the vehicle 2 (S21: NO), and if a processing request is received from any of the vehicles 2 (S21: YES), the transmission source vehicle 2 An appropriate vehicle speed for the target vehicle is calculated (S23). Then, the appropriate vehicle speed is transmitted to the target vehicle (S25), and the process returns to step S21. The appropriate vehicle speed is a vehicle speed that prevents the target vehicle from causing traffic jams.

Here, the calculation of the appropriate vehicle speed in step S23 will be described in detail.
The processing request includes, for example, the latest vehicle state information and external information on the target vehicle. The control unit 12 generates a record including vehicle state information and external information in the processing request in the storage device 11. And the traffic condition of the road of the vehicle position of vehicle condition information is received from the traffic condition analysis apparatus 3, and the received traffic condition is included in the external information of a record. This is the same as when vehicle state information and external information are received from the vehicle 2.

  Next, the control unit 12 searches the storage device 11 for other records (vehicle state information and external information) having the same or similar items other than the vehicle speed among the generated records, and the vehicle speed included in the vehicle state information of the record The appropriate vehicle speed is calculated based on

A specific example will be described with reference to FIG.
For example, the control unit 12 searches for other records having the same traffic situation, weather, outside temperature, time, and wiper switch state, and close to the vehicle position, and reads the vehicle speed from the vehicle state information of the record. Then, for example, the control unit 12 calculates an average value of the read vehicle speeds as the appropriate vehicle speed, calculates a deviation (standard deviation) of the read vehicle speed, and transmits the appropriate vehicle speed (average value) and the deviation to the target vehicle. To do.

  Note that items used for record search are not limited to traffic conditions, weather, outside temperature, time, wiper switch status, and vehicle position. For example, the vehicle state information may include the accelerator opening degree, the number of persons loaded, and the like, and the external information may include the road surface state, the road surface brightness, and the like. The deviation may be calculated only when necessary and transmitted to the target vehicle. Further, the appropriate vehicle speed may not be an average value but an intermediate value or the like.

  In FIG. 2, when the vehicle 2 is a target vehicle, the control unit 22 receives the appropriate vehicle speed transmitted by the appropriate vehicle speed calculation device 1 as described above, for example. Then, driving assistance or vehicle control for bringing the current vehicle speed close to the appropriate vehicle speed is performed.

  An example of driving assistance will be described with reference to FIG. For example, the storage device 21 stores a setting flag indicating whether or not an appropriate vehicle speed should be presented to the driver using the display device 24 and the sound reproduction device 25 as driving assistance. When the setting flag is ON (on), it indicates that the operation timing should be presented, and when it is OFF (off), it indicates that it should not be presented.

  The control unit 22 of the target vehicle determines whether or not the setting flag is ON (ON) (S31). If the setting flag is OFF (OFF), it determines the setting flag again (S31). If the setting flag is ON, the vehicle state information and the external information are generated as in steps S3 and S5 of FIG. 3, and the processing request including the vehicle state information and the external information is generated as the appropriate vehicle speed calculation device 1. (S33). Receiving this processing request, the appropriate vehicle speed calculation device 1 performs steps S23 and S25 in FIG.

  The control unit 22 receives the appropriate vehicle speed (average value) (S35), determines whether or not the appropriate vehicle speed should be presented to the driver (S37), and if it is determined NO (not to be presented), the step Return to S31. If it is determined as YES (should be presented), for example, the control unit 22 displays the appropriate vehicle speed on the display device 24 as driving assistance and presents the appropriate vehicle speed to the driver by reproducing the sound from the sound reproduction device 25. (S39), the process returns to step S31. Only one of display and audio reproduction may be performed (S39).

  Thus, by executing the driving support method using the appropriate vehicle speed calculated by the appropriate vehicle speed calculation method, the driver of the target vehicle operates the accelerator and the brake. As a result, the vehicle speed of the target vehicle approaches the appropriate vehicle speed and can be preferably matched. As a result, the traffic jam can be prevented when the traffic jam is likely to occur, and the traffic jam can be improved when the traffic jam occurs.

  As described above, the appropriate vehicle speed calculation device 1 determines that the target vehicle has a traffic jam based on the vehicle speed included in other vehicle state information in which the items other than the vehicle speed are the same or similar among the vehicle state information and external information of the target vehicle. Since the appropriate vehicle speed is calculated so as not to cause it, traffic jams can be prevented and improved.

  In addition, since the average value of the vehicle speed included in the other vehicle state information is calculated as the appropriate vehicle speed, it is possible to prevent and improve the traffic jam using the average value of the vehicle speed.

(Other embodiments)
In steps S37 and S39, for example, processing may be performed according to the flow shown in FIG.
First, the control unit 22 determines whether or not the traveling path of the target vehicle (own vehicle) is congested (S101). When the travel path is congested (S101: YES), the control unit 22 determines whether the target vehicle (own vehicle) is the first vehicle in the congested vehicle train or a vehicle other than the first vehicle (S103). When the target vehicle (own vehicle) is a vehicle other than the head of the congested vehicle train, the process returns to step S31.

  When the target vehicle (own vehicle) is the head vehicle in the congested vehicle train, or when the travel path is not congested, the control unit 22 determines the speed between the current vehicle speed of the target vehicle (own vehicle) and the appropriate vehicle speed. It is determined whether or not the difference is greater than a predetermined threshold (S105).

As this threshold value, the control unit 22 calculates a value based on the deviation. In this case, in step S35, the appropriate vehicle speed (average value) and the deviation are received, and the control unit 22 sets, for example, a value obtained by multiplying the deviation by a predetermined constant (for example, an integer “3”) as a threshold value.
Alternatively, the control unit 22 sets a value obtained by multiplying the appropriate vehicle speed by a certain ratio (for example, 0.1) as a threshold value. Alternatively, a certain value (for example, 5 km / h) is set as the threshold value.

  When the speed difference is larger than the threshold (S105: YES), the control unit 22 presents the appropriate vehicle speed to the driver (S107) as in step S39, and returns to step S31. On the other hand, when the speed difference is less than the threshold value (S105: NO), the appropriate vehicle speed is not presented and the process returns to step S31.

  That is, as described above, when the target vehicle is a vehicle other than the head of the congested vehicle train, the control unit 22 suppresses driving assistance because it cannot be accelerated. Therefore, it is possible to prevent a troublesome situation in which, for example, an appropriate vehicle speed faster than the current vehicle speed is displayed, even though the acceleration is impossible.

  Further, as described above, when the speed difference between the current vehicle speed of the target vehicle and the appropriate vehicle speed is larger than the threshold value, the control unit 22 performs driving support to bring the current vehicle speed of the target vehicle closer to the appropriate vehicle speed, and the speed difference When the value is less than the threshold value, the effect of preventing and improving traffic congestion is small, so driving assistance is suppressed. For example, as the threshold value, a value based on the deviation of the vehicle speed included in the other vehicle state information is calculated, or a value obtained by multiplying the appropriate vehicle speed by a certain ratio is calculated, or a certain value is used. Therefore, it is possible to prevent the occurrence of a troublesome situation in which the appropriate vehicle speed is displayed, although the effect of preventing and improving traffic congestion is small.

  A vehicle control method using the appropriate vehicle speed calculated by the appropriate vehicle speed calculation method may be executed. That is, in step S39 and step S107, vehicle control (operating the accelerator opening and the brake fluid pressure value) is performed to bring the current vehicle speed of the target vehicle closer to the appropriate vehicle speed. As a result, it is possible to automatically prevent and improve congestion.

  For example, when the target vehicle is a vehicle other than the head of the congested vehicle train (S103: other than the head), the control unit 22 suppresses vehicle control. Therefore, it is possible to prevent a situation in which the vehicle accelerates although acceleration is impossible.

  Moreover, the control part 22 suppresses vehicle control, when a speed difference is less than a threshold value (S105: NO). For example, as the threshold value, a value based on the deviation of the vehicle speed included in the other vehicle state information is calculated, or a value obtained by multiplying the appropriate vehicle speed by a certain ratio is calculated, or a certain value is used. Therefore, it is possible to prevent the occurrence of a situation in which the vehicle speed changes even though the effect of preventing and improving traffic congestion is small.

  Further, the vehicle state information includes one or more of the accelerator opening, the brake fluid pressure value, the time, the wiper switch state, the number of persons loaded, the sensor value of the sensor for detecting the loading amount, and the performance including the horsepower of the vehicle, The external information preferably includes one or more of weather, outside air temperature, outside air humidity, road surface condition, and road surface brightness. Thereby, a more accurate appropriate vehicle speed can be obtained, and traffic jams can be prevented and improved more reliably.

  Although the embodiments of the present invention have been described as described above, it should not be understood that the descriptions and drawings constituting a part of this disclosure limit the present invention. From this disclosure, various alternative embodiments, examples and operational techniques will be apparent to those skilled in the art.

DESCRIPTION OF SYMBOLS 1 Appropriate vehicle speed calculation apparatus 2 Vehicle 3 Traffic condition analysis apparatus 11, 21 Storage device 12, 22 Control part

Claims (9)

From a plurality of vehicles, vehicle status information including the position on the map of the vehicle and vehicle speed and external information outside the vehicle are received and stored in the storage device,
Receiving traffic conditions for a predetermined road, storing the traffic conditions in the storage device included in the external information about the vehicle present at the corresponding position;
Based on the vehicle speed included in the other vehicle state information having the same or similar items other than the vehicle speed in the one vehicle state information and the external information, the target vehicle corresponding to the one vehicle state information causes traffic congestion. A method for calculating an appropriate vehicle speed, characterized by calculating an appropriate vehicle speed for the absence of a vehicle. The vehicle speed calculation method according to claim 1, wherein an average value of vehicle speeds included in the other vehicle state information is calculated as the vehicle speed. The vehicle state information includes one or more of an accelerator opening, a brake fluid pressure value, a time, a wiper switch state, a loading number, a sensor value of a sensor for detecting a loading amount, and a performance including a horsepower of the vehicle,
The method according to claim 1 or 2, wherein the external information includes one or more of weather, outside air temperature, outside air humidity, road surface condition, and road surface brightness.   A driving support method using the appropriate vehicle speed calculated by the appropriate vehicle speed calculation method according to any one of claims 1 to 3, wherein driving support for bringing the current vehicle speed of the target vehicle closer to the appropriate vehicle speed is performed. Driving support method.   The driving assistance is performed when a speed difference between the current vehicle speed of the target vehicle and the appropriate vehicle speed is larger than a predetermined threshold, and the driving assistance is suppressed when the speed difference is smaller than the threshold. The driving support method according to claim 4. As the threshold,
Calculating a value based on a deviation of the vehicle speed included in the other vehicle state information, or
Calculate a value obtained by multiplying the appropriate vehicle speed by a certain ratio, or
The driving support method according to claim 5, wherein a constant value is used.   The driving support method according to any one of claims 4 to 6, wherein the driving support is suppressed when the target vehicle is a vehicle other than the head of a congested vehicle train.   A vehicle control method using an appropriate vehicle speed calculated by the appropriate vehicle speed calculation method according to any one of claims 1 to 3, wherein vehicle control is performed to bring the current vehicle speed of the target vehicle closer to the appropriate vehicle speed. A vehicle control method. A storage device for storing vehicle state information including positions and vehicle speeds on a map of a plurality of vehicles and external information outside the vehicle;
The traffic situation is received for a predetermined road, the traffic situation is stored in the storage device in the external information about the vehicle existing at the corresponding position, and the vehicle speed among the vehicle state information and the external information is stored. A controller that calculates an appropriate vehicle speed for causing the target vehicle corresponding to the one vehicle state information not to cause a traffic jam based on a vehicle speed included in other vehicle state information having the same or similar items except for An appropriate vehicle speed calculation device characterized by

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