JP7530775B2 - Vehicle driving control system - Google Patents

Description

The present invention relates to a vehicle cruise control system .

Patent Document 1 discloses that, for vehicles such as automobiles, the vehicle travels along a route to a destination assigned by a server within the assigned area, thereby making effective use of road space, such as by preventing the vehicle from slowing down and easing congestion.

WO2017/111126 publication

In this way, it is expected that autonomous driving technology will be realized in vehicle driving, allowing vehicles to travel quickly to their destination and supporting the driver's driving operations to increase the safety of travel. However, the map referenced in Patent Document 1 lacks immediacy.

In view of the above problems, the present invention aims to enable safe driving by appropriately generating map information according to actual traffic conditions and performing predictive calculations for times beyond the vehicle's current time.

A vehicle driving control system according to one aspect of the present invention includes a vehicle having a terminal provided with a communication unit capable of communicating via a network, and a server device including an input information summarizing unit having an information receiving means for communicating with the communication unit of the terminal, an information storage means for accumulating at least one of the terminal's own information and/or information about another person by the information receiving means, and a current situation map information creating means for creating current situation map information using the information accumulated in the information storage means and map information and/or area information about the area where the vehicle is located, an output information summarizing unit having a traveling area calculation means for predicting and calculating a traveling area of the vehicle using the current situation map information, and a calculation transmission means for communicating a result of the prediction calculation with the communication unit, and the vehicle travels by automatic driving and/or manual driving according to the traveling area assigned by the server device, and the input information summarizing unit and the output information summarizing unit communicate with the server device via the network. and the server device is provided in a server device outside the vehicle that communicates with at least one or more of the vehicles having an autonomous driving function, the number of server devices being at least one or more, the server device having a server time and a server ID, the server time being universal time, when the server device communicates the result of the predictive calculation with the communication unit, the server device communicates the server time and the server ID to the vehicle along with the result of the predictive calculation, the vehicle has the server ID held by the server device that communicated the vehicle information and the result of the predictive calculation as information unique to the vehicle, when the vehicle communicates with the server device, the vehicle communicates at least information unique to the vehicle, and when the server ID is different from the server ID held by the vehicle when the vehicle communicates via the network, the server time and the server ID held by the vehicle are updated, assuming that the vehicle is communicating with a server device other than the server device that communicated the result of the predictive calculation .
A vehicle driving control system according to one aspect of the present invention includes a vehicle having a terminal provided with a communication unit capable of communicating via a network, and a server device including an input information summarizing unit having an information receiving means for communicating with the communication unit of the terminal, an information storage means for accumulating at least one of the terminal's own information and/or information about another person by the information receiving means, and a current situation map information creating means for creating current situation map information using the information accumulated in the information storage means and map information and/or area information about the area where the vehicle is located, a traveling area calculation means for predicting and calculating a traveling area of the vehicle using the current situation map information, and an output information summarizing unit having a calculation transmission means for communicating a result of the prediction calculation with the communication unit, wherein the vehicle travels by automatic driving and/or manual driving according to the traveling area assigned by the server device, and the input information summarizing unit and the output information summarizing unit are provided in a server device outside the vehicle that communicates with at least one vehicle having an automatic driving function via the network, The server device is at least one, the server device has a server time and a server ID, the server time is universal time, when the server device communicates the result of the prediction calculation with the communication unit, the server device communicates the server time and the server ID to the vehicle along with the result of the prediction calculation, the vehicle has the server time held by the server device with which it communicated vehicle information and the result of the prediction calculation as information unique to the vehicle, when the vehicle communicates with a vehicle and/or a transportation system other than the vehicle, it communicates at least information unique to the vehicle, and when the server time held by the vehicle and the time held by the vehicle and/or the transportation system other than the vehicle differs when communicating, and when effective communication cannot be established with the server device having the input information consolidation unit and the output information consolidation unit, the vehicle is outside the communication range of the server device having the input information consolidation unit and the output information consolidation unit, and updates the server time held by the vehicle to the surrounding time of the vehicle and/or the transportation system other than the vehicle .

Preferably, at least one of the terminals is provided in the vehicle, there is at least one terminal that communicates with the information storage means, and the algorithm that determines the behavior of the relative positional relationship with other than the vehicle in the driving area of the vehicle is the road occupancy rate at a specified time.

Preferably, the vehicle's driving area is determined by current situation map information created using the information accumulated in the information storage means and at least predetermined map information and area information in which the vehicle is located, the predictive calculation is always performed for the vehicle's travel direction, and the vehicle always receives the results of the predictive calculation via the terminal.

Preferably, the vehicle's driving area is determined by current situation map information composed of at least predetermined map information and the current situation map information, and the determined driving area is divided into a plurality of partitions by at least a predetermined distance and/or time.

Preferably , the current situation map information is updated before the vehicle passes through the divided area, and at least one of the travel area calculation means or the vehicle outputs pseudo sensor data based on the predictive calculation to the vehicle .

Preferably, the prediction calculation is provided with at least spatial coordinates, the spatial coordinates having at least a horizontal coordinate, and the pseudo sensor data comprises at least the spatial coordinates and azimuth angle information .

In this invention, by using the surrounding information held by various terminals, map information (current situation map information) is created that takes into account the reality and even temporary information that is not registered in the existing registered map information, and the current situation map information is used to simulate (calculate) the vehicle's planned travel area, allowing the vehicle to travel safely even when passing through a planned travel section that is ahead of the vehicle's current time.

In the present invention, the reliability of information can be guaranteed by having multiple terminals communicate with the information storage means. Furthermore, by avoiding relative interference due to the road occupancy rate at a given time, in cases where the road is occupied for a short period of time, such as when the vehicle is stopped or when the vehicle is overhanging due to waiting at a traffic light, the vehicle can drive in the same way as if it were actually being driven by a driver, such as by entering the oncoming lane (overtaking by straddling the center line) or driving on the shoulder.

In this invention, current situation map information is generated using surrounding information held by various terminals, and a simulation is performed using this current situation map information. Therefore, by having pseudo information that has been simulated in advance for momentary communication interruptions such as switching of communication base stations or depopulation, the vehicle can travel using the pseudo information even in a communication interruption state.

In the present invention, even if the surrounding information at the current time held by each network operator is fragmentary, a simulation is performed using current situation map information constructed based on that information, and pseudo sensor data is generated, which can be compared with the actual data held by the moving object, making it possible to tolerate deviations in relative position regardless of the output format of the current situation map information.

In the present invention, a server device that communicates with vehicles via a network is provided with a current situation map information creation means and a travel area calculation means, so that the vehicle performing autonomous driving only needs to handle sensing using its own vehicle sensor, making it possible to achieve autonomous driving without having a large computational processing function.

In the present invention, the vehicle has a server ID held by the server device that communicated the vehicle information and the results of the predictive calculation as unique information of the vehicle. When the vehicle starts traveling outside the range of the server device that communicated the results of the predictive calculation, the start of traveling can be determined by the server ID, allowing for rapid synchronization with the server time.

In the present invention, the server device that communicated the vehicle information and the results of the prediction calculation has server time as unique information of the vehicle. When the vehicle starts traveling outside the range covered by the server device that communicated the results of the prediction calculation, the server time is communicated with other vehicles and the transportation system, making it possible to quickly determine the start of traveling outside the range covered by the server device and quickly synchronize with the traveling time of surrounding vehicles.

1 is a schematic explanatory diagram of a route control system that selects a route using a map generation system as a vehicle cruise control system according to an embodiment of the present invention; FIG. 2 is a diagram illustrating a server configuration according to an embodiment of the present invention. 1 is a diagram showing the configuration of a vehicle according to an embodiment of the present invention; FIG. 13 is a diagram showing a region algorithm at the time of merging according to an embodiment of the present invention. 1 is a flowchart showing a case where interference occurs according to an embodiment of the present invention. 1 is a schematic explanatory diagram of a map generating system according to an embodiment of the present invention; FIG. 13 is a diagram illustrating a region algorithm at an intersection according to an embodiment of the present invention. FIG. 13 is a diagram showing an area algorithm in a traffic jam according to an embodiment of the present invention. FIG. 1 illustrates a region prioritization algorithm according to an embodiment of the present invention. FIG. 13 is a diagram showing a region algorithm for merging at a constant speed according to an embodiment of the present invention. FIG. 13 is a diagram showing locator processing with MEC server data according to an embodiment of the present invention. 11A and 11B are diagrams showing locator processing with PC5 data according to an embodiment of the present invention.

The best mode for carrying out the present invention will be described with reference to FIGS. 1 to 5. FIG.
FIG. 1 is a diagram for explaining an outline of a map generating system 1 as a vehicle driving control system according to the present embodiment. In FIG. 1, a plurality of automobiles 100 traveling on a road are illustrated as moving bodies. The map generating system 1 of FIG. 1 controls, for example, the traveling of the plurality of automobiles 100 as a plurality of moving bodies. The completed moving bodies may also include, for example, pedestrians, bicycles, motor cycles, and carts. Unlike, for example, trains, these moving bodies do not travel on tracks, and therefore each of them can freely change its own traveling direction and traveling speed to move. Note that, as a terminal, a personal communication device such as a mobile phone or a GPS Logger, or traffic system information such as traffic flow and traffic volume collected by road management equipment arranged on the roadside, such as a traffic light or a traffic information detector, may be used.
The system times in this embodiment include transmission absolute time, vehicle time, server time, predicted driving time, reception absolute time, and actual driving absolute time. Transmission absolute time is the universal time of the system connected to the network or the time when data is transmitted by automobile 100, and vehicle time is the system time within automobile 100. Server time is the system time within server device 130, and reception absolute time is the universal time when data is received by automobile 100. Actual driving absolute time is the universal time when automobile 100 drives through the driving area. Unless otherwise specified, it represents the current time.

The map generation system 1 is a system that includes a communication unit 6 as a terminal device provided in each of the multiple automobiles 100, a server device 130 connected to a closed network 101 (hereinafter referred to as network 101) which is a dedicated line and an internetwork 102, an Internet server 150 connected to the internetwork 102, and a traffic system server 140 connected to at least one of the network 101 or the internetwork 102 and transmitting traffic information such as VICS (registered trademark) of the area where the vehicles pass through to the server device 130. The server device 130 and the communication units 6 of the multiple automobiles 100 transmit and receive data to each other using a communication network such as the network 101. The server device 130 is provided with an input information compilation unit 4 and an output information compilation unit 5. The internetwork 102 may be configured with the network 101. In the case of configuring with the network 101, the line speed becomes faster, but the capital investment cost may be higher than that of the internetwork 102.

Connected to the network 101 are a communication system 110 consisting of base stations 111 and communication network control devices 112 as multiple communication devices distributed across the region, an intelligent transport system 120 as an ITS (Intelligent transport [transportation] system), and a transport system server 140 as a road traffic information and communication system (hereinafter, VICS (registered trademark): Vehicle Information and Communication System) that transmits traffic information for the area the vehicle passes through to a server device 130.

The communication network control device 112 is connected to the network 101 and multiple base stations 111, and the base stations 111 transmit and receive various data to and from the communication device 71 of the automobile 100 accommodated in a cell within the communication range. The communication network control device 112 transmits data acquired from the base stations 111 to the server device 130. The communication network control device 112 selects a base station 111 and transmits data acquired from the server device 130. When the communication device 71 moves with the automobile 100 and the wireless base station 111 accommodating the communication device 71 changes, the communication network control device 112 switches routing and transmits and receives data to and from the base station 111 that newly accommodates the moving automobile 100.

The intelligent transportation system 120 has, as its infrastructure, a plurality of ADAS communication devices 121 as beacon-type or wireless communication devices arranged along roads, and an ADAS distribution device 122 connected to the plurality of ADAS communication devices 121. The ADAS distribution device 122 transmits regional traffic information and the like transmitted by a server device (not shown) of the intelligent transportation system 120 connected through the network 101 to the plurality of ADAS communication devices 121 for each region. This allows the plurality of ADAS communication devices 121 in a given region to transmit regional traffic information and the like to automobiles 100 passing nearby. The ADAS communication device 121 may also acquire data from the automobile 100 or have its own surveillance camera function. In this case, the data transmitted from the automobile 100 and the surveillance data may be transmitted to the server device 130 through the ADAS communication device 121, the ADAS distribution device 122, and the network 101.

The transportation system server 140 transmits VICS (registered trademark) information constituting field information, which is the area information 1000 in which the automobile 100 is located, to the server device 130. It is preferable that the information transmitted by the transportation system server 140 is related to the movement of mobile objects such as multiple automobiles 100, and more preferably, the information is composed of information collected from each automobile 100, road monitoring information, and regional traffic information based thereon. Note that the transportation system server 140 may include VICS (registered trademark) information in the regional traffic information transmitted by the server device as part of an intelligent transportation system.

In such a map generation system 1 for automobiles 100, the information collected by the server device 130 includes, in addition to field information, information collected from each automobile 100 (hereinafter referred to as vehicle collected information), such as driving information for each automobile 100, occupant information relating to the occupants, surrounding information 400 for each automobile 100, and local traffic information. The driving information for the automobile 100 includes, for example, the current location, direction of travel, traveling speed, and destination. The information is transmitted to the server device 130 for each device, such as the communication unit 6 of the automobile 100 that sent the information or the server device of the intelligent transportation system 120.

The server device 130 collects vehicle collected information and field information, which is regional information 1000, related to the driving of the multiple automobiles 100, and generates a route for each automobile 100 in a small section on which the multiple automobiles 100 can drive safely without colliding with each other, based on the collected vehicle collected information, etc., and transmits the route for each automobile 100 in the small section as a predicted calculation result, as a progress area prediction calculation result 14A, to the communication unit 6 of the multiple automobiles 100 at predetermined intervals. The server device 130 may generate a 3D area having a three-dimensional coordinate (Z axis) in which the automobiles 100 can drive safely. The automobile 100 receives the progress area prediction calculation result 14A of the automobile by the communication unit 6 used therein, and the driving control ECU 24 controls the automatic driving of the automobile 100 according to the progress area prediction calculation result 14A when the automobile 100 is to drive automatically. The driving control ECU 24 may correct the driving of the automobile 100 based on the operation of the occupant so that it conforms to the prediction calculation result. In this case, even if the driving is manual, the driving is performed with support based on the advancement area prediction calculation result 14A. In addition, the advancement area prediction calculation result 14A may be provided to the occupant from a display device 41 of the vehicle, which will be described later.

Fig. 2 is a configuration diagram of the server device 130 in Fig. 1. The server device 130 in Fig. 2 includes a server communication device 11, which is connected to a network 101 and serves as an information receiving means and a calculation and transmission means for communicating with the automobile 100, the communication system 110, the intelligent transportation system 120, and the transportation system server 140 via the network 101, a server clock 12 that receives and holds GNSS (Global Navigation Satellite System) and VICS (registered trademark) time, a server memory 13 that is an information storage means for accumulating vehicle collected information and field information, a server CPU 210 that generates a current situation map and uses the current situation map to predict and calculate the travel area of the automobile 100 at a time ahead of the absolute time, and a server bus 15 to which these are connected. The server communication device 11 may be provided separately as an information receiving means and a calculation and transmission means.
The automobile 100 has a communication unit 6 for communicating with the outside of the vehicle, and detection data and unique information 5 for the automobile 100. When an occupant of the automobile 100 inputs a specific destination A into the navigation system 20 or the like, a request for a route to the destination A is transmitted to the server device 130 via the network 101. The server device 130 includes an input information consolidation unit that accumulates information and generates current situation map information, and an output information consolidation unit that predicts and calculates the traveling area of the vehicle from the current situation map information and transmits the prediction calculation result to the communication unit 6 of the automobile 100, and processes the request for a route to the destination A of the automobile 100.
The travel area prediction calculation result 14A transmitted by the server device 130 to the communication unit 6 of each automobile 100 may be information according to which each automobile 100 can travel, such as the travel direction and travel speed, and the prediction calculation result may include information such as an estimated current location and a maximum possible travel distance. The automobile 100 continues to travel on the indicated route by repeatedly receiving such prediction calculation results at predetermined time intervals via the communication unit 6. Whether the automobile 100 is driven automatically or manually, it can travel to the destination A by traveling according to the indicated route repeatedly obtained for each small section.

The input information consolidation unit is made up of information storage means and current situation map generation means, and constitutes a part of the map generation system 1. The information storage means collects and stores, via the network 101, information from the mobile phone terminal 9, which is a terminal connected to the network, roadside traffic systems such as traffic lights 10, the intelligent traffic system 120, and the traffic system server 140, GNSS signals, and surrounding information 400, which is various information held by each automobile 100, such as the temperature around the vehicle, weather, shade on the road, the positions of people and structures, other vehicles, lanes, and road information, as well as area information 1000500, which is various information such as weather forecasts for the area where the vehicle is currently located and the area where the vehicle is scheduled to travel, specific wind directions, event information such as festivals, and High-Occupancy Vehicle settings.
Each of these pieces of information has two pieces of time information: the system transmission absolute time, which is the time when the information was collected, and the server time, which is the time information added by the current map information generating means.
The current situation map generating means generates current situation map information 14 for the route to destination A from map information including road information and the like, collected surrounding information 400 and area information 1000500.
The VICS (registered trademark) information constituting the area information 1000500 may be collected by the server device 130, or may be collected by the automobile 100 and transmitted to the server device 130. The time at which the area information 1000500 is collected may be the scheduled passing time, vehicle time, or server time. The area information 1000500 may be collected when the automobile 100 is stopped or parked and the surrounding information 400 and the area information 1000500 can be collected. The collected information may be communicated with the communication unit 6 as long as communication is possible, regardless of whether the automobile 100 is traveling, stopped, or parked.

The output information compilation unit uses the current situation map information 13 to simulate the relative positional relationship of the automobile 100 with multiple automobiles 100 at the actual absolute time of travel on the route to destination A. This travel area prediction calculation result 14A is calculated based on the unique information 5 possessed by the automobile 100, taking into account areas that the automobile 100 cannot enter, and areas that the automobile 100 cannot pass through before the time it reaches destination A, based on the current situation map information 13.

The output information collection unit transmits the travel area prediction calculation result 14A to the automobile 100 via the network 101. The automobile 100 receives the travel area prediction calculation result 14A at the communication unit 6, and determines a driving route, which is the travel area for a predetermined time to the destination A, based on the travel area prediction calculation result 14A. If the automobile 100 is a vehicle with an automatic driving function, the automobile 100 drives automatically according to the travel area.

Fig. 3 is a configuration diagram of a vehicle according to an embodiment of the present invention. A plurality of control devices that constitute a control system for controlling the vehicle 100 are incorporated in the vehicle 100, and are represented in Fig. 1 by various ECUs (Electronic Control Units).
The vehicle control device has various ECUs, a ROM (Read Only Memory) 1800, a RAM (Random Access memory) or RWM (Read Write memory) 1700, a HDD (Hard Disk Drive) 1500 and/or an SSD (Solid State Drive) 1600, input/output ports connected to controlled objects or their status detection devices, a system timer 33 that measures the vehicle time and time of in-vehicle information, a communication clock 600 that holds the time of a server device 130 described later, and an internal bus to which these are connected, a vehicle unique ID 55 which is vehicle information constituting unique information 5 consisting of items such as the vehicle inspection certificate of the automobile 100, and existing map information K stored on a recording medium of the automobile 100 and/or a terminal device such as a mobile phone.
Incidentally, the existing map information K is not necessarily required as long as communication with the server device 130 is possible, and map information required for all travel may be obtained from the server device 130.
In addition, the communication clock 600 may be provided in the external communication ECU 27 .

The various ECUs specifically include, for example, a drive ECU 21 that controls the drive of the engine etc., a steering ECU 22 that controls steering such as power steering, a braking ECU 23 that is mainly related to braking and controls braking such as collision mitigation braking, a driving control ECU 24, a driving operation ECU 25, a detection ECU 26, an external communication ECU 27, and a UI operation ECU 28.
The control system of the automobile 100 may include other control ECUs (not shown).

The various control devices are connected to an in-vehicle network 30, such as a controller area network (CAN), a local interconnect network (LIN), a local area network (LAN), FlexRay, or a clock extension peripheral interface (CXPI), which is used in the automobile 100. The in-vehicle network 30 is composed of a plurality of bus cables 31 that can be connected to the various control devices, and a central gateway (CGW) 32 as a relay device to which the plurality of bus cables 31 are connected. The various control devices are assigned IDs as identification information that are different from each other. For example, the various ECUs periodically output data to other ECUs. The ID of the ECU that outputs the data and the ID of the ECU that outputs the data are added to the data. The other ECU monitors the bus cable 31, and if the ID of the output destination is, for example, its own, it acquires the data and executes processing based on the data.
The central gateway 32 monitors each of the multiple bus cables 31 connected to it, and when it detects an ECU connected to a bus cable 31 different from the ECU that is the output source, it outputs data to that bus cable 31. By such relay processing by the central gateway 32, the multiple various control devices can input and output data between other control devices connected to a bus cable 31 different from the bus cable 31 to which they are connected. In addition, a system timer 33 is connected to the central gateway 32. The system timer 33 measures the time and the time until the results of the execution output to the various control devices are received. The central gateway 32 may count up or down the time and the time measured by the system timer 33 from universal time, or may measure the amount of time used for control. In addition, the central gateway 32 may notify the multiple control ECUs through the in-vehicle network 30.

The UI operation ECU 28 includes a display device 41 and an operation device 42 as passenger interface devices for a passenger in the vehicle. The display device 41 may be, for example, a liquid crystal device or a video projection device. The operation device 42 may be, for example, a touch panel, a keyboard, a non-contact operation detection device, or a voice recognition device. The display device 41 and the operation device 42 are installed, for example, in a vehicle in which a passenger is riding. The UI operation ECU 28 acquires data such as information related to driving operations from the in-vehicle network 30 and displays the data on the display device 41. The UI operation ECU 28 outputs the operation input of the passenger to the operation device 42 to the in-vehicle network 30 as UI operation data. The UI operation ECU 28 may also execute a process based on the operation input and include the process result in the UI operation data. The UI operation ECU 28, for example, displays data of the navigation system 20 for setting a destination A or the like on the display device 41, and searches for a route to the destination A selected by an operation input. This route to destination A (hereinafter, route data) may include attribute information of the road used for traveling from the current location to destination A, such as lanes, traffic lanes, right and left turning roads, one-way roads, lane regulations, etc.
The display device 41 may display information such as audio information, and may include a notification system for playing music inside the vehicle and issuing warnings and other notifications inside and outside the vehicle.

The navigation system 20 is connected to a vehicle relative position detection means and a vehicle map position detection means. The vehicle map position detection means is a means for detecting the current position of the automobile 100A that has made a request for vehicle behavior (hereinafter, behavior request) in communication with the existing information map K and an external network. The navigation system 20 has a high-precision road map database made of a large-capacity storage medium such as an HDD 1500, and high-precision road map information (dynamic map) is stored in this high-precision road map database. This high-precision road map information (hereinafter, road map information) has lane data (lane width data, lane center position coordinate data, lane travel azimuth data, speed limit, etc.) required for automatic driving, and this lane data is stored at intervals of several meters for each lane on the road map information.
The navigation system 20 receives positioning signals from GNSS satellites to obtain the position coordinates of the automobile 100A, and then performs map matching of the position coordinates on road map information to construct a coordinate system and estimate the vehicle's position on the road map information. In an environment where it is not possible to receive a valid positioning signal from a positioning satellite, such as driving inside a tunnel, the navigation system 20 switches to autonomous navigation and estimates the vehicle's position on the road map based on the vehicle speed detected by the detection ECU 26, the angular velocity detected by the gyro sensor, the longitudinal acceleration detected by the longitudinal acceleration sensor 62, and the like.
The navigation system 20 then acquires the vehicle's position on the road map information and road map information about the surrounding area. When the driver sets a destination A in the road map information, the navigation system 20 calculates and sets a driving route from the vehicle's position (current position) to the destination A based on the road map information.
The vehicle relative position detection means may be configured or may include a device 1300 for performing vehicle-to-vehicle communication (V2V: Vehicle-to-Vehicle Communication) and a device 1400 for performing road-to-vehicle communication (communication between a device installed on a road and a vehicle). Vehicle-to-vehicle communication can obtain the distance to another vehicle, the relative speed, and identification information of the other vehicle by transmitting and receiving electromagnetic waves such as millimeter waves. Road-to-vehicle communication may be performed, for example, using a dedicated short range communication (DSRC) method or another communication method. It may be used to obtain information on places closer to the automobile 100A than the camera unit 67 or on blind spots.
The information acquired by the camera unit 67 and the navigation system 20 is also read when setting a destination A linked to the driving route for driving the automobile 100A. This information is transmitted to the server device 130 together with the detection data. The camera unit 67 may be a stereo camera.

The driving operation ECU 25 is connected to operation members such as driving operation members necessary for the occupant to control the driving of the automobile 100, and a motor (not shown) involved in controlling the driving environment operation members required when driving.
For example, as driving operation members, circuits related to safety parts and important safety parts such as a steering circuit 51, a brake circuit 52, an accelerator circuit 53, a shift circuit 54, a lighting circuit 500, a window wiper circuit 510, a direction indicator circuit 520, a defroster circuit 530, an instrument circuit 540, and an alarm circuit 560 are connected. As driving environment operation members, an air conditioner 570, a hazard 580, a power window 590, and the like are connected. When an operation member is operated, the driving operation ECU 25 outputs to the in-vehicle network 30 as driving operation data including the presence or absence of operation, the amount of operation, and the like. In addition, the driving operation ECU 25 may execute processing regarding the operation of the operation member and include the processing result in the driving operation data. For example, when the accelerator circuit 53 to which the accelerator pedal is connected is operated in a situation where there is another moving object or a fixed object in the traveling direction of the automobile 100, the driving operation ECU 25 may determine that the operation is abnormal and include the determination result in the driving operation data.

The detection ECU 26 includes a configuration for acquiring operation information from the driving operation ECU 25 in order to detect the vehicle state of the automobile 100, and a configuration for detecting the running state of the automobile 100. Specifically, the configuration for detecting the inside of the automobile 100 includes an engine temperature gauge 3500, an engine tachometer 3600, a gasoline gauge 3700, an interior temperature gauge 3800, an interior camera 64 for capturing images of passengers inside the vehicle, and a microphone 65 for converting sounds inside the vehicle into digital signals and making them available as detection data for use in various control devices.
As components for detecting the internal running conditions of the automobile 100, an angular velocity sensor 61 for detecting the operating speed (such as the steering amount and steering speed of the electric power steering) related to various brakes provided on the automobile 100, an acceleration sensor 62 for detecting the acceleration of the automobile 100, and the like are provided.
The configuration for detecting the outside of the automobile 100 includes an exterior temperature gauge 2100, a raindrop sensor 2200, camera units 67 provided at least at the front and rear of the vehicle as cameras for capturing images of the surroundings on the outside of the automobile 100, a LIDAR (Light Detection and Ranging, or Laser Imaging Detection and Ranging) 2300 which performs light detection and ranging or image detection and ranging using a laser, a sonar sensor 2400 and/or an ultrasonic sensor 2500, a laser detector 2600, a GNSS receiver 66 which detects the position of the automobile 100, a VICS (registered trademark) receiver 3100, and various other sensing devices.
Furthermore, based on the detection data received by the detection ECU 26, the automobile 100 recognizes automobile 100B traveling in front of, around, and behind the automobile 100, objects fallen on the road, unevenness of the road surface, flooding, snow accumulation, objects fallen, damage, etc., using techniques such as pattern matching. Also, the width (vehicle width) between the dividing lines dividing the left and right sides of the lane in which the automobile 100 is traveling is obtained, the center of this (lane center) is calculated, and this lane center is set as the target traveling path of the automobile 100.
In addition to the raindrop sensor 2200 , the automobile 100 may also have an air temperature sensor 3200 , an air pressure sensor 3300 , and a humidity sensor 3400 to obtain weather information around the automobile 100 .
In addition to the information obtained by the detection ECU 26, the automobile 100 may also obtain outside information (weather forecasts, weather warnings/alerts, typhoon information, flood information, landslide information, tornado information, tsunami information, earthquake information, and eruption information, etc.) via the communication unit 6 to estimate the dryness or icy state of the road surface.

The detection ECU 26 acquires detection data from various detection components (sensors) and outputs it to the in-vehicle network 30. The detection ECU 26 may also execute processing based on the detection data and include the processing results in the detection data. For example, the acceleration sensor 62 detects "gravity,""vibration/movement," and "shock." It may determine that a right or left turn has been detected and include the lane change detection results in the detection data. The detection ECU 26 may extract a no-traffic state due to a moving object such as a pedestrian or another automobile 100 present around the vehicle, a temporarily stopped vehicle, or an accident vehicle, based on the results of an outside detection device such as the camera unit 67 or an ultrasonic sensor (radar), determine the type and attributes of the moving object or fixed object (including the no-traffic state), estimate the relative direction, relative distance, and movement direction of the moving object or fixed object according to the position, size, and change of the moving object or fixed object in the image, and output information on the moving object or fixed object including these estimation results to the in-vehicle network 30 by including them in the detection data. It should be noted that the judgment using the detection data may be made by another ECU, or a judgment means may be provided on the server device 130 side.
The acceleration sensor 62 may be provided as the wheel speed sensor 3900 or may be used in combination.
In addition, a wheel speed sensor 3900, an accelerator pedal depression amount sensor 4000, a brake pedal depression amount sensor 4100, and a steering wheel angle sensor 4200 may be provided to sense the running state of automobile 100A. Wheel speed sensor 3900 and acceleration sensor 62 are installed to detect the vehicle speed, accelerator pedal depression amount sensor 4000 is installed to detect the amount of fuel supplied to the engine, which is the power source of automobile 100, that is, the amount of propulsive force obtained by automobile 100, and brake pedal depression amount sensor 4100 is appropriately installed to detect the amount of braking force received by automobile 100.

The detection ECU 26 detects the selection of one of three modes: a manual driving mode in which the driver of the automobile 100 performs driving operations, an automatic driving mode in which the automobile 100 autonomously drives toward destination A, and an automatic evacuation mode. In the automatic evacuation mode, when it is determined that it is difficult to continue the automatic driving mode while driving in the automatic driving mode and before the braking distance and time that require emergency braking are reached, the automatic evacuation mode is switched to the automatic evacuation mode without switching to the manual driving mode, and the automobile 100 is automatically guided to a safe place such as a road shoulder. Here, a situation in which it is difficult to continue the automatic driving mode is, for example, a case in which a large steering angle θst is detected by the steering angle sensor 4200. In such a situation, it can be estimated that the driver is in a non-awake state such as fainting or losing consciousness and is lying face down on the steering wheel. The automatic driving mode is a mode in which the automobile 100 autonomously drives (automatically drives) along a target route. The autonomous driving mode can be further divided into a steering mode, which requires the driver to hold the steering wheel, and a hands-off mode, which does not require the driver to hold the steering wheel; in this embodiment, these are collectively referred to as the autonomous driving mode.

The driving control ECU 24 is connected to a control memory 81, a HDD 1500, a SSD 1600, a ROM 1800, and a RAM (RWM) 1700. The control memory 81, the HDD 1500, the SSD 1600, the ROM 1800, and the RAM (RWM) 1700 are computer-readable recording media in which programs executed by the driving control ECU 24, setting values, and the like are recorded. For example, the control memory 81 records information on the control contents by the driving control ECU 24, the HDD 1500 and the SSD 1600 store vehicle information such as a vehicle unique ID 55, map information, and the navigation system 20, and the ROM 1800 constitutes a part of the drive ECU and is used as an ECM (Engine Control Module), and the RAM (RWM) 1700 may be used as a main storage device for various ECUs.
The driving control ECU 24 reads and executes programs from the control memory 81, the HDD 1500, the SSD 1600, the ROM 1800, and the RAM (RWM) 1700.
The driving control ECU 24 acquires data from various ECUs and sensing devices, such as the external communication ECU 27, the detection ECU 26, and the driving operation ECU 25, via the in-vehicle network 30, and performs control of the driving of the automobile 100 in an automatic driving manner or manual driving assistance manner.
The driving control ECU 24 generates driving control data for controlling the driving of the automobile 100 based on the various acquired data, and outputs the data to the drive ECU 21, the steering ECU 22, and the braking ECU 23. The drive ECU 21, the steering ECU 22, and the braking ECU 23 control the driving of the automobile 100 based on the input driving control data.

The vehicle-specific ID 55 of the automobile 100 is information that is uniquely set for the vehicle, such as no-entry areas based on the vehicle number, predetermined days and times when the vehicle is prohibited from entering, permission to use the express lane, whether an ETC card is used or a Vignette is installed, the width of the vehicle body, and whether it is a cold weather specification.
The unique information 5 stores the server ID of the communication partner as the vehicle unique information 5 in the vehicle unique ID 55, and when a request is made to the server device 130 for the behavior of the automobile 100, the vehicle unique information 5 including the server ID is transmitted to the server device 130, so that the server device 130 can recognize the automobile 100 as the automobile 100A that sent the request. The unique information 5 may also include the vehicle time.

The external communication ECU 27 is made up of a communication device 71 and a communication memory 72, and constitutes a communication unit. A communication clock 600 is also connected to the external communication ECU 27. The communication device 71 transmits and receives data sent and received by the external communication ECU 27 to and from, for example, a base station 111 outside the vehicle, a communication unit 6 of another automobile 100, or an ADAS communication device 121. The communication memory 72 is a computer-readable recording medium, and records programs executed by the external communication ECU 27, setting values, and data sent and received by the external communication ECU 27.
The external communication ECU 27 transmits and receives data to and from, for example, the server device 130 using the communication device 71. The external communication ECU 27 collects vehicle information via, for example, the in-vehicle network 30, and transmits the information to the server device 130.
The communication interval to server device 130 may be either a predetermined time interval or a predetermined distance interval, but from the viewpoint of immediacy, communication at a predetermined time interval is more preferable.
The vehicle information includes, for example, vehicle interior information including the status and operation information of the occupants, detection data including peripheral information 400 such as information on the vehicle's running status and the vehicle's running environment, and unique information 5, and the peripheral information 400 may include information on other moving objects and fixed objects present in the vicinity. The external communication ECU 27 obtains, for example, the traveling area prediction calculation result 14A transmitted by the server device 130 to the vehicle from the communication device 71, and records it in the communication memory 72.
The communication clock 600 may be provided in the external communication ECU 27 or may constitute the communication unit. The communication clock 600 stores the time received during communication with the outside, and also assigns the communication time and/or the vehicle time, which is the system time of the vehicle, to various data transmitted during communication. This communication clock 600 may be synchronized with the system timer 33. In this case, there is a possibility of a time difference between the absolute time held by the various ECUs, the server time received during transmission and reception, and the official time held by the GNSS information and VICS (registered trademark) information separately received by the communication unit, but the absolute time may be corrected to the official time or server time. In this case, the processing load of adjusting the absolute time on the server side can be reduced, and the processing of generating a world map including three-dimensional coordinates can be reduced.

Next, we will explain how the map generation system 1 having the above-mentioned configuration controls the routes of multiple automobiles 100. The current time here is an absolute time, specifically, universal time.

4 and 9 are diagrams showing the area algorithm of the automobile 100 at the time of merging (changing lanes) according to this embodiment. The current situation map generating means of the server device 130 converts the information from the information storage means to server time, and generates a map as a plane coordinate of the change in the position of each vehicle due to time change, with the horizontal axis being the time coordinate and the vertical axis being the position coordinate. At that time, the vehicle's driving area is set as a Path (hereinafter, a driving lane) so that it can be calculated on a plane. The solid lines represent the moving state of the moving body (here, the automobile 100). The more negative the vertical axis, the more future time is indicated, and specifically, the absolute time of actual vehicle driving is included. The positive direction of the horizontal axis represents the lane, and the inclination of each line represents the speed of the moving body. In other words, if the horizontal axis overlaps, it means that the corresponding automobile 100 will interfere, and the closer the inclination of the solid line is to vertical, the slower the speed is. The width of the occupied area is displayed around the solid line with varying thickness, which is the body length (vertical and horizontal) of the automobile 100A and the margin. In addition, when the automobiles 100 are lined up in one lane, interference can be avoided by determining that the moving object that occupies a particular location first at the scheduled travel time has a higher priority. The direction of the arrow indicates the traveling direction of the automobile 100A.
The left side of Fig. 4 shows the first lane (merging lane), and the right side shows the second lane (main lane). As shown in the upper left figure, when a car 100A traveling in the first lane tries to change lanes to the second lane, it will overlap the solid line of a car 100B traveling in the second lane within the predicted travel time as shown in the upper right figure, so it can be seen that there will be interference. As shown in the lower left figure, if the travel speed is reduced, there will be no overlap within the predicted travel time as shown in the lower right figure, so it is determined that there is no interference, and the car 100A is notified to reduce its speed and merge.

Figure 5 is a flow chart for merging in this embodiment. When the automobile 100 is in a state where communication is possible, the external communication ECU 27 repeatedly executes the process of transmitting and receiving the vehicle information. The cycle for the external communication ECU 27 to transmit and receive the vehicle information may be, for example, several milliseconds to several seconds, and more preferably, is changed depending on the speed state of the automobile 100. When traveling at high speed, 10 milliseconds to 300 milliseconds is preferable in order to ensure a braking distance that the occupants can respond to.

In step ST1, the external communication ECU 27 transmits vehicle information (vehicle position, behavior during manual and/or automatic driving, detection data, unique information 5, etc.) and vehicle time to the server device 130, and requests instructions or assistance regarding the vehicle behavior.

In step ST2, the server device that has received the information in step ST1 extracts information on the driving area of the automobile 100A from the various collected information. The vehicle time and absolute transmission time of the extracted information are referenced, and if there is an unacceptable discrepancy, the information is deemed unreliable and is not reflected in the current situation map information. Then, the information to which a reliable time has been assigned is changed to the server time, which is the universal time in the received information from GNSS information, etc. Note that this changed server time may have an allowable range in the future and past. The current situation map information means generates current situation map information as a two-dimensional or three-dimensional image from the information on the driving area of the automobile 100A generated at the server time.
When a map is generated as a plane, the vehicle travel area is set as a Path on the plane so that it can be calculated.
Using the generated current situation map information, the travel area calculation means performs a simulation (predictive calculation) based on a predicted driving time, which is a future time beyond the server time when the automobile 100A will be traveling through the expected area, and determines interference within the driving lane.
In addition, when generating the current situation map, the predicted driving time may be set. It is necessary to change it according to the driving state (vehicle speed) of the automobile 100, but at least in the actual absolute driving time of the automobile 100, it is sufficient that it does not go back in time, or if it goes back in time, it does not interfere with the actual driving. Specifically, if the driving speed of the automobile 100 is slow, the tolerance for past time is large. More preferably, the actual driving predicted time used in the simulation is future than the absolute reception time.

In step ST3, if it is determined in step ST2 that there is no interference, the predicted behavior of the automobile 100A that sent the request is registered in the information storage means.

In step ST4, the calculation and communication means of the server device 130 sends the travel area prediction calculation result 14A, which is the behavior of the automobile 100A, vehicle data around the position of the automobile 100A, and the server time to the communication unit of the automobile 100A that sent the request, via the network 101.

In step ST5, the automobile 100A that has received the prediction calculation result, which is the request result, compares the received absolute time with the vehicle time, and if there is an unacceptable discrepancy, corrects the time of the communication clock 600. The traveling area prediction calculation result 14A is treated as server sensor data, and is converted into relative position coordinates so that it can be used as sensor data for the automobile 100A.

In step ST6, the automobile 100A uses the sensor data based on the travel area prediction calculation result 14A to perform autonomous driving or to provide and/or assist the driving occupant.

In step ST7, if it is determined in step ST2 that interference has occurred, information on the interfering vehicle with respect to the predicted behavior of the automobile 100A that has transmitted the request is generated.
The vehicle priority level and vehicle speed control state in the driving lane are notified to the automobile 100A. If it is determined that there is time to perform recalculation before interfering with the interfering vehicle, the process proceeds to step ST8. If it is determined that there is not enough time, the process proceeds to step ST5, where the automobile 100 determines the driving lane, etc.

In step ST8, recalculation is performed so as not to interfere with the interfering vehicle. If the recalculation has been performed and the behavior of the host vehicle 100A has been determined so as not to interfere, the process proceeds to step ST3.

In step ST9, if the interfering vehicle is affected by the travel area prediction calculation result 14A of the server device 130, for example, if it is under control or assistance, the behavior of the host vehicle 100A and the interfering vehicle is recalculated so that the vehicles do not interfere with each other. If the re-prediction calculation result is confirmed, the process proceeds to step ST3.

Next, one embodiment of the present invention will be described. As shown in FIG. 6, in one embodiment of the present invention, various sensor data possessed by a vehicle is accumulated in a server group such as cloud computing, and in the server group, a virtual information space (current situation map information) is generated based on the virtual information space, which is expressed in a plane or a solid form and is called a world map that realizes a virtual space that is a mapping of the real world at server time. When a future prediction is generated based on the virtual information space, if interference by other vehicles or a passage ban is predicted to occur in the space through which the vehicle will pass in the future prediction, the vehicle cannot select that route.

In one embodiment, a server device that communicates with terminals that collect surrounding information via a network constructs current situation map information (hereinafter referred to as a world map) from the surrounding information and map information held by each terminal.
The automobile 100A receives world map information about the surroundings of the vehicle from the server device 130. The automobile 100A receives detection information (detection data) about the surroundings of the vehicle and complements the information held by other vehicles. For example, the vehicle performs a simulation on the world map in the immediate direction of travel of the vehicle, checks the occupation of the spatial area (path) required for the vehicle to travel, and passes through if there is no interference. If interference occurs as a result of the simulation, the following calculation is virtually performed using the world map.
During the time when the vehicle passes through the section in question, other areas through which the vehicle can temporarily pass are searched for.
- Interference is avoided by changing the time the vehicle passes through the relevant section.
In addition, the following is taken into consideration when performing the above calculation.
The area through which the host vehicle can pass is regarded as a continuous time and space and is regarded as the host vehicle's future predicted trajectory.
- Self-driving cars that are controlled by the server device 130 that generates the world map, or by other systems, and manually-driven cars that are not controlled by any means and are ultimately operated by humans, have different occupied areas for processing.
In Control, the coordinate system of the data output by the server device 130 that generates the world map is changed to a polar coordinate system having azimuth angle data and position information used in Sensing.
The spatial area (Path) through which the host vehicle can temporarily pass includes a road shoulder, a temporary lane changing lane, and an oncoming lane where no oncoming vehicles exist.

Next, an embodiment of the present invention will be described. As shown in FIG. 7, in an intersection area, when moving (changing lanes) from the first lane (merging lane) to the second lane (priority lane), the server device 130 calculates the travel area to determine that the automobile 100A traveling in the first lane will interfere with the automobile 100B traveling in the second lane at the predicted travel time to enter the intersection, given the vehicle speed at the time of the absolute transmission time. Therefore, as shown in the lower left of FIG. 7, the vehicle speed is reduced to change the predicted travel time to enter the intersection, and the travel area prediction calculation result 14A is transmitted to the automobile 100A so as to avoid interference with the automobile 100B.

Next, an embodiment of the present invention will be described. As shown in Fig. 8, when there is a traffic jam ahead, the map generating system 1 shows that an automobile 100A under the control or support of a server device 130 moves (changes lanes) into the first lane, and the first lane is jammed, and the inclination of the solid line of an interfering automobile 100B is shown as vertical.
In this case, the server device 130 transmits the travel area prediction calculation result 14A to the automobile 100A so that the automobile 100A reduces its vehicle speed toward the end of the traffic jam and stops at the end of the traffic jam.

Next, an embodiment of the present invention will be described. As shown in FIG. 10, in the case of merging at a substantially constant speed, when moving (changing lanes) from the first lane (merging lane) to the second lane (priority lane), the server device 130 calculates the travel area to determine that the automobile 100A traveling in the first lane will interfere with the automobile 100B traveling in the second lane at the predicted travel time to move to the second lane, given the vehicle speed at the time of the absolute transmission time. Therefore, as shown in the lower left of FIG. 10, the vehicle speed is reduced to change the predicted travel time to move to the second lane, and the travel area prediction calculation result 14A is transmitted to the automobile 100A so as to avoid interference with the automobile 100B.

Next, an embodiment of the present invention will be described. The server device 130 is provided, for example, in a base station of a mobile phone, and the network is a mobile phone network. When the automobile 100A is set to move over a relatively large area, such as moving on a highway, the passenger of the automobile 100A operates the navigation system 20 to set the destination A.
The traffic information calculation system 900 generates current situation map information 14 up to the destination A based on the travel request using the current situation map generating means, and outputs it to the travel area calculating means.
The travel area calculation means performs a simulation of the automobile 100A traveling to the destination A using the current situation map information 13 of the automobile 100A to the destination A, and performs road allocation processing of the travel lane (Path).
Based on the received travel area prediction calculation result 14A and the surrounding information 400 of the automobile 100A at the time of receiving the prediction calculation result, the automobile 100A outputs the result on the display device 41 or starts traveling by automatic driving.
The received traveling area prediction calculation result 14A is provided with the server time and the server ID, and the automobile 100A stores the received traveling area prediction calculation result 14A, the server time, and the server ID. The automobile 100A stores the server ID as vehicle-specific information, and transmits the vehicle-specific information including the server ID to the server device 130 when making a behavior request.
When the vehicle 100A's route to destination A spans multiple control or support ranges of server devices, the vehicle 100A makes behavior requests in the control or support ranges of the multiple server devices.
At that time, there may be a relative difference between the vehicle time and the absolute time between multiple server devices, or controlled sections may be mixed up, or there may be a relative time difference in vehicle-to-vehicle communication and roadside communication, and there is a possibility of an accident due to a difference in each time in the actual driving absolute time. Therefore, if the server ID differs from the server ID possessed by the vehicle, it is assumed that the vehicle is communicating with a server device other than the server device that communicated the result of the predictive calculation, and the server time and server ID possessed by the vehicle can be updated to avoid interference due to time differences with the surrounding area.

Next, an embodiment of the present invention will be described. The server device 130 is provided in, for example, a mobile phone base station 111A, and the network 101 is a mobile phone network. When the automobile 100A is setting a relatively large area movement such as moving on a highway, the passenger of the automobile 100A operates the navigation system 20 to set the destination A.
The traffic information calculation system 900 generates current situation map information 14 up to the destination A based on the travel request using the current situation map generating means, and outputs it to the travel area calculating means.
The travel area calculation means performs a simulation of the automobile 100A traveling to the destination A using the current situation map information 14 of the automobile 100A to the destination A, and performs road allocation processing (Path).
Based on the received travel area prediction calculation result 14A and the surrounding information 400 of the automobile 100A at the time of receiving the travel area prediction calculation result 14A, the automobile 100A outputs the result to the display device 41 or starts driving autonomously.
The received travel area prediction calculation result 14A is provided with the server time and the server ID, and the automobile 100A stores the received travel area prediction calculation result 14A, the server time, and the server ID. The automobile 100A stores the server ID as vehicle specific information 5, and transmits the vehicle specific information 5 including the server ID to the server device 130 when making a behavior request.
If the control or support range of server device 130 spans multiple areas up to destination A of automobile 100A, and the destination is outside the range of server device 130 that responds to the vehicle behavior request, no response will be obtained, and server device 130 will not be able to transmit traveling area prediction calculation result 14A, resulting in the data going unprocessed.
When the server time of the automobile 100A differs from the time of the vehicle and/or the transportation system other than the automobile 100A, such as the automobile 100B, during communication, the automobile 100A can avoid interference due to time discrepancies with the surroundings by updating the server time of the vehicle to the traveling surrounding time of the vehicle and/or the transportation system other than the automobile 100A, outside the communication range of the server device having the input information compilation unit and the output information compilation unit, thereby updating the server time and server ID of the vehicle. Also, even if the information necessary to reach the destination A is not included, the automobile 100A can behave in accordance with the surrounding vehicles.

Next, one embodiment of the present invention will be described with reference to Figures 11 and 12. A map generating system 1 may be provided that includes a vehicle having a terminal provided with a communication unit capable of communicating via a network, an information storage unit that communicates with the communication unit of the terminal and accumulates at least one of the terminal's own and/or other's information, an input information compilation unit having a current situation map information creation unit that creates current situation map information using the information accumulated in the information storage unit and map information and/or area information 1000 in which the vehicle is located, a progress area calculation unit that predicts and calculates the progress area of the vehicle using the current situation map information, and an output information compilation unit having a calculation transmission unit that communicates the result of the prediction calculation with the communication unit, and the travel area of the vehicle is determined by current situation map information composed of at least predetermined map information and the current situation map information, and the determined travel area is divided into a plurality of partitions at least by a predetermined distance and/or time, and the current situation map information is updated before the vehicle passes through the divided area, and at least one of the progress area calculation unit and the vehicle outputs pseudo sensor data based on the prediction calculation to the vehicle.

11 and 12 are diagrams showing locator processing according to an embodiment of the present invention. In the locator processing, the coordinate system (X1, Y1) of the data output by the world map server is changed to a polar coordinate system (vector components) having azimuth angle data and position information used by the sensor of the automobile 100.
Spatial data has numerical information that allows spatial data to be located at a certain place on the earth, and the numbers are part of a coordinate system (spatial coordinates) that provides a reference frame for the data, and can identify spatial data on the earth's surface, align the position of the data with other data as a reference, perform spatially accurate analysis, and create a world map. Data is defined in both horizontal and vertical coordinate systems, and the horizontal coordinate system identifies data on the entire earth's surface, while the vertical coordinate system identifies the relative height or depth of the data. For prediction calculations in planar coordinates, a horizontal coordinate system is sufficient, and for calculations in three-dimensional coordinates, a vertical coordinate system is required. When converted into a coordinate system, the origin may be the automobile 100A, which is the vehicle itself, or the automobile 100B, which is a vehicle surrounding the automobile 100A, or may be set on the world map. The automobiles 100A and 100B, which are terminals, notify the server device 130 of vehicle driving information regarding each vehicle at a predetermined time and/or distance intervals via the network 101 from the communication unit 6, and the server device 130 generates current situation map information, performs a simulation, and outputs it to the automobile 100A as a moving area prediction calculation result 14A. The automobile 100A uses the moving area prediction calculation result 14A to generate a pseudo output sensor value that can be compared with the sensor system of the automobile 100A, and can recognize the presence of an object outside the recognition by comparing the detection data with the pseudo output sensor value. In addition, even if a delay occurs in the transmission of information within the network, or the function of the sensor system of the automobile 100A is reduced or unavailable, or the blind spot is not visible in the first place, the automobile can travel with the moving area prediction calculation result 14A, which is the prediction calculation result. In addition, when pseudo sensor data is used, the automobile can travel with pseudo information, so safety can be ensured.

The above embodiment is an example of a preferred embodiment of the present invention, but the present invention is not limited to this, and various modifications and changes are possible without departing from the gist of the invention.

1...map generation system, 3...server device, 5...unique information, 11...server communication device, 12...server timer, 13...server memory, 14...current situation map information, 210...server CPU, 15...server bus, 20...navigation, 21...driving ECU, 22...steering ECU, 23...braking ECU, 24...driving control ECU, 25...driving operation ECU, 26...detection ECU, 27...external communication ECU (terminal device), 28...UI operation ECU, 30...in-vehicle network, 31...bus cable, 32...central gateway, 33...system timer, 41...display device, 4 2...operation device, 51...steering wheel circuit, 52...brake circuit, 53...accelerator circuit, 54...shift circuit, 61...angular velocity sensor, 62...acceleration sensor, 21...camera unit, 64...in-vehicle camera, 65...microphone, 66...GNSS receiver, 71...communication device, 72...communication memory, 81...control memory, 100...automobile (vehicle), 101...network, 110...communication system, 111...base station, 112...communication network control device, 120...intelligent transportation system, 121...ADAS communication device, 122...ADAS distribution device, 400...peripheral information, 1000...regional information

Claims (7)

A terminal provided with a communication unit capable of communicating via a network;
A vehicle having
An information receiving means for communicating with the communication unit of the terminal;
an information storage means for storing at least one of the information of the terminal and/or information of another person by the information receiving means;
a current situation map information creating means for creating current situation map information using the information accumulated in the information storage means, map information, and/or area information about the area where the vehicle is located;
An input information consolidation unit having
a travel area calculation means for predicting and calculating a travel area of the vehicle by using current situation map information;
A calculation and transmission means for communicating the result of the predictive calculation with the communication unit;
An output information consolidation unit having
and a server device comprising:
The vehicle travels by automatic driving and/or manual driving according to the travel area assigned by the server device;
The input information consolidation unit and the output information consolidation unit are provided in a server device outside the vehicle that communicates with at least one vehicle having an automatic driving function via the network,
The server device is at least one,
The server device has a server time and a server ID,
The server time is universal time,
the server device communicates the result of the prediction calculation with the communication unit, together with the server time and the server ID to the vehicle;
the vehicle has, as unique information of the vehicle, the server ID of the server device to which the vehicle information and the result of the predictive calculation have been communicated;
When communicating with the server device, the vehicle communicates at least unique information of the vehicle;
When the vehicle communicates via the network, if the server ID is different from the server ID possessed by the vehicle, the vehicle determines that it is communicating with a server device other than the server device that communicated the result of the predictive calculation, and updates the server time and the server ID possessed by the vehicle.
A vehicle driving control system comprising:
A terminal provided with a communication unit capable of communicating via a network;
A vehicle having
An information receiving means for communicating with the communication unit of the terminal;
an information storage means for storing at least one of the information of the terminal and/or information of another person by the information receiving means;
a current situation map information creating means for creating current situation map information using the information accumulated in the information storage means, map information, and/or area information about the area where the vehicle is located;
An input information consolidation unit having
a travel area calculation means for predicting and calculating a travel area of the vehicle by using current situation map information;
A calculation and transmission means for communicating the result of the predictive calculation with the communication unit;
An output information consolidation unit having
and a server device comprising:
The vehicle travels by automatic driving and/or manual driving according to the travel area assigned by the server device;
The input information consolidation unit and the output information consolidation unit are provided in a server device outside the vehicle that communicates with at least one vehicle having an automatic driving function via the network,
The server device is at least one,
The server device has a server time and a server ID,
The server time is universal time,
the server device communicates the result of the prediction calculation with the communication unit, together with the server time and the server ID to the vehicle;
the vehicle has vehicle information and the server time held by the server device to which the vehicle has communicated the result of the prediction calculation as unique information of the vehicle;
When the vehicle communicates with a vehicle other than the vehicle and/or a traffic system, the vehicle communicates at least unique information of the vehicle;
A vehicle driving control system characterized in that, when the server time held by the vehicle is different from the time held by a vehicle and/or a transportation system other than the vehicle when the vehicle communicates and valid communication cannot be established with a server device having the input information consolidation unit and the output information consolidation unit, the vehicle is outside the communication range of the server device having the input information consolidation unit and the output information consolidation unit and updates the server time held by the vehicle to the driving surrounding time held by a vehicle and/or a transportation system other than the vehicle .
At least one of the terminals is provided in the vehicle,
The terminal communicating with the information storage means is at least one,
3. The vehicle driving control system according to claim 1 , wherein an algorithm for determining the behavior of the relative positional relationship between the vehicle and other objects in the driving area of the vehicle is based on a road occupancy rate for a predetermined period of time .
The driving area of the vehicle is determined based on current situation map information created using the information accumulated in the information storage means, at least predetermined map information, and area information in which the vehicle is located;
4. The vehicle driving control system according to claim 1, wherein the predictive calculation is always performed in the direction of travel of the vehicle , and the vehicle receives the results of the predictive calculation via the terminal .
The vehicle driving area is determined by current situation map information that is configured by at least predetermined map information and the current situation map information,
5. The vehicle driving control system according to claim 1, wherein the determined driving area is divided into a plurality of partitions based on at least a predetermined distance and/or time.
The vehicle driving control system according to claim 5, characterized in that the current situation map information is updated before the vehicle passes through the divided area, and at least one of the traveling area calculation means and the vehicle outputs pseudo sensor data based on the predictive calculation to the vehicle .
7. The vehicle cruise control system according to claim 6, wherein the predictive calculation is provided with at least spatial coordinates, the spatial coordinates having at least a horizontal coordinate, and the pseudo sensor data is comprised of at least the spatial coordinates and azimuth angle information .

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