JP2019125304A - Method and system for refuge of general vehicle from travel route of emergency vehicle - Google Patents

Abstract

To provide a method for refuge of a general vehicle from a travel route of an emergency vehicle.SOLUTION: The method includes: comparing a travel route of an emergency vehicle E to a travel route of each of general vehicles A-C and determining whether or not the travel route of each of the general vehicles A-C overlaps with at least a part of the travel route of the emergency vehicle E at the same timing; and deciding each of the general vehicles A-C that a refuge should be taken when it is determined that the travel route of each of the general vehicles A-C overlaps with at least a part of the travel route of the emergency vehicle E at the same timing.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a method and system for withdrawing a general vehicle from the travel route of an emergency vehicle.

  Emergency vehicles, such as fire fighting vehicles or emergency vehicles, are permitted to travel in an emergency in the case of traveling for the purpose of urgent work.

  Since the emergency vehicle travels to respond to an emergency such as life saving or fire response, it is required to arrive quickly at the destination. Therefore, general vehicles other than the emergency vehicle are required to give over the travel route to the emergency vehicle so as not to prevent the progress of the emergency vehicle that is traveling emergency.

  In addition, when the emergency vehicle is traveling in an emergency, the emergency vehicle sounds a siren and lights a red light to alert the surrounding general vehicles.

  However, at the intersection, since the traveling of the vehicle is controlled by the signal, it may not be enough to prevent the general vehicle from advancing the emergency vehicle by alerting the emergency vehicle alone.

  Therefore, when the signal queue length of vehicles lined up at an intersection on the travel route of an emergency vehicle is larger than a predetermined threshold value, Patent Document 1 controls the signal to reduce the signal queue length, and the emergency vehicle It is proposed to be able to pass the intersection.

Unexamined-Japanese-Patent No. 2010-044527

  However, depending on the number of lanes at the intersection or the number of ordinary vehicles waiting for a signal, the signal queue length may not be reduced sufficiently.

  Further, for emergency travel of the emergency vehicle, it is preferable to withdraw the general vehicle from the travel route of the emergency vehicle also on travel routes other than the intersection.

  An object of the present invention is to provide a method and system for withdrawing a general vehicle from the travel route of an emergency vehicle.

  According to one aspect of the method disclosed herein, the travel route of the general vehicle is compared with the travel route of the emergency vehicle at the same point in time as at least a portion of the travel route of the emergency vehicle. If it is determined that the general vehicle travel route overlaps with at least a part of the emergency vehicle travel route at the same time, it is necessary to withdraw the general vehicle from the emergency vehicle travel route. To determine.

  Further, according to one mode of the system disclosed in the present specification, the first processing unit disposed in the emergency vehicle and calculating the traveling route of the emergency vehicle and the general processing vehicle disposed in the general vehicle calculate the traveling route of the general vehicle The travel route of the general vehicle is the travel route of the emergency vehicle by comparing the travel route of the emergency vehicle notified from the first processing unit with the travel route of the general vehicle notified from the second processing unit. If it is determined that the travel route of the general vehicle overlaps at least a part of the travel route of the emergency vehicle by judging whether the overlap occurs at the same time as at least a part of And a third processing unit that decides to save the vehicle from the traveling route.

  According to one aspect of the method disclosed in the present specification described above, the general vehicle can be evacuated from the travel route of the emergency vehicle.

  Moreover, according to one form of the system disclosed in the present specification, a general vehicle can be withdrawn from the travel route of the emergency vehicle.

FIG. 1 shows a configuration of a first embodiment of a system disclosed herein. It is a figure explaining the in-vehicle device of an emergency vehicle. It is a figure explaining the in-vehicle device of a common vehicle. It is a figure explaining the server of a center. It is a sequence diagram (the 1) explaining operation of a system of a 1st embodiment. FIG. 7 is a diagram (part 1) for explaining the operation of the system of the first embodiment. FIG. 7 is a second diagram to explain an operation of the system of the first embodiment; It is a sequence diagram (the 2) explaining operation | movement of the system of 1st Embodiment. It is a sequence diagram explaining operation | movement of the system of 2nd Embodiment. It is a figure (the 1) explaining operation of a system of a 2nd embodiment. It is a figure (the 2) explaining operation of a system of a 2nd embodiment. FIG. 13 is a diagram (3) explaining the operation of the system of the second embodiment. FIG. 16 is a diagram for explaining the operation of the system of the second embodiment (No. 4). FIG. 16 is a diagram (No. 5) explaining the operation of the system of the second embodiment. FIG. 16 is a diagram for explaining the operation of the system of the second embodiment (No. 6); FIG. 17 is a diagram (7) for explaining the operation of the system of the second embodiment. It is a figure explaining the modification of the vehicle-mounted apparatus of an emergency vehicle. It is a figure explaining the modification of the vehicle-mounted apparatus of a general vehicle.

  Hereinafter, a first preferred embodiment of the system disclosed herein will be described with reference to the drawings. However, the technical scope of the present invention is not limited to those embodiments, but extends to the invention described in the claims and the equivalents thereof.

  FIG. 1 is a diagram showing the configuration of a first embodiment of the system disclosed herein. FIG. 2 is a view for explaining an on-vehicle device of the emergency vehicle. FIG. 3 is a view for explaining an on-vehicle apparatus of a general vehicle. FIG. 4 is a diagram for explaining the server of the center.

  The system 1 of the present embodiment withdraws a general vehicle from the traveling route of the emergency vehicle in emergency travel, and supports the emergency vehicle to arrive quickly at the destination.

  The system 1 includes an on-vehicle device 10 mounted on an emergency vehicle E, an on-vehicle device 30 mounted on general vehicles A, B, and C, and an emergency vehicle E and general vehicles A, B, and C via a network N. A server 50 connected in a communicable manner and disposed at the center S is provided.

  When the on-vehicle device 10 of the emergency vehicle E starts emergency traveling, the network N performs a route judgment processing start request to determine whether the travel route of the general vehicle overlaps with at least a part of the travel route of the emergency vehicle E at the same time. , To the server 50 of the center S.

  When the server 50 of the center S receives the start request, the server 50 executes route judgment processing to compare the traveling route of the emergency vehicle E with the traveling route of the general vehicles A, B, C, It is determined whether or not the travel route of the vehicle overlaps with at least a part of the travel route of the emergency vehicle E at the same time. When the server 50 determines that the travel routes of the general vehicles A, B, and C overlap at the same time as at least a portion of the travel route of the emergency vehicle E, the general vehicles A, B, and C travel the emergency vehicles E It decides to save from the route, and sends a save request to the general vehicles A, B, C.

  The in-vehicle device 10 mounted on the emergency vehicle E includes a processing unit 11, a storage unit 12, a display unit 13, an operation unit 14, an acoustic output unit 15, and a communication unit 16.

  The processing unit 11 includes one or more processors and peripheral circuits. The processing unit 11 controls each hardware component of the in-vehicle apparatus 10 and performs various processes in accordance with a predetermined program stored in advance in the storage unit 12 and stores data temporarily stored during processing. Use part 12.

  The storage unit 12 may have a semiconductor memory such as a random access memory (RAM) or a read only memory (ROM) or a magnetic disk or a flash memory. The storage unit 12 may have a drive capable of reading a storage medium which stores a predetermined program non-temporarily.

  The display unit 13 can be controlled by the processing unit 11 to display various types of information. For example, a liquid crystal display can be used as the display unit 13.

  The operation unit 14 can be operated by the user to input an operation. For example, a touch panel disposed on the screen of the display unit 13 can be used as the operation unit 14.

  The sound output unit 15 is connected to a speaker (not shown) and controlled by the processing unit 11 to output sound. The sound output unit 15 has, for example, an audio interface.

  The communication unit 16 transmits and receives information to and from the server 50 of the center C via the network N using wireless communication. The communication unit 16 is connected to the network N via a base station in accordance with a predetermined wireless communication standard such as, for example, 3GPP (Third Generation Partnership Project) or LTE (Long Term Evolution). The processing unit 11 performs various types of processing based on the information received using the communication unit 16. In addition, the processing unit 11 transmits the result of performing various processing using the communication unit 16. The communication unit 16 may have a communication circuit and an antenna that wirelessly transmit and receive. Further, the communication unit 16 can communicate with a network (Controller Area Network: based on CAN) in a car. The communication unit 16 may have a communication circuit and a communication line which perform transmission and reception in a wired manner in a network in a car.

  The on-vehicle apparatus 10 receives position information indicating the position of the emergency vehicle E from the GPS information receiving unit 20 mounted on the emergency vehicle E. The GPS information receiving unit 20 receives the GPS radio waves transmitted by the GPS artificial satellite, obtains the position of the emergency vehicle E, and outputs the position information of the emergency vehicle E to the on-vehicle device 10.

  The processing unit 11 described above includes a route calculation unit 11 a and a route information unit 11 b. These units included in the processing unit 11 are, for example, functional modules realized by a computer program operating on the processor included in the processing unit 11. Note that these units included in the processing unit 11 may be mounted on the on-vehicle device 10 as separate circuits.

  The route calculation unit 11 a is a functional module realized using map data stored in the storage unit 12 by execution of a predetermined route search program such as a route search program using the Dijkstra method, and is acquired from the GPS information reception unit 20 The navigation system has a navigation function that provides guidance by calculating a travel route to a destination based on the current position of the vehicle. The route calculation unit 11 a outputs a map image indicating a map around the vehicle and voice guidance information to the display unit 13 or the sound output unit 15 based on the map data stored in the storage unit 12 and the position of the vehicle. Further, when the destination is set by the user, the route calculation unit 11a derives a route from the current position of the vehicle to the destination, and superimposes the route on the map image. The map image generated by the route calculation unit 11 a is displayed on the display unit 13.

  When the emergency traveling is started, the route information unit 11b transmits a request for starting the route determination process to the server 50 of the center S. Further, when the emergency traveling is ended, the route information unit 11 b transmits a request for ending the route determination process to the server 50 of the center S.

  The operations of the route calculation unit 11a and the route information unit 11b will be further described later.

  The in-vehicle device 30 mounted on the general vehicles A, B, and C includes a processing unit 31, a storage unit 32, a display unit 33, an operation unit 34, a sound output unit 15, and a communication unit 36.

  The processing unit 31 includes one or more processors and peripheral circuits. The processing unit 31 controls each hardware component of the in-vehicle apparatus 30 and performs various processes in accordance with a predetermined program stored in advance in the storage unit 32, and stores the data generated during the process temporarily. Use part 12.

  The storage unit 32 may have a semiconductor memory such as a random access memory (RAM) or a read only memory (ROM) or a magnetic disk or a flash memory. The storage unit 32 may have a drive capable of reading a storage medium which stores a predetermined program non-temporarily.

  The display unit 33 can be controlled by the processing unit 31 to display various types of information. As the display unit 33, for example, a liquid crystal display can be used.

  The operation unit 34 can be operated by the user to input an operation. As the operation unit 34, for example, a touch panel disposed on the screen of the display unit 33 can be used.

  The sound output unit 35 is connected to a speaker (not shown) and controlled by the processing unit 31 to output sound. The sound output unit 35 has, for example, an audio interface.

  The communication unit 36 transmits and receives information to and from the server 50 of the center S via the network N using wireless communication. The communication unit 36 connects to the network N via a base station in accordance with a predetermined wireless communication standard such as, for example, 3 GPP (Third Generation Partnership Project) or LTE (Long Term Evolution). The processing unit 31 performs various processes based on the information received using the communication unit 36. In addition, the processing unit 31 transmits the results of performing various processes using the communication unit 36. The communication unit 36 may have a communication circuit and an antenna that perform transmission and reception. Further, the communication unit 36 can communicate with an in-vehicle network (Controller Area Network: based on CAN). The communication unit 16 may have a communication circuit and a communication line which perform transmission and reception in a wired manner in a network in a car.

  The on-vehicle device 30 receives position information indicating the positions of the general vehicles A to C from the GPS information receiving unit 40 mounted on the general vehicles A to C. The GPS information receiving unit 40 receives GPS radio waves transmitted by the GPS artificial satellite, obtains the positions of the general vehicles A to C, and outputs the position information of the general vehicles A to C to the on-vehicle device 30.

  The processing unit 31 described above includes a route calculation unit 31a and a route information unit 31b. These units included in the processing unit 31 are, for example, functional modules realized by a computer program operating on the processor included in the processing unit 31. Note that these units included in the processing unit 31 may be mounted on the on-vehicle device 30 as separate circuits.

  The route calculation unit 31 a is a functional module realized using map data stored in the storage unit 32 by execution of a predetermined route search program such as a route search program using the Dijkstra method, and acquired from the GPS information reception unit 40 The navigation system has a navigation function that provides guidance by calculating a travel route to a destination based on the current position of the vehicle. The route calculation unit 31 a outputs a map image indicating a map around the vehicle and voice guidance information to the display unit 33 or the sound output unit 35 based on the map data stored in the storage unit 32 and the position of the vehicle. Further, when the destination is set by the user, the route calculation unit 31a derives the route from the current position of the vehicle to the destination, and superimposes the route on the map image. The map image generated by the route calculation unit 31 a is displayed on the display unit 33.

  When the server 50 of the center S determines that the travel route of the general vehicle overlaps at least a part of the travel route of the emergency vehicle at the same time, the route information unit 31 b receives the withdrawal request from the server 50. The route information unit 31 b displays the reception of the save request on the display unit 33 or / or outputs the sound to the sound output unit 35 to notify the user.

  The operations of the route calculation unit 31a and the route information unit 31b will be further described later.

  The server 50 of the center S includes a processing unit 51, a storage unit 52, a display unit 53, an operation unit 54, and a communication unit 55.

  The processing unit 51 includes one or more processors and peripheral circuits. The processing unit 51 performs control of each hardware component of the server 50 and various processes in accordance with a predetermined program stored in advance in the storage unit 52, and is a storage unit for temporarily storing data generated during processing. Use 52

  The storage unit 52 may have a semiconductor memory such as a random access memory (RAM) or a read only memory (ROM) or a magnetic disk or a flash memory. The storage unit 52 may have a drive capable of reading a storage medium that stores a predetermined program non-temporarily.

  The display unit 53 can be controlled by the processing unit 51 to display various types of information. As the display unit 53, for example, a liquid crystal display can be used.

  The operation unit 54 can be operated by the user to input an operation. As the operation unit 54, for example, a keyboard and a mouse can be used.

  The communication unit 55 transmits and receives information between the in-vehicle apparatus 10 of the emergency vehicle E and the in-vehicle apparatus 30 of the general vehicles A and B via the network N. The processing unit 51 performs various types of processing based on the information received using the communication unit 55. In addition, the processing unit 51 transmits the result of performing various processes using the communication unit 55. The communication unit 55 may have a communication circuit and a communication line that perform transmission and reception.

  The processing unit 51 described above includes the path determination unit 51a. The path determination unit 51 a included in the processing unit 51 is, for example, a functional module realized by a computer program operating on the processor included in the processing unit 51. The path determination unit 51a of the processing unit 51 may be mounted on the server 50 as a circuit.

  When the route determination unit 51a receives the request for starting the route determination process from the in-vehicle device 10 of the emergency vehicle E, the route determination unit 51a compares the travel route of the emergency vehicle E with the travel route of the general vehicles A, B, and C. , B, and C are determined at the same time as at least a part of the travel route of the emergency vehicle E. When the server 50 determines that the travel routes of the general vehicles A and B overlap at the same time as at least a part of the travel route of the emergency vehicle E, the general vehicles A, B and C are separated from the travel route of the emergency vehicle E It decides to save and sends a save request to the general vehicles A, B, C.

  Next, the operation of the above-described system 1 of the present embodiment will be described below with reference to the sequence diagram shown in FIG.

  First, in step S501, the route information unit 31b of the processing unit 31 of the in-vehicle device 30 of the general vehicle A, B, C is a planned travel route from the route calculation unit 31a to the destination of the general vehicle A, B, C. Receive Then, the route information unit 31 b transmits the traveling route to the destination and the current positions of the general vehicles A, B, and C on the traveling route to the server 50 via the network N. When the ordinary vehicles A, B, C are at rest, they transmit the current position at which they are at rest. In the present specification, the current position of the stationary general vehicle is included in the traveling route of the general vehicle. When the route calculation unit 31 a newly calculates a travel route, the route information unit 31 b travels to the destination at predetermined intervals and the current general vehicles A, B, and C on the travel route. The position is sent to the server 50. Note that other general vehicles not shown can also transmit the current position of the general vehicle on the travel route to the server 50.

  In the example shown in FIG. 6, the general vehicles A and B travel in order in the same direction on the route connected to the intersection F. The ordinary vehicle C passes the intersection F in a direction transverse to the traveling direction of the ordinary vehicles A and B. The route determination unit 51 a of the server 50 stores the current vehicle positions of the general vehicles A, B, and C in the storage unit 52.

  The route determination unit 51a of the processing unit 51 of the server 50 receives and stores the travel route to the destination of the general vehicles A, B, and C, and the current position of the general vehicles A, B, and C on the travel route. Store in part 52. The route determination unit 51a determines that the general vehicles A, B, and C that have transmitted the current position of the vehicle on the travel route are traveling on the route.

  Next, in step S503, the emergency vehicle E starts emergency traveling. The route information unit 11 b of the processing unit 11 of the in-vehicle apparatus 10 receives an input of an operation of the operation unit 14 by the user, thereby inputting that the emergency travel has been started.

  The route information unit 11 b of the in-vehicle device 10 receives a planned traveling route to the destination of the emergency vehicle E from the route calculation unit 11 a. Then, the route information unit 11b transmits the start request for requesting the start of the route determination process to the server 50 via the network N, together with the travel route to the destination and the current position of the vehicle.

  In the example shown in FIG. 6, the emergency vehicle E is traveling toward the intersection F from behind the general vehicles A and B. The travel route to the destination of the emergency vehicle E includes a route going straight from the current position to the intersection F. The vehicle speed of the emergency vehicle E during emergency travel is generally considered to be faster than that of the general vehicles A, B, and C.

  Further, the route information unit 11 b of the in-vehicle device 10 controls the sound output unit 15 to sound a siren from an external speaker (not shown) and turn on the red light 21.

  Next, in step S505, the route determination unit 51a of the server 50 of the center S receives the request for starting the route determination process, the travel route to the destination, and the current position of the emergency vehicle E. When the route determination unit 51a receives the start request, the route determination unit 51a starts route determination processing for the emergency vehicle E.

  The route determination unit 51a travels within a predetermined distance from the current position of the emergency vehicle on the planned travel route of the emergency vehicle E for a general vehicle whose travel route overlaps with at least a part of the travel route of the emergency vehicle It is determined that the traveling route of the general vehicle overlaps at least a part of the traveling route of the emergency vehicle at the same time. As described above, since the vehicle speed of the emergency vehicle E is usually higher than that of the general vehicles A, B, and C, the emergency vehicle E is traveling within a predetermined distance from the current position of the emergency vehicle It is considered that there is a high possibility of catching up with general vehicles. The traveling direction of the general vehicle may be the same as or different from the traveling direction of the emergency vehicle. The predetermined distance may be, for example, 500 m, 1 km or 3 km. In this specification, overlapping of the travel route of the general vehicle at the same time as at least a part of the travel route of the emergency vehicle E may possibly cause the general vehicle to be located close to a certain extent that there is a risk of preventing the emergency vehicle from traveling. It is a meaning that includes a certain thing.

  In the example shown in FIG. 6, in the route judgment unit 51a, the planned travel route of the general vehicles A and B overlaps at least a part of the travel route of the emergency vehicle E. It is determined that the vehicle is located within a predetermined distance from the current position of the emergency vehicle E. On the other hand, the route determination unit 51a determines that the travel route of the ordinary vehicle C does not overlap at least a part of the travel route of the emergency vehicle E.

  Next, in step S507, the route determination unit 51a determines that the travel routes of the general vehicles A and B overlap at the same point in time as at least a part of the travel route of the emergency vehicle E. Decide to save from E's route.

  Since the processing of the route determination unit 51a described above is processing for comparing the travel route within a predetermined distance from the current position of the emergency vehicle E with the positions of the general vehicles A, B, and C, a large number of general vehicles Even in the present situation, it can be implemented quickly.

  Next, in step S509, the route determination unit 51a transmits a withdrawal request for moving the regular vehicles A and B to the shoulder of the traveling route to the regular vehicles A and B via the network N. The route determination unit 51a does not transmit a withdrawal request to the general vehicle C traveling on a route that does not overlap the traveling route of the emergency vehicle E.

  Next, in step S511, the route information unit 31b of the in-vehicle apparatus 30 of the general vehicles A and B receives the save request. In order to give priority to traveling of the emergency vehicle E, the route information unit 31b displays on the display unit 33 that the vehicle is moved to the road shoulder and stopped, and notifies the user of a withdrawal request. In addition, the route information unit 31 b may output the same information to the sound output unit 35 by voice and notify the user of a save request.

  As shown in FIG. 7, the user driving the general vehicles A and B moves the vehicle to the road shoulder in front of the intersection F and stops. The emergency vehicle E passes the side of the general vehicles A and B, goes straight through the intersection F, and continues emergency travel to the destination. It should be noted that the evacuation method of the general vehicles A and B is not limited to moving the vehicle to the shoulder, and the vehicle may be bypassed by bypassing it or temporarily stopping the vehicle in a parking lot such as a convenience store . Further, the method of withdrawing the general vehicles A and B may be to shift the timing at which the traveling route of the emergency vehicle E and the general vehicle overlap, by increasing (or decreasing) the vehicle speed. In short, the method of retracting the general vehicles A and B may be any method that can make the general vehicle not at the position when the emergency vehicle E is predicted to travel the position of the general vehicle.

  In the case where the ordinary vehicles A and B are vehicles for which the automatic driving control is performed, the ordinary vehicles A and B which received the withdrawal request move the vehicles to the road shoulder in front of the intersection F by the automatic control and stop It is also good. The method to save the vehicles A and B under automatic driving control is not limited to moving to the road shoulder, but it is also possible to put the vehicle on the side road and detour, or temporarily stop at a parking lot such as a convenience store Good. In addition, the method of withdrawing the ordinary vehicles A and B which are subject to automatic driving control may be to shift the timing at which the traveling route of the emergency vehicle E and the ordinary vehicle overlap by increasing (or decreasing) the vehicle speed. . In short, the method of saving the ordinary vehicles A and B under automatic driving control may be any method that can make the ordinary vehicle not at the position when the emergency vehicle E is predicted to travel the position of the ordinary vehicle.

  The processes of steps S501 to S511 described above are repeatedly performed until the emergency vehicle E arrives at the destination. Thus, another general vehicle whose travel route is determined to at least partially overlap the travel route of the emergency vehicle E can be withdrawn from the travel route of the emergency vehicle E as needed.

  Next, in step S513, when the emergency vehicle E arrives at the destination, the route information unit 11b of the processing unit 11 of the in-vehicle apparatus 10 ends the emergency travel by inputting the operation of the operation unit 14 by the user. Is input. Then, the path information unit 11 b transmits an end request for requesting the end of the path determination process to the server 50 via the network N. Further, the route information unit 11 b controls the sound output unit 15 to stop the siren and turn off the red light 21.

  Next, in step S515, the route determination unit 51a of the server 50 of the center S receives the termination request, and terminates the route determination processing. When the route determination unit 51a receives a request for starting the route determination process from another emergency vehicle, the route determination unit 51a continues the route determination process for the emergency vehicle.

  In the operation example described above, the general vehicles A and B could execute the withdrawal request, but depending on the conditions of the traveling route on which the general vehicles A and B are traveling, they may move to the road shoulder and stop Sometimes it is difficult. As described above, the operation of the system 1 when the ordinary vehicles A and B can not execute the save request will be described below with reference to FIG.

  First, in step S801, when the user driving the general vehicle A or B determines that the vehicle can not be moved to the road shoulder, the user can operate the operation unit 34 to execute the save request, the route of the on-vehicle device 30 Input to the information unit 31b. The path information unit 31 b transmits a non-backup notice to the server 50 via the network N.

  Next, in step S803, the route determination unit 51a of the server 50 of the center S receives the backup rejection notification. The route determination unit 51a, together with a route change request for requesting to change the travel route of the general vehicles A and B to a travel route not including the travel route of the emergency vehicle E, It transmits to the general vehicles A and B via.

  Next, in step S805, the route information unit 31b of the in-vehicle apparatus 30 of the general vehicles A and B receives the route of the emergency vehicle E together with the route change request. The route information unit 31b causes the route calculation unit 31a to calculate the travel route not including the travel route of the emergency vehicle E, and then displays the changed route on the display unit 33 to change the travel route to the user. To notify. Further, the route information unit 31 b may control the sound output unit 15 to notify the user that the traveling route should be changed.

  Thereby, when the ordinary vehicles A and B can not move the vehicles to the road shoulder, the traveling route of the ordinary vehicles A and B may be changed to withdraw the ordinary vehicles A and B from the traveling route of the emergency vehicle E. it can.

  When the ordinary vehicles A and B are vehicles for which automatic driving control is performed, the ordinary vehicles A and B receiving the traveling route of the emergency vehicle E together with the route change request are automatically controlled to travel the emergency vehicle E. After calculating the travel route not including the route, the changed travel route may be traveled.

  According to the system of the present embodiment described above, it is possible to withdraw the general vehicle from the travel route of the emergency vehicle. According to the system of the present embodiment, even in the travel route of the emergency vehicle other than the intersection, since the general vehicle is evacuated from the travel route of the emergency vehicle, the inflow of the general vehicle to the intersection located on the travel route of the emergency vehicle By restraining, the emergency vehicle can pass the intersection safely and quickly.

  Next, a second embodiment of the above-described system will be described below with reference to FIGS. For the points that are not particularly described for the second embodiment, the detailed description for the first embodiment described above is applied as appropriate. Further, the same components are denoted by the same reference numerals.

  FIG. 9 is a sequence diagram for explaining the operation of the system of the second embodiment.

  In the system 1 of the present embodiment, the process in which the route determination unit 51a of the server 50 of the center S determines whether the travel route of the general vehicle overlaps with at least a part of the travel route of the emergency vehicle at the same time It differs from the first embodiment described above.

  The operation of the system 1 of the present embodiment will be described below with reference to the sequence diagram shown in FIG.

  First, in step S901, the route information unit 31b of the processing unit 31 of the in-vehicle device 30 of the general vehicle A, B, C is a planned travel route from the route calculation unit 31a to the destination of the general vehicle A, B, C. Receive The route information unit 31 b can acquire the vehicle speed via the in-vehicle network. Then, the route information unit 31 b transmits the traveling route to the destination, the vehicle speed, and the current positions of the general vehicles A, B, and C on the traveling route to the server 50 via the network N. When the route calculation unit 31a newly calculates a travel route, the route information unit 31b determines the travel route to the destination, the vehicle speed, and the current general vehicles A, B, and C on the travel route at predetermined intervals. The position of is transmitted to the server 50.

  As shown in FIG. 10, the general vehicles A, B, and C travel on the route in the same direction toward the intersection F in order.

  The route determination unit 51a of the processing unit 51 of the server 50 receives the travel route to the destination of the general vehicles A, B, and C, the vehicle speed, and the current position of the general vehicles A, B, and C on the travel route. , And stored in the storage unit 52.

  Next, in step S903, the emergency vehicle E starts emergency traveling. The route information unit 11 b of the processing unit 11 of the in-vehicle apparatus 10 receives an input of an operation of the operation unit 14 by the user, thereby inputting that the emergency travel has been started.

  The route information unit 11 b of the in-vehicle device 10 receives a planned traveling route to the destination of the emergency vehicle E from the route calculation unit 11 a. The route information unit 31 b can acquire the vehicle speed via the in-vehicle network. Then, the route information unit 11b transmits the start request for requesting the start of the route determination process to the server 50 via the network N, together with the travel route to the destination, the vehicle speed, and the current position of the vehicle.

  In the example shown in FIG. 10, the emergency vehicle E travels toward the intersection F from behind the ordinary vehicles A, B, and C. The travel route to the destination of the emergency vehicle E includes a route going straight from the current position to the intersection F. The vehicle speed of the emergency vehicle E during emergency travel is generally considered to be faster than that of the general vehicles A, B, and C.

  Further, the route information unit 11 b of the in-vehicle device 10 controls the sound output unit 15 to sound a siren from an external speaker (not shown) and turn on the red light 21.

  Next, in step S905, the route determination unit 51a of the server 50 of the center S receives the request for starting the route determination process, the travel route to the destination, the vehicle speed, and the current position of the emergency vehicle E. When the route determination unit 51a receives the start request, the route determination unit 51a starts route determination processing for the emergency vehicle E.

  The route judging unit 51a is located within a predetermined distance from the current position of the emergency vehicle, and the emergency vehicle is a general vehicle whose travel route overlaps with at least a part of the travel route of the emergency vehicle. When traveling on an overlapping route between the travel route of the emergency vehicle and the travel route of the general vehicle, the travel route of the general vehicle is the emergency vehicle when the distance between the emergency vehicle and the general vehicle is less than a predetermined threshold. It is judged that it overlaps with at least a part of the travel route of The predetermined distance from the current position of the emergency vehicle may be, for example, 1 km, 5 km or 10 km. Here, as long as the general vehicle is located within a predetermined distance from the current position of the emergency vehicle, it does not matter whether the general vehicle is currently positioned on the travel route of the emergency vehicle. The route determination unit 51a executes a predetermined route search program stored in the storage unit 52, and based on the map data stored in the storage unit 52 and the current position of the emergency vehicle and the current position of the general vehicle , Find the current distance between the emergency vehicle and the general vehicle. The traveling direction of the general vehicle may be the same as or different from the traveling direction of the emergency vehicle.

  Then, the route determination unit 51a determines the position of the emergency vehicle and the position of the general vehicle at each time when the emergency vehicle travels an overlapping route where the travel route of the emergency vehicle and the travel route of the general vehicle overlap. Ask for and. Specifically, based on the current time, the vehicle speed of the emergency vehicle, and the travel route of the emergency vehicle, the route determination unit 51a obtains an overlapping period in which the emergency vehicle is traveling on the overlap route. . Next, based on the current time, the vehicle speed of the emergency vehicle, and the travel route of the emergency vehicle, the route determination unit 51a obtains the position of the emergency vehicle at each time of the overlapping period. Further, the route determination unit 51a obtains the position of the general vehicle at each time of the overlapping period based on the current time, the vehicle speed of the general vehicle, and the travel route of the general vehicle.

  Then, when the distance between the emergency vehicle and the general vehicle becomes equal to or less than a predetermined threshold at any point in the overlapping period, the route determination unit 51a determines that the travel route of the general vehicle is at least a part of the travel route of the emergency vehicle It is judged that it overlaps at the same time as. The predetermined threshold may be 0 m to 100 m.

  On the other hand, when the emergency vehicle travels on a route where the travel route of the emergency vehicle and the travel route of the general vehicle overlap, the route determination unit 51a determines that the distance between the emergency vehicle and the general vehicle is less than a predetermined threshold. If not, it is determined that the travel route of the general vehicle does not overlap at the same time as at least a part of the travel route of the emergency vehicle.

  First, in the example shown in FIG. 10, in the route determination unit 51a, the general vehicles A, B and C are located within a predetermined distance from the current position of the emergency vehicle, and the travel route is the emergency vehicle It is judged that it overlaps with at least a part of the travel route of E. Therefore, the route judging unit 51a sets the distance between the emergency vehicle E and the general vehicles A, B, C at a predetermined threshold value or less at any point in the overlapping period for each of the general vehicles A, B, C. It is determined whether or not

  In the example illustrated in FIG. 11, the route determining unit 51 a determines that the distance between the emergency vehicle E and the general vehicle A becomes equal to or less than a predetermined threshold at any point in the overlapping period.

  In the example illustrated in FIG. 12, the route determination unit 51 a determines that the distance between the emergency vehicle E and the general vehicle B does not become equal to or less than a predetermined threshold in the overlapping period.

  In the example illustrated in FIG. 13, the route determining unit 51 a determines that the distance between the emergency vehicle E and the general vehicle C becomes equal to or less than a predetermined threshold at any point in the overlapping period.

  Next, in step S 907, the route determination unit 51 a determines that the travel routes of the general vehicles A and C overlap at the same time as at least a part of the travel route of the emergency vehicle E. Decide to save from E's route.

  Next, in step S909, the route determination unit 51a transmits a withdrawal request for moving the regular vehicles A and C to the shoulder of the traveling route to the regular vehicles A and C via the network N. Here, since there are two general vehicles for which it is determined that the route determination unit 51a is to be evacuated from the travel route of the emergency vehicle E, the general vehicle is the emergency vehicle E for each of the general vehicles A and C. Based on the distance traveled by the general vehicle on the same travel route as the emergency vehicle E, determine the order to withdraw the general vehicle from the travel route of the general vehicle based on the distance traveled on the same travel route as Inform you that you want to save. Here, the distance traveled by the general vehicle on the same travel route as the emergency vehicle E is the meaning including the length of the section where the travel route of the general vehicle and the travel route of the emergency vehicle E overlap.

  In the example shown in FIG. 11 and FIG. 13, the general vehicle A travels the same traveling route as the emergency vehicle E longer than the general vehicle C. Therefore, in the present embodiment, the route determination unit 51a notifies the save request in the order in which the distance traveled on the same travel route as the emergency vehicle E is long. That is, the route determination unit 51a first notifies the ordinary vehicle A of the withdrawal request, and then notifies the ordinary vehicle C of the withdrawal request. As a result, even if it is difficult to move to the shoulder due to congestion in the travel route, the emergency vehicle E is preferentially evacuated from the travel route of the emergency vehicle E from general vehicles that are likely to interfere with the travel of the emergency vehicle E. It can be done.

  Furthermore, another example in which the route determination unit 51a determines the order in which the vehicle travels along the same travel route as the emergency vehicle E determines the order to be retracted will be described below with reference to FIGS. 14 and 15.

  As shown in FIG. 14A, the ordinary vehicles A, B, and C travel on the route in the same direction toward the intersection F in order. The emergency vehicle E is traveling toward the intersection F from behind the general vehicles A, B, and C. The travel route to the destination of the emergency vehicle E includes a route going straight from the current position to the intersection F. In addition, it is assumed that one vehicle can pass while the width of the lane after passing the intersection F can not pass two vehicles side by side. That is, after passing the intersection F, the general vehicle A can not move to the road shoulder and pass the emergency vehicle E. In addition, the emergency vehicle E can not pass by beside the traveling general vehicle A and can not pass it. On the other hand, it is assumed that, in front of the intersection F, there is an area where the vehicle can be retracted on the road shoulder.

  As shown in FIG. 14B, the route determination unit 51a determines that the distance between the emergency vehicle E and the general vehicle A becomes equal to or less than a predetermined threshold at any point in the overlapping period after passing the intersection F. Do.

  As shown in FIG. 14C, since the general vehicle B turns left at the intersection F, the route determination unit 51a determines that the distance between the emergency vehicle E and the general vehicle B does not become less than a predetermined threshold in the overlapping period. Do.

  As shown in FIG. 14 (D), the route determination unit 51a determines that the distance between the emergency vehicle E and the general vehicle C becomes equal to or less than a predetermined threshold before the intersection F. However, since the general vehicle C turns the intersection F to the right, the travel route of the general vehicle C after turning to the right does not overlap with the emergency vehicle E.

  Here, as shown in FIG. 15A, it is assumed that the general vehicle C which the emergency vehicle E catches first is retracted on the road shoulder. After passing the intersection F, the emergency vehicle E passes by the general vehicle C, and then catches up with the general vehicle A. However, since the width of the lane is narrow, the general vehicle A can not move to the road shoulder. In addition, the emergency vehicle E can not pass by beside the general vehicle A and can not pass it. Therefore, the emergency vehicle E continues to travel behind the general vehicle A.

  In such a case, as shown in FIG. 15 (B), it is preferable to initially retract a general vehicle A, which travels the same travel route as the emergency vehicle E, for a long distance. The emergency vehicle E may catch up with the general vehicle C at a time before the intersection F after overtaking the general vehicle A, but since the general vehicle C turns right at the intersection F, the emergency vehicle E immediately travels Will not interfere with The emergency vehicle E can go straight through the intersection F and continue the emergency travel to the destination. The above is description of the other example which determines the order to retract | save according to the order which the distance which drive | works the same driving | running route as emergency vehicle E is long.

  In a situation where there are few ordinary vehicles traveling and there are many sheltered places, among general vehicles having a short travel distance on the same travel route as emergency vehicle E, the road shoulders in order from general vehicles where emergency vehicle E catches first It may be better to move it to the direction of the emergency vehicle so that it does not interfere with the travel of the emergency vehicle. Thus, depending on the conditions of the travel route, determine the order to evacuate the emergency vehicle E according to the order of shorter distance until catching up. You may be notified that you want to save.

  The route determination unit 51a does not transmit a withdrawal request to a general vehicle B traveling on a route that does not overlap with the travel route of the emergency vehicle E.

  Next, in step S911, the route information unit 31b of the in-vehicle apparatus 30 of the general vehicle A or C receives the save request. In order to give priority to traveling of the emergency vehicle E, the route information unit 31b displays on the display unit 33 that the vehicle is moved to the road shoulder and stopped, and notifies the user of a withdrawal request.

  As shown in FIG. 16, after passing through the intersection F, the user driving the general vehicle A moves the vehicle to the road shoulder and stops. In addition, the user driving the general vehicle C moves the vehicle to the road shoulder in front of the intersection F and stops. The emergency vehicle E passes the side of the general vehicles A and C, goes straight through the intersection F, and continues emergency travel to the destination.

  The processes of steps S901 to S911 described above are repeatedly performed until the emergency vehicle E arrives at the destination. Thus, another general vehicle whose travel route is determined to at least partially overlap the travel route of the emergency vehicle E can be withdrawn from the travel route of the emergency vehicle E as needed.

  Next, in step S913, when the emergency vehicle E arrives at the destination, the route information unit 11b of the processing unit 11 of the in-vehicle apparatus 10 ends the emergency travel by inputting the operation of the operation unit 14 by the user. Is input. The route information unit 11 b transmits an end request for requesting the end of the route determination process to the server 50 via the network N. Further, the route information unit 11 b controls the sound output unit 15 to stop the siren and turn off the red light 21.

  Next, in step S915, the route determination unit 51a of the server 50 of the center S receives the termination request, and terminates the route determination processing.

  According to the system of the present embodiment described above, for the emergency vehicle traveling on the traveling route to the destination, a general vehicle which may travel in the traveling route of the emergency vehicle in proximity to the emergency vehicle is It can be made to stand by from the travel route of the emergency vehicle. On the other hand, for an emergency vehicle traveling on a travel route to a destination, a general vehicle having a low possibility of traveling in proximity to the emergency vehicle on the travel route of the emergency vehicle can not be withdrawn from the travel route. , There is no need to impede the running of ordinary vehicles.

  In the present invention, the methods and systems of the above-described embodiments can be modified as appropriate without departing from the spirit of the present invention. In addition, the configuration requirements of one embodiment can be appropriately applied to the other embodiments.

  For example, in each of the above-described embodiments, the processing unit 51 of the server 50 of the center S includes the route determination unit, but as illustrated in FIG. 17, the processing unit 11 of the in-vehicle device 10 of the emergency vehicle E You may have the path | route judgment part 11c. In this case, the on-vehicle device 30 of the general vehicles A to C performs inter-vehicle communication with the route determination unit 11 c of the processing unit 11 of the on-vehicle device 10 of the emergency vehicle E instead of the server C. 11c executes a route determination process.

  Moreover, in each embodiment mentioned above, although the process part 51 of the server 50 of the center S had the path | route judgment part, as shown in FIG. 18, the process part 31 of the vehicle-mounted apparatus 30 of general vehicles A-C. May have the path determination unit 31 c. In this case, the on-vehicle device 10 of the emergency vehicle E performs inter-vehicle communication with the route determination unit 31c of the processing unit 31 of the on-vehicle device 30 of the general vehicles A to C instead of the server 50. 31c executes route determination processing.

1 System E Emergency Vehicle A, B, C General Vehicle S Center 10 In-vehicle device 11 Processing unit 12 Storage unit 13 Display unit 14 Operation unit 15 Sound output unit 16 Communication unit 20 GPS information reception unit 21 Red light 30 Vehicle device 31 Processing unit 32 storage unit 33 display unit 34 operation unit 35 sound output unit 36 communication unit 40 GPS information reception unit 50 server 51 processing unit 52 storage unit 53 display unit 54 operation unit 55 communication unit

Claims (8)

Comparing the travel route of the emergency vehicle with the travel route of the general vehicle to determine whether the travel route of the general vehicle overlaps at least a part of the travel route of the emergency vehicle;
When it is determined that the travel route of the general vehicle overlaps with at least a part of the travel route of the emergency vehicle, it is determined to withdraw the general vehicle from the travel route of the emergency vehicle.
Method including. It may be determined whether the travel route of the general vehicle overlaps at least a part of the travel route of the emergency vehicle at the same time,
The general vehicle traveling in a range of a predetermined distance from the current position of the emergency vehicle in the travel route of the emergency vehicle for the general vehicle where the travel route overlaps at least a part of the travel route of the emergency vehicle The method according to claim 1, comprising determining that a travel route of the general vehicle overlaps at least a part of a travel route of the emergency vehicle at the same time. It may be determined whether the travel route of the general vehicle overlaps at least a part of the travel route of the emergency vehicle at the same time,
The emergency vehicle is the emergency vehicle which is located within a predetermined distance from the current position of the emergency vehicle and whose travel route overlaps with at least a part of the travel route of the emergency vehicle When the distance between the emergency vehicle and the general vehicle becomes equal to or less than a predetermined threshold while traveling along the overlapping route of the travel route of the general vehicle and the travel route of the general vehicle, The method according to claim 1, comprising determining that the vehicle overlaps with at least a part of the travel route of the emergency vehicle at the same time.   When there are a plurality of general vehicles determined to be retracted from the travel route of the emergency vehicle, the general vehicle travels the same travel route as the emergency vehicle for each of the plurality of general vehicles. 4. The method according to claim 3, further comprising determining the order of withdrawing the general vehicle from the traveling route of the general vehicle based on the distance the general vehicle travels along the same traveling route as the emergency vehicle. the method of.   The method according to any one of claims 1 to 4, further comprising notifying the general vehicle determined to be retracted from the travel route of the emergency vehicle that the general vehicle should be retracted from the travel route of the general vehicle. Or the method described in one item.   The method according to any one of claims 1 to 5, wherein retracting the general vehicle from the travel route of the general vehicle includes moving the general vehicle to a shoulder of the travel route of the general vehicle. .   The step of withdrawing the general vehicle from the travel route of the general vehicle includes causing the general vehicle to change the travel route of the general vehicle to a travel route not including the travel route of the emergency vehicle. Item 5. The method according to any one of Items 1 to 5. A first processing unit disposed in an emergency vehicle and calculating a travel route of the emergency vehicle;
A second processing unit disposed in a general vehicle and calculating a travel route of the general vehicle;
The travel route of the emergency vehicle is compared with the travel route of the emergency vehicle notified from the first processing unit and the travel route of the general vehicle notified from the second processing unit. If it is determined that overlapping occurs at the same time as a part, and it is determined that the traveling path of the general vehicle overlaps at least a part of the traveling path of the emergency vehicle, A third processing unit that decides to withdraw from the travel route of the vehicle;
System with

Images