JP4946734B2 - Travel plan generation system and travel plan generation apparatus - Google Patents

Description

  The present invention relates to a travel plan generation system and a travel plan generation device.

Conventionally, a system that generates a travel point at a predetermined time is known as a system that generates a travel plan for a vehicle (see, for example, Patent Document 1). This system is a system that generates a travel locus depending on speed and performs vehicle group traveling along the travel locus.
Japanese Patent Laid-Open No. 10-105880

  However, in the conventional travel plan generation system, when a plurality of vehicles travel in cooperation to form a vehicle group, a travel plan is generated later depending on the behavior of the vehicle that previously generated the travel plan. There is a possibility that a vehicle that cannot generate a travel plan for maintaining normal travel may be generated due to fewer choices of behavior of the vehicle to perform.

  Therefore, the present invention has been made to solve such a technical problem, and appropriately determines a priority order for generating a travel plan, and generates a travel plan that can smoothly travel as a whole vehicle group. An object of the present invention is to provide a travel plan generation system and apparatus capable of performing the above.

That is, the travel plan generation system according to the present invention is a travel plan generation system that generates a travel plan for a plurality of vehicles, the provisional setting means for setting a provisional priority for each of the plurality of vehicles, and the high provisional priority. Temporary travel plan generation means for preferentially generating a temporary travel plan from a vehicle, travel state acquisition means for acquiring a travel state when the vehicle travels according to the temporary travel plan, and the plurality of vehicles based on the travel state Priority order setting means for setting priority order for each, travel plan generation means for preferentially generating a travel plan from the high priority vehicles, and transmission means for transmitting the travel plan to each of the plurality of vehicles. wherein the traveling state obtaining unit, a running state when the provisional priority to the predetermined rank obtained for each vehicle, said priority setting means, the degree of freedom of action Configured as characterized by a higher setting the priority as low the vehicle.

  According to the present invention, a provisional travel plan is generated by assigning provisional priorities to a plurality of vehicles, and the provisional travel state when traveling with a provisional travel plan in which the provisional priorities become a predetermined order is determined for each vehicle. The higher the priority, the higher the priority of the vehicle that the acquired temporary running state is delayed. As a result, when a vehicle is traveling in a vehicle group, a vehicle that is difficult to travel smoothly, that is, a vehicle with fewer action options, can set a higher priority and make a travel plan at an early stage. It is possible to generate a travel plan that allows smooth travel.

  Here, in the travel plan generation system, it is preferable that the priority order setting means uses the average speed in the temporary travel plan as the travel state, and sets the priority order higher for the vehicle having the lower average speed. . By configuring in this way, a vehicle with a low average speed and a high possibility of delaying the flow of the vehicle group can set a higher priority and make a travel plan at an early stage. It is possible to generate a travel plan that can be performed.

  In the travel plan generation system, it is preferable that the travel state acquisition unit sets the predetermined order to the lowest. By configuring in this way, for all the vehicles forming the vehicle group, when the priority order of the vehicles is the lowest, that is, by comparing the provisional traveling state when the action options are the least, between the vehicles , Priority can be set appropriately.

The travel plan generation device according to the present invention is a travel plan generation device that generates a travel plan for a plurality of vehicles, and includes provisional setting means for setting a provisional priority for each of the plurality of vehicles, and a high provisional priority. Temporary travel plan generation means for preferentially generating a temporary travel plan from a vehicle, travel state acquisition means for acquiring a travel state when the vehicle travels according to the temporary travel plan, and the plurality of vehicles based on the travel state Priority order setting means for setting a priority order for each, and travel plan generation means for preferentially generating a travel plan from the high priority vehicles, wherein the travel state acquisition means sets the provisional priority order to a predetermined value. the traveling state in which the ranking is obtained for each vehicle, said priority setting means is configured as a setting means sets the degree of freedom is high the priority as low the vehicle behavior .

  According to the present invention, a provisional travel plan is generated by assigning provisional priorities to a plurality of vehicles, and the provisional travel state when traveling with a provisional travel plan in which the provisional priorities become a predetermined order is determined for each vehicle. The higher the priority, the higher the priority of the vehicle that the acquired temporary running state is delayed. As a result, when a vehicle is traveling in a vehicle group, a vehicle that is difficult to travel smoothly, that is, a vehicle with fewer action options, can set a higher priority and make a travel plan at an early stage. It is possible to generate a travel plan that allows smooth travel.

  Here, in the travel plan generation device, it is preferable that the priority order setting means uses the average speed in the temporary travel plan as the temporary travel state, and sets the priority higher as the average speed is lower. By configuring in this way, a vehicle with a low average speed and a high possibility of delaying the flow of the vehicle group can set a higher priority and make a travel plan at an early stage. It is possible to generate a travel plan that can be performed.

  In the travel plan generation device, it is preferable that the travel state acquisition unit sets the predetermined order to the lowest order. By configuring in this way, for all the vehicles forming the vehicle group, when the priority order of the vehicles is the lowest, that is, by comparing the provisional traveling state when the action options are the least, between the vehicles , Priority can be set appropriately.

  According to the present invention, the priority order for generating a travel plan is appropriately determined, and the entire vehicle group can travel smoothly.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In addition, in each figure, the same code | symbol is attached | subjected to the same or an equivalent part, and the overlapping description is abbreviate | omitted.

  The travel plan generation system and the travel plan generation device according to the present embodiment are systems and devices that generate a travel plan for a plurality of vehicles, and are suitable for a vehicle that communicates between vehicles and automatically travels in cooperation with surrounding vehicles. It is used for.

  First, the configuration of the travel plan generation system according to the present embodiment will be described. FIG. 1 is a schematic configuration diagram of a travel plan generation system according to an embodiment of the present invention. The travel plan generation system 1 according to the present embodiment includes a sensor 33 for information acquisition, a communication unit (transmission means) 32 for communicating with a vehicle having a communication function, an antenna 31, and a travel plan generation device that generates a travel plan. 2 is provided.

  The sensor 33 has a function of acquiring vehicle periphery information, and is, for example, an image sensor such as a camera, a millimeter wave radar, an ultrasonic sensor, or the like. The sensor 33 has a function of acquiring surrounding information of the vehicle and outputting the acquired information to the travel plan generation device 2.

  The communication unit 32 has a function of communicating with a vehicle, a communication device arranged on the road side, and the like. The communication unit 32 has a function of inputting transmission data from the travel plan generation device 2 and transmitting it to the vehicle or communication device via the antenna 31, and receiving data from the vehicle or communication device via the antenna 31 and receiving the received data as a travel plan. And a function of outputting to the generation device 2.

  The travel plan generation device 2 includes a provisional priority order setting unit (provisional setting unit) 21, a provisional travel plan generation unit (provisional travel plan generation unit) 22, a travel state acquisition unit (travel state acquisition unit) 23, and a priority order setting unit ( A priority order setting unit) 24 and a travel plan generation unit (travel plan generation unit) 25.

  The provisional priority order setting unit 21 has a function of setting a plurality of vehicles as one group. For example, at a merge point, this is a function of setting a group of vehicles to be merged and about three vehicles at the front and rear of a vehicle that is traveling in a traveling lane or an overtaking lane at the merge point. Further, for example, at a lane decrease point, a vehicle that travels in a lane that disappears and a vehicle that is around three vehicles before and after a vehicle that travels in a lane that does not disappear are set as one group. When there is no vehicle that merges at the merge point or the like, about three vehicles before and after the vehicle that travels on the traveling lane or the overtaking lane at the merge point are set as one group.

  In addition, the provisional priority order setting unit 21 has a function of setting provisional priority order for each of a plurality of vehicles constituting one set group. The priority order indicates the order in which a travel plan of each vehicle is generated when a plurality of vehicles travel in cooperation. Here, the priority order is generated in descending order of priority. The provisional priority order is a provisional priority order set in advance. The provisional priority order setting unit 21 has a function of outputting the set provisional priority order to the provisional travel plan generation unit 22.

  The temporary travel plan generation unit 22 has a function of inputting a temporary priority from the temporary priority setting unit 21 and generating a temporary travel plan in the order of the input temporary priority. The travel plan is determined in advance as to what kind of control is performed for traveling within a predetermined time or to a predetermined point. For example, the travel control plan includes a travel locus and a speed pattern. A temporary travel plan is a travel plan generated in the order of provisional priority. Further, the temporary travel plan generation unit 22 has a function of outputting the generated temporary travel plan to the travel state acquisition unit 23.

  The travel state acquisition unit 23 has a function of acquiring the travel state when the vehicle travels based on the provisional travel plan. Here, the running speed includes an average speed. The travel state acquisition unit 23 has a function of acquiring a travel state based on the temporary travel plan input from the temporary travel plan generation unit 22. In addition, the traveling state acquisition unit 23 has a function of acquiring the traveling state when the provisional priority is set to a predetermined order for each vehicle constituting the vehicle group. The predetermined order is, for example, the lowest order. Furthermore, the traveling state acquisition unit 23 has a function of outputting the acquired traveling state to the priority order setting unit 24.

  The priority order setting unit 24 has a function of setting a priority order for each of a plurality of vehicles. The priority order setting unit 24 has a function of setting a priority order for each of a plurality of vehicles based on the travel state input from the travel state acquisition unit 23. The priority is set higher for a vehicle with a slower running state. Here, the vehicle in which the running state is stagnated is a vehicle that cannot smoothly run, and includes a vehicle having few action options, that is, a vehicle having a low degree of freedom of action. As an index representing such a state, for example, a speed is used, and a vehicle having a lower average speed included in the traveling state has a higher priority. The priority order setting unit 24 has a function of outputting the set priority order to the travel plan generation unit 25.

  The travel plan generation unit 25 has a function of inputting a priority from the priority order setting unit 24 and generating a travel plan in the order of the input priority. The travel plan generation unit 25 has a function of outputting the generated travel plan for each vehicle to the communication unit 32.

  Next, the operation of the travel plan generation device according to the present embodiment will be described. FIG. 2 is a flowchart showing the operation of the travel plan generation device 2 according to the present embodiment. The control process of FIG. 2 is repeatedly executed at a predetermined timing after the ignition is turned on, for example. In consideration of ease of understanding, the operation of the travel plan generation device when vehicle A joins vehicle group G at junction P as shown in FIG. 4 will be described.

  As illustrated in FIG. 2, the travel plan generation device 2 starts from a group configuration process (S10). The process of S10 is a process that is executed by the provisional priority setting unit 21 and configures a plurality of vehicles related to merging as one group, that is, a vehicle group. For example, as shown in FIG. 4, a group (vehicle group) G of about three vehicles before and after a vehicle traveling in a traveling lane or an overtaking lane at a junction P is set. When the process of S10 ends, the process proceeds to a provisional priority order setting process (S12).

  The process of S12 is executed by the provisional priority order setting unit 21, and is a process of setting a provisional priority order for each of a plurality of vehicles constituting the group set in the process of S10. For example, the traveling state of each vehicle is confirmed, and the priority order of vehicles with a low traveling speed at the present time is set high. When the process of S12 ends, the process proceeds to a merged vehicle determination process (S14).

  The process of S14 is a process that is executed by the provisional priority order setting unit 21 and determines whether or not a joining vehicle exists. For example, the presence of the joining vehicle is determined based on information obtained from the sensor 33 and the communication unit 32. In the process of S14, when it is determined that there is no merging vehicle, the process proceeds to an average speed calculation process (S18). On the other hand, when it is determined in the process of S14 that a joining vehicle exists, the process proceeds to a priority vehicle setting process (S16).

  The process of S16 is a process that is executed by the provisional priority order setting unit 21 and sets the merged vehicle determined in the process of S14 as a priority vehicle. In the process of S12, the priority is set higher in the order of the vehicles with the lowest traveling speed at the current time. For example, the priority order of the joining vehicle is set highest, and the subsequent order is set higher in the order of the vehicles with the lower traveling speed. . When the process of S16 ends, the process proceeds to an average speed calculation process (S18).

  The process of S18 is a process of calculating an average speed for each vehicle constituting the group. The processing content will be described later. When the process of S18 ends, the process proceeds to a priority order setting process (S20).

  The process of S20 is executed by the priority order setting unit 24, and a priority order for generating a travel plan is set for each of the plurality of vehicles constituting the group set in the process of S10 based on the average speed calculated in the process of S18. It is a process to set. Here, the vehicle is ordered from the vehicle with the lowest average speed. In this way, by using the average speed when the degree of freedom of action of the target vehicle is the most restricted and setting the priority of the vehicle with the low average speed high, the vehicle travels from a vehicle having a large influence on the entire vehicle group. A plan can be generated. That is, by determining a travel plan in order from a vehicle with a low degree of freedom of action, it is possible to avoid getting stuck due to being pressed by a plan of another vehicle and getting stuck. Thereby, the fall of the average speed as the whole vehicle group can be prevented. When the process of S20 ends, the process proceeds to a travel plan generation process (S22).

  The process of S22 is a process that is executed by the travel plan generation unit 25 and generates all the travel plans of the vehicles in the group in the order of priority set in the process of S20. This travel plan is generated by the same process as the temporary travel plan described in the process of S34. When the process of S22 ends, the process proceeds to a control confirmation process (S24).

  The process of S24 is a process that is executed by the travel plan generation device 2 and determines whether or not the travel control has ended. In the process of S24, when it is determined that the travel control has not ended, the process proceeds to a merged vehicle confirmation process (S14). In the processes after S14, the control process is performed using the priority set in the process of S20, not the provisional priority set in the process of S12. On the other hand, if it is determined in the process of S24 that the travel control has ended, the control process shown in FIG. 2 is ended.

  By performing the control process shown in FIG. 2, a travel plan can be determined earlier for a vehicle with a lower average speed, so that a travel plan for the vehicle can be generated in an order that has less influence on the travel of the entire group.

  Next, the operation of the average speed calculation process of the travel plan generation device according to the present embodiment will be described. FIG. 3 is a flowchart showing the operation of the travel plan generation apparatus 2 according to the present embodiment, and shows details of the processing in S18 of FIG.

  The control process shown in FIG. 3 is executed by the provisional priority order setting unit 21, the provisional travel plan generation unit 22, and the travel state acquisition unit 23. First, the control process shown in FIG. 3 starts from a process for selecting a target vehicle (S30).

  The process of S30 is a process which is executed by the provisional priority order setting unit 21 and selects one vehicle to be processed in the group including the merged vehicle. In addition, since the average speed calculation process shown in FIG. 3 targets all the vehicles that make up the group, the process of S30 is repeated as a result, regardless of the selection method and order of vehicles to be processed. All vehicles may be selected. Here, as an example, the vehicle is set as the target vehicle in the order of vehicles with the lowest average vehicle speed. When the process of S30 ends, the process proceeds to a provisional priority order setting process (S32).

  The process of S32 is a process that is executed by the provisional priority setting unit 21 and sets the provisional priority of the vehicle selected as the target vehicle in the process of S30 to the lowest. For example, when the provisional rank is set for six groups, the provisional priority of the target vehicle is set to seventh. Note that one rank is vacated when the target vehicle is changed to the lowest position, but in this embodiment, processing is performed in order from the vehicle with the highest priority. Absent. Alternatively, the rank of the target vehicle may be set to the sixth position, and the rank may be raised when an empty rank occurs. By executing the processing of S30 and S32, it is possible to approach the priority order for setting the provisional priority order, so that the processing efficiency can be improved. When the process of S32 ends, the process proceeds to a travel plan generation process (S34).

  The process of S34 is executed by the temporary travel plan generation unit 22 and generates a temporary travel plan in the order of provisional priority. The temporary travel plan generation unit 22 is a process of generating a temporary travel plan in order from a vehicle with a higher temporary priority set in the process of S32. The travel plan is generated in consideration of, for example, a driver's request including travel time, fuel economy priority, break plan, and travel environment information input from the sensor 33 and the communication unit 32. The temporary travel plan generation unit 22 generates a temporary travel plan for all the vehicles constituting the group. By executing the processing of S34, it is possible to generate a travel plan when the priority order of the target vehicle is the lowest, that is, a travel plan when the degree of freedom of action of the target vehicle is most limited. When the process of S34 ends, the process proceeds to an average speed calculation process for the target vehicle (S36).

  The process of S36 is a process that is executed by the traveling state acquisition unit 23 and calculates the average speed of the vehicle that is the target of the process of S30, that is, the vehicle that has the provisional priority set as the lowest. The traveling state acquisition unit 23 calculates the average speed of the target vehicle based on the provisional traveling plan obtained in the process of S36. When the process of S36 is completed, the process proceeds to an all vehicle implementation confirmation process (S38).

  The process of S38 is a process that is executed by the traveling state acquisition unit 23, and determines whether or not the average speed has been calculated by selecting all the vehicles constituting the group as the target vehicle. In the process of S38, when it is determined that the average speed of all the vehicles constituting the group has not been calculated, the process proceeds to the target vehicle selection process (S30). On the other hand, in the process of S38, when it is determined that the average speed of all the vehicles constituting the group has been calculated, the average speed calculation process shown in FIG.

  As described above, according to the travel plan generation system 1 and the travel plan generation device 2 according to the present embodiment, provisional priority is assigned to a plurality of vehicles to generate a provisional travel plan, and the provisional priority is a predetermined order. The provisional traveling state when traveling according to the provisional traveling plan is acquired for each vehicle, and a higher priority can be set for a vehicle whose acquired provisional traveling state is delayed. As a result, when a vehicle is traveling in a vehicle group, a vehicle that is difficult to travel smoothly, that is, a vehicle with fewer action options, can set a higher priority and make a travel plan at an early stage. It is possible to generate a travel plan that allows smooth travel.

  In addition, according to the travel plan generation system 1 and the travel plan generation device 2 according to the present embodiment, a vehicle with a low average speed and a high possibility of delaying the flow of the vehicle group is set to a higher priority and the travel plan is earlier. Therefore, it is possible to generate a travel plan that allows the vehicle group to travel smoothly.

  Furthermore, according to the travel plan generation system 1 and the travel plan generation device 2 according to the present embodiment, for all the vehicles forming the vehicle group, when the priority order of the vehicles is the lowest, that is, there are few action options. The priority order can be appropriately set by comparing the provisional travel state between the vehicles.

  In addition, embodiment mentioned above shows an example of the travel plan production | generation system and travel plan production | generation apparatus which concern on this invention. The travel plan generation system and the travel plan generation device according to the present invention are not limited to the travel plan generation system and the travel plan generation device according to these embodiments, and in a range not changing the gist described in each claim, The travel plan generation system and the travel plan generation device according to the embodiment may be modified or applied to other things.

  For example, in the above-described embodiment, as an example in which the running state of the vehicle is stagnant, an example in which evaluation is performed using the speed as an index has been described. However, when the speed is constant, the degree to which the traveling state of the vehicle is stagnant using safety as an index Even when the above is evaluated, it is possible to generate a travel plan that allows the vehicle group to travel smoothly.

  In the above embodiment, in order to reduce the processing load of the average speed calculation process shown in FIG. 3, provisional priorities are assigned in ascending order of the average speed, and the vehicle in the case where the priority of the vehicle is the lowest. The average speed is calculated for all vehicles, but the vehicle group as a whole can run smoothly even when all possible combinations of ranks are implemented, for example, except when the vehicle priority ranks lowest. It is possible to generate a travel plan that can be performed.

  Moreover, in the said embodiment, although the travel plan production | generation system 1 and the travel plan production | generation apparatus 2 which concern on this invention were demonstrated, the vehicle which comprises a vehicle group does not need to have an inter-vehicle communication function.

It is a composition outline figure showing the run plan generation system concerning this embodiment. It is a flowchart which shows operation | movement of the travel plan production | generation apparatus of FIG. It is a flowchart which shows operation | movement of the travel plan production | generation apparatus of FIG. It is a schematic diagram explaining the travel plan production | generation system of FIG.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Travel plan production | generation system, 2 ... Travel plan production | generation apparatus, 21 ... Temporary priority order setting part (provisional setting means), 22 ... Temporary travel plan production | generation part (temporary travel plan production | generation means), 23 ... Travel condition acquisition part (travel) State acquisition means), 24 ... priority order setting section (priority order setting means), 25 ... travel plan generation section (travel plan generation means), 32 ... communication section (transmission means).

Claims (6)

A travel plan generation system for generating a travel plan for a plurality of vehicles,
Provisional setting means for setting a provisional priority for each of the plurality of vehicles;
Provisional travel plan generation means for preferentially generating a provisional travel plan from a vehicle having a high provisional priority;
Traveling state acquisition means for acquiring a traveling state when the vehicle travels according to the provisional traveling plan;
Priority order setting means for setting a priority order for each of the plurality of vehicles based on the running state;
Travel plan generating means for generating a travel plan preferentially from the high priority vehicle;
Transmission means for transmitting the travel plan to each of the plurality of vehicles,
The traveling state acquisition means acquires a traveling state when the provisional priority is set to a predetermined order for each vehicle,
The travel plan generation system, wherein the priority order setting means sets the priority order higher for the vehicle having a lower degree of freedom of action .   2. The travel plan generation according to claim 1, wherein the priority order setting unit uses an average speed in the provisional travel plan as the travel state, and sets the priority order higher for the vehicle with the lower average speed. system. The traveling state obtaining unit, drive plan generating system according to claim 1 or 2, characterized in that said predetermined rank the lowest. A travel plan generation device that generates a travel plan for a plurality of vehicles,
Provisional setting means for setting a provisional priority for each of the plurality of vehicles;
Provisional travel plan generation means for preferentially generating a provisional travel plan from a vehicle having a high provisional priority;
Traveling state acquisition means for acquiring a traveling state when the vehicle travels according to the provisional traveling plan;
Priority order setting means for setting a priority order for each of the plurality of vehicles based on the running state;
A travel plan generating means for generating a travel plan preferentially from the high priority vehicles,
The traveling state acquisition means acquires a traveling state when the provisional priority is set to a predetermined order for each vehicle,
The travel plan generation device, wherein the priority order setting means sets the priority order higher as the vehicle has a lower degree of freedom of action .   5. The travel plan generation device according to claim 4, wherein the priority order setting unit uses an average speed in the provisional travel plan as the travel state, and sets the priority order higher as the average speed is lower.   The travel plan generation device according to claim 4 or 5, wherein the travel state acquisition means sets the predetermined order to the lowest.

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