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CN-122029582-A - Control system for vehicle

CN122029582ACN 122029582 ACN122029582 ACN 122029582ACN-122029582-A

Abstract

The invention improves a control system of a vehicle. The server device of the control system generates map data by mapping the positions of the plurality of mobile units for each traffic zone. The control unit of the server generates individual control information based on the map data. When a first mobile body of a vehicle, which is a travel control unit that controls travel of the vehicle in accordance with received individual control information, travels so as to intersect a second travel zone from a first travel zone, the control unit selects a first intersection section, and transmits individual control information including intersection limitation information that specifies a section and a time zone in which intersection is limited. The first moving body controls the travel of the automatically drivable vehicle so as not to cross the second traffic zone in the crossing restriction information.

Inventors

  • Kou Yukiyoshi

Assignees

  • 株式会社斯巴鲁

Dates

Publication Date
20260512
Application Date
20231020

Claims (6)

  1. 1. A control system for a vehicle, comprising: A first mobile body as a vehicle having a travel control section for controlling travel of the vehicle in accordance with the received individual control information, and A server device that generates and transmits the individual regulation information for the first mobile body to the first mobile body based on movement information of a plurality of mobile bodies including the first mobile body, The server device includes: A server communication device that acquires information of the first mobile body traveling in a first traffic zone and information of a second mobile body moving in a second traffic zone; a database capable of storing and recording information acquired by the server communication device, and A control unit that maps the respective positions of the plurality of mobile units for each traffic zone based on information recorded in the database, generates map data for predicting future positions of the plurality of mobile units for each traffic zone, generates the individual control information for the first mobile unit based on the generated map data, In the case where the first moving body is likely to travel in a manner crossing the second passing belt from the first passing belt, The control unit of the server apparatus selects a first crossing section in which the first moving body is expected to cross the second passing strip, sets crossing restriction information for at least the second passing strip of the second passing strip and the first passing strip of the map data based on a timing at which the second moving body passes through the first crossing section, the crossing restriction information specifying a section in which crossing is restricted and a time zone, generates the individual control information including information of the crossing restriction information for not crossing the second passing strip among the crossing restriction information based on the map data in which the crossing restriction information is set, When the received individual control information includes information of the crossing restriction information, the travel control unit of the first mobile body controls travel of the first mobile body so as not to cross the second traffic zone in the crossing restriction information.
  2. 2. The control system for a vehicle according to claim 1, wherein, The control unit of the server device generates a waypoint designated as a destination point and a time for causing the first moving body to accelerate and decelerate immediately before the first traversing section so as not to stop in the first traversing section under the restriction designation of the traversing restriction information based on the map data in which the traversing restriction information is set, The control unit of the server apparatus transmits the individual control information including the waypoint information and the intersection restriction information from the server communication device to the first mobile unit, When the received individual control information includes information of the waypoint, the travel control unit of the first mobile unit controls travel of the first mobile unit in accordance with the information of the waypoint.
  3. 3. The control system for a vehicle according to claim 2, wherein, In the case where the first moving body is likely to travel so as to cross the second traffic zone at the intersection in order to make a right turn or a left turn at the intersection as the first crossing section, The control unit of the server apparatus generates data including the first traffic zone for the first moving body to enter the intersection, an exit traffic zone from which the first moving body exits from the intersection, an intra-intersection traffic zone from which the first traffic zone travels toward the exit traffic zone, and a crossing traffic zone as the second traffic zone as map data for predicting future positions of the plurality of moving bodies for each of the traffic zones, and sets the crossing restriction information for the first traffic zone, the intra-intersection traffic zone, and the exit traffic zone based on a period of time during which the second moving body moving across the traffic zone passes through the intersection, and generates a waypoint at which the first moving body can travel from the first traffic zone through the intra-intersection traffic zone toward the exit traffic zone without stopping as the waypoint for the first moving body.
  4. 4. The control system for a vehicle according to claim 2, wherein, In a case where the waypoint cannot be generated so as not to intersect the second traffic zone in the intersection restriction information until the first moving object reaches the first intersection section, or in a case where the first moving object determines that there is an influence on the traveling of a vehicle subsequent to the first moving object in a state where the first moving object travels at the waypoint, the control unit of the server apparatus transmits the individual control information including the intersection restriction information without including the information of the waypoint to the first moving object from the server communication device, When the received individual control information does not include information of the waypoint, the travel control unit of the first mobile unit stops immediately before the first traversing section in accordance with the information of the traversing restriction information.
  5. 5. The control system for a vehicle according to claim 4, wherein, The second passing belt is other lanes, opposite lanes, bicycle passing belt or pedestrian passing belt of the road comprising the first passing belt, The control section of the server apparatus acquires information of a vehicle traveling on the other lane, information of a vehicle traveling on the opposite lane, information of a bicycle traveling on the bicycle passing belt, or information of a pedestrian moving on the pedestrian passing belt, and sets the crossing restriction information based on the acquired information of the moving body.
  6. 6. The control system for a vehicle according to claim 5, wherein, When there is a possibility that a third moving body moving from the second traffic zone traverses the first traffic zone, the control unit of the server apparatus sets traversing restriction information for the first traffic zone of the map data at a timing when the second moving body traverses a second traversing section, which is a section in which the third moving body traverses the first traffic zone, the control unit of the server apparatus generates the individual control information for not passing through the first traffic zone in the traversing restriction information based on the map data in which the traversing restriction information is set for the first traffic zone, When the received individual control information includes information on the crossing restriction information of the first traffic zone, the travel control unit of the first mobile body controls travel of the first mobile body so as not to enter the second crossing section in the crossing restriction information.

Description

Control system for vehicle Technical Field The present invention relates to a control system for a vehicle. Background In vehicles such as automobiles, development and practical application of automatic driving including driving assistance are being advanced. In contrast to such an attempt to basically realize automatic driving in a vehicle, a control system that transmits individual control information for each vehicle from a server device to a vehicle capable of automatic driving has also been proposed. In patent documents 1 to 3, when a mobile body such as a vehicle passes through an intersection, a server device of a control system sets a priority for the passage of the intersection, and transmits the priority to each vehicle. The automatically drivable vehicle controls travel so as to pass through the intersection in the order of the priorities set individually. This suppresses interference between the moving objects at the intersection, and is expected to improve the passing of the intersection. When a plurality of vehicles pass through an intersection by using individual travel control, the plurality of vehicles may not be judged to be identical to each other, and there is a possibility that the matching performance may not be ensured. Prior art literature Patent literature Patent document 1 Japanese patent laid-open No. 2007-141144 Patent document 2 Japanese patent laid-open No. 2007-299193 Patent document 3 Japanese patent laid-open No. 2006-350569 Disclosure of Invention Technical problem However, in the cases of patent documents 1 to 3, the server device of the traffic control system determines priorities for all of a plurality of moving bodies that are to pass through the intersection. Therefore, a plurality of vehicles that are to pass through the intersection if they take turns to the order of priority specified by the server apparatus. In this case, the server device of the control system is configured to determine the priorities of all the plurality of mobile units that are to pass through the intersection, based on the real traffic situation of the intersection. If the condition of the intersection changes, the server device of the control system is required to determine the priority for each mobile unit each time the change occurs. In addition, it is intended to reliably acquire updated latest priorities from the server devices for all vehicles that are to pass through the intersection. As a result, in such a control system, it is considered that the processing load of the server apparatus tends to become excessive. In addition, in the communication between the server apparatus and each mobile unit, it is considered that high reliability is achieved in which the communication is not interrupted in any case. It is difficult to allow such a case that the matching of the priorities cannot be ensured due to communication interruption or the like between a plurality of moving bodies that are to pass through the intersection. Thus, improvement of the control system of the vehicle is sought. Technical proposal The control system of a vehicle according to one embodiment of the present invention includes a first mobile unit as a vehicle having a travel control unit that controls travel of the vehicle in accordance with received individual control information; and a server device that generates and transmits, to the first moving body, the individual control information for the first moving body based on movement information of a plurality of moving bodies including the first moving body, the server device having a server communication apparatus that acquires information of the first moving body that travels in a first traffic zone and information of a second moving body that moves in a second traffic zone, a database that can store and record the information acquired by the server communication apparatus, and a control section that maps, for each of the plurality of moving bodies, based on the information recorded in the database, map data that predicts future positions of the plurality of moving bodies for each of the traffic zones, the control section generating, based on the generated map data, the individual control information for the first moving body, the control section selecting, in a case where the first moving body has a traveling pattern that can traverse the second traffic zone from the first traffic zone, the controller being a second traffic zone, the movement of the second moving body being restricted from the first traffic zone, the controller being a specified section that can traverse the second traffic zone, the controller sets, based on the first traffic zone and the second traffic zone, the controller being a specified section, the controller being a section that restricts the crossing of the first traffic zone, the control unit of the server apparatus generates the individual control information including the information of the crossing restriction information so as not to cro