JP2017174345A - Congestion degree calculation device, congestion degree calculation method and program for congestion degree calculation, and recording medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a congestion degree calculation device capable of properly detecting a congestion degree on a lane in real time, without use of a peripheral information of a district where a vehicle is traveling and a statistical technique.SOLUTION: A congestion degree calculation device includes a congestion degree calculation unit 2 which calculates a congestion degree on other lanes on the basis of a relative difference between a speed of a self-vehicle which moves on one lane of a road comprising a plurality of lanes where vehicles move in the same direction and a speed of other vehicles moving on the other lanes.SELECTED DRAWING: Figure 2

Description

  The present application belongs to a technical field of a congestion degree calculation device, a congestion degree calculation method, a congestion degree calculation program, and a recording medium. More specifically, a congestion degree calculation device and a congestion degree calculation method for calculating a congestion degree in a lane that constitutes a road on which a moving body such as a vehicle moves, a program for the congestion degree calculation device, and the program are recorded. It belongs to the technical field of recording media.

  In recent years, research and development relating to so-called automatic driving control for vehicles has been actively conducted. One technique required for realizing this automatic driving control is a technique for automatically controlling lane changes on a road composed of a plurality of lanes. The prior art document disclosing such a technique includes, for example, the following Patent Document 1.

  In the technology described in Patent Document 1, the traffic volume for each lane composing the road is predicted, and the degree of congestion (congestion level) for each lane is calculated, and guidance for changing the lane is performed. It is said that. In calculating the congestion level, a so-called statistical method is used based on peripheral information such as traffic information acquired in advance.

JP2011-237329A

  However, in the technique disclosed in Patent Document 1, the degree of congestion is calculated using a statistical method based on predetermined peripheral information as described above. Therefore, there is a problem that the accuracy and the real-time property are particularly insufficient for calculating a realistic congestion degree at a point or road where the vehicle actually travels. That is, in the technique disclosed in Patent Document 1, for example, the congestion degree is statistically calculated based on peripheral information including traffic congestion information acquired in the past. It is impossible to accurately detect the degree of congestion in real time.

  Therefore, the present application has been made in view of the above-mentioned problems, and an example of the problem is that in the lane accurately and in real time without using peripheral information and statistical methods of the area where the vehicle is traveling. An object of the present invention is to provide a congestion degree calculation device and a congestion degree calculation method capable of detecting a congestion degree, a program for the congestion degree calculation device, and a recording medium on which the program is recorded.

  In order to solve the above-described problem, the invention according to claim 1 is directed to a moving state of a moving body that moves in one lane of a road composed of a plurality of lanes that should move in the same direction, and the one in the road. An acquisition unit that acquires relative information indicating a relative relationship between a moving state of another moving body that moves in another lane different from the lane, and a calculation unit that calculates a congestion degree of the other lane based on the relationship information And comprising.

  In order to solve the above-described problem, the invention according to claim 12 is directed to a moving state of a moving body moving in one lane of a road composed of a plurality of lanes to be moved in the same direction, and the one in the road. An acquisition step of acquiring relative information indicating a relative relationship between a moving state of another moving body moving in another lane different from the lane, and a calculation step of calculating a degree of congestion of the other lane based on the relationship information And including.

  In order to solve the above-described problem, the invention described in claim 13 causes a computer to function as the congestion degree calculation device described in any one of claims 1 to 11.

  In order to solve the above-described problems, in the invention described in claim 14, the congestion degree calculation program described in claim 13 is recorded so as to be readable by a computer.

It is a block diagram which shows schematic structure of the congestion degree calculation apparatus which concerns on embodiment. It is a block diagram which shows schematic structure of the navigation apparatus which concerns on an Example. It is a flowchart which shows the congestion degree calculation process which concerns on an Example. It is a figure (I) explaining concretely the congestion degree calculation process which concerns on an Example, (a) is a figure (i) which shows the specific example of the said congestion degree calculation process, (b) is the said congestion degree calculation. It is a figure (ii) which shows the specific example of a process. It is a figure (II) explaining concretely the congestion degree calculation process which concerns on an Example, (a) is a figure (iii) which shows the specific example of the said congestion degree calculation process, (b) is the said congestion degree calculation. It is a figure (iv) which shows the specific example of a process. It is a figure (III) explaining concretely the congestion degree calculation process which concerns on an Example, (a) is a figure (v) which shows the specific example of the said congestion degree calculation process, (b) is the said congestion degree calculation. It is a figure (vi) which shows the specific example of a process.

  Next, the form for implementing this application is demonstrated using FIG. FIG. 1 is a block diagram illustrating a schematic configuration of the congestion degree calculation apparatus according to the embodiment.

  As shown in FIG. 1, the congestion degree calculation device S according to the embodiment includes an acquisition unit 1 and a calculation unit 2.

  In this configuration, the acquisition means 1 includes a moving state of a moving body that moves in one lane on a road composed of a plurality of lanes that should move in the same direction, and an other moving body that moves in another lane different from the one lane on the road. Relation information indicating a relative relation with the movement state is acquired.

  And the calculation means 2 calculates the congestion degree in another lane based on the relationship information acquired by the acquisition means 1.

  As described above, according to the operation of the congestion degree calculation device S according to the embodiment, the moving state of the moving body that moves in one lane composed of a plurality of lanes that should move in the same direction, and one lane The degree of congestion in the other lane in which the other moving body moves is calculated based on the relationship information indicating the relative relationship with the movement state of the other moving body moving in the different other lane. Therefore, it is possible to accurately and in real time detect the degree of congestion in the other lane based on the relative relationship with the moving other moving body without using the peripheral information of the area where the moving body moves and the statistical method. .

  Next, specific examples corresponding to the above-described embodiments will be described with reference to the drawings. In addition, the Example and each modification demonstrated below are Examples when this application is applied to the calculation process of the congestion degree of the vehicle for every lane in a navigation apparatus. The vehicle at this time corresponds to an example of the moving body according to the embodiment. Moreover, the congestion degree calculation process according to each embodiment is executed as part of the automatic driving control executed in the navigation device according to the embodiment and each modification.

(I) Example First, an example corresponding to the above-described embodiment will be described with reference to FIGS. FIG. 2 is a block diagram illustrating a schematic configuration of the navigation device according to the embodiment, FIG. 3 is a flowchart illustrating the congestion degree calculation processing according to the embodiment, and FIGS. 4 to 6 illustrate the congestion degree according to the embodiment. It is a figure explaining a calculation process concretely, respectively. At this time, in FIG. 2, the same member numbers as the respective constituent members in the congestion degree calculating device S for the constituent members in the examples corresponding to the respective constituent members in the congestion degree calculating device S according to the embodiment shown in FIG. 1. Is used.

  As shown in FIG. 2, the navigation device NV according to the embodiment is, for example, a vehicle-mounted navigation device, and includes a processing unit 10 including a CPU, a RAM (Random Access Memory), a ROM (Read Only Memory), and the like, and an interface. 13, an operation unit 14 including an operation button or a remote controller or a touch panel, a recording unit 15 including, for example, an HDD (Hard Disc Drive) or an SSD (Solid State Drive), and a CCD (Charge Coupled Device) or CMOS (Complementary, for example). The camera 16 includes a metal oxide semiconductor device, a sensor unit 17 including various sensors such as a position sensor, and a display 18 including a liquid crystal display.

  On the other hand, the processing unit 10 includes an acquisition unit 1, a congestion degree calculation unit 2, a change amount calculation unit 11, and a congestion degree prediction unit 12. At this time, the acquisition unit 1, the congestion level calculation unit 2, the change amount calculation unit 11, and the congestion level prediction unit 12 are realized in hardware by a logic circuit including a CPU and the like that constitute the processing unit 10. Alternatively, the program may be realized by software by reading and executing a program corresponding to a flowchart showing a congestion degree calculation process according to an embodiment described later by the CPU of the processing unit 10 or the like. The acquisition unit 1 corresponds to an example of the acquisition unit 1 according to the embodiment, the congestion degree calculation unit 2 corresponds to an example of the calculation unit 2 according to the embodiment, and the change amount calculation unit 11 This corresponds to an example of “amount calculation means”. Further, as indicated by a broken line in FIG. 2, the acquisition unit 1 and the congestion degree calculation unit 2 constitute an example of the congestion degree calculation device S according to the embodiment.

  In the above configuration, the interface 13 controls transmission / reception of data such as traffic jam information between a network (not shown) such as the Internet and the processing unit 10 under the control of the processing unit 10. On the other hand, the sensor unit 17 generates data necessary for guidance processing as the navigation device NV, such as position data indicating the current position of the vehicle on which the navigation device NV is mounted, and outputs the data to the processing unit 10. In the following description, a vehicle equipped with the navigation device NV according to the embodiment is simply referred to as “own vehicle”.

  On the other hand, the recording unit 15 records in a non-volatile manner a program corresponding to a flowchart showing a congestion degree calculation process according to an embodiment to be described later, road data used for the guidance process as the processing unit 10, and the like. Further, when a user operation on the navigation device NV is executed on the operation unit 14, the operation unit 14 generates an operation signal corresponding to the operation and outputs the operation signal to the processing unit 10. On the other hand, the camera 16 has at least the front and left and right front sides of the host vehicle as imaging ranges, generates image data (image data that is a moving image or a still image) that images the imaging range, and outputs the image data to the processing unit 10. Then, the acquisition unit 1 of the processing unit 10 acquires the image data from the camera 16 and outputs it to the congestion level calculation unit 2 as part of the congestion level calculation process according to the embodiment. Thereby, the congestion degree calculation unit 2 calculates the congestion degree according to the embodiment in the lane other than the lane in which the host vehicle is moving based on the image data as part of the congestion degree calculation process according to the embodiment. To do. At this time, the congestion degree calculation unit 2 detects a positional relationship and a speed difference between the own vehicle and another vehicle moving in another lane based on the content of the image data, and based on them, the embodiment is performed. The degree of congestion is calculated as described later.

  Here, the congestion degree according to the embodiment refers to the congestion of vehicles in other lanes other than the lane in which the own vehicle moves on a road (for example, a highway) including a plurality of lanes in which the vehicle should move in the same direction. The degree of congestion is calculated based on the speed difference between the vehicle and another vehicle moving in another lane. More specifically, for example, when the speed of the own vehicle is faster than the speed of the other vehicle moving in another lane, in other words, the lane in which the own vehicle is moving is more than the other lane. However, at the timing when the vehicle can move smoothly, the congestion degree of the other lane is relatively higher than the congestion degree of the lane in which the host vehicle moves. On the other hand, when the speed of the own vehicle is slower than the speed of the other vehicle moving in the other lane, in other words, the timing at which the other lane can move more smoothly than the lane in which the own vehicle is moving. Then, the congestion degree of the other lane is relatively lower than the congestion degree of the lane in which the own vehicle moves. Note that the value indicating the degree of congestion is smaller as the degree of congestion is higher (congested state), and is larger as the degree of congestion is lower (uncongested state).

  Next, the change amount calculation unit 11 of the processing unit 10 calculates the change amount of the congestion degree calculated by the congestion degree calculation unit 2 for each lane as part of the congestion degree calculation process according to the embodiment. Thereby, the congestion degree prediction unit 12 of the processing unit 10 predicts the congestion degree of each lane after the change amount is calculated as part of the congestion degree calculation process according to the embodiment.

  The processing unit 10 includes a congestion degree calculation process according to the embodiment based on various data acquired from the network via the interface 13, the image data from the camera 16, various data from the sensor unit 17, and the like. The guidance processing according to the embodiment (including the above automatic driving control) is executed, and the results are notified to the user (driver or passenger) using the display 18 or the like, for example.

  Next, the congestion degree calculation process according to the embodiment centering on the processing unit 10 will be specifically described with reference to FIGS. 3 and 6.

  As described above, the congestion degree calculation process according to the embodiment is started, for example, every preset time as part of the automatic driving control according to the embodiment. Then, as shown in a corresponding flowchart in FIG. 3, in the congestion degree calculation process according to the embodiment, the acquisition unit 1 acquires the image data from the camera 16 and outputs this to the congestion degree calculation unit 2. Thereby, the congestion degree calculation unit 2 detects the position of another vehicle moving in another lane based on the image data (step S1), and further, based on the detection result, It is determined whether or not a passing event has occurred between the vehicle (step S2). Here, in the overtaking event in which the presence or absence of occurrence is determined in step S2, when the own vehicle is overtaken by another vehicle moving in another lane (that is, the lane in which the own vehicle moves is more crowded) And when the vehicle overtakes other vehicles moving in other lanes (that is, when other lanes where other vehicles move are more crowded) It is. If no overtaking event has occurred in the determination in step S2 (step S2: NO), the processing unit 10 proceeds to step S4 described later.

  On the other hand, if any overtaking event has occurred in the determination in step S2 (step S2: YES), the congestion degree calculation unit 2 of the processing unit 10 determines that the vehicle and other vehicles in the overtaking event for which the occurrence has been determined. In accordance with the speed difference with the vehicle, the degree of congestion in each lane at that time is calculated and added to the degree of congestion just before that lane (step S3). As a specific example of the processing of step S3, as a result of the determination of step S2, when the speed difference between the own vehicle and another vehicle moving in another lane is 20 kilometers per hour and the own vehicle is faster The congestion degree calculation unit 2 adds the congestion degree in the other lane as “−2” to the congestion degree immediately before the other lane. On the other hand, as a result of the determination in step S2, if the speed difference between the own vehicle and another vehicle moving in another lane is 30 kilometers per hour and the own vehicle is slower, the congestion degree calculation unit 2 Adds the value of the degree of congestion in the other lane as “3” to the previous degree of congestion for the other lane. Here, for example, the change in the degree of congestion is increased or decreased by a value obtained by dividing the absolute value of the speed difference expressed by the speed by 10 for example, a calculation process of the change amount of the congestion degree in the change amount calculation unit 11 or the congestion. The speed difference itself detected from the viewpoint of the ease of handling data in the degree of congestion prediction processing in the degree prediction unit 12 or other processing using the predicted degree of congestion such as automatic driving control. Rather than replacing the absolute value of the degree of congestion with an adjustment parameter having a preset value “10”, the degree of congestion is increased or decreased by a value obtained by dividing the absolute value of the speed difference expressed in speed per hour. It is intended to let you. In addition, the congestion degree calculation unit 2 temporarily records the calculated congestion degree in a congestion degree table (described later) recorded in the recording unit 15 for each lane.

  Next, the change amount calculation unit 11 determines whether or not the timing for calculating the change amount of the congestion degree for each lane has arrived (step S4). Specifically, as the determination of step S4, for example, each lane for each of a predetermined time or a predetermined movement distance set in advance with reference to the timing at which step S1 is first performed and the position of the vehicle at that timing. When the change amount of the congestion degree is calculated, the change amount calculation unit 11 determines whether the certain time has elapsed or whether the own vehicle has moved the certain movement distance. Note that the change amount calculation unit 11 may calculate the amount of change in the degree of congestion between intersections on a road on which the vehicle is moving, for example, every time it passes through one intersection. If it is determined in step S4 that the timing for calculating the amount of change in the congestion level has not arrived (step S4: NO), the processing unit 10 proceeds to step S6 described later. On the other hand, when it is determined in step S4 that the timing for calculating the amount of change in the congestion level has come (step S4: YES), the change amount calculation unit 11 calculates the amount of change in the congestion level at this timing for each lane. The congestion degree prediction unit 12 predicts the subsequent congestion degree for each lane based on the calculated change amount (step S5). At this time, the congestion degree prediction unit 12 predicts that, for example, a lane where the value of the congestion degree is increased, “the posterior congestion level is reduced (is vacant)”, while the lane where the value of the congestion degree is decreased. Is predicted that the degree of post-event congestion will increase (congest). Then, the congestion degree prediction unit 12 outputs each prediction result to the processing unit 10 or the like.

  Next, the processing unit 10 determines whether or not the lane in which the host vehicle moves has been changed using, for example, position data from the sensor unit 17 (step S6). When the lane in which the vehicle moves is not changed in the determination in step S6 (step S6: NO), the processing unit 10 proceeds to step S8 described later. On the other hand, in the determination of step S6, when the lane in which the host vehicle moves is changed (step S6: YES), the processing unit 10 adjusts the congestion degree associated with the lane change (step S7). Specifically, in this step S7, the processing unit 10 maintains the relative relationship of the degree of congestion in each lane before the lane change, while the degree of congestion in the lane of the vehicle after movement is “0” at the timing after the movement. ”To adjust the degree of congestion in each lane. Step S7 will be specifically described later.

  Thereafter, the processing unit 10 determines whether or not to end the congestion degree calculation process according to the embodiment, for example, when the power as the navigation device NV is turned off (step S8), and ends the congestion degree calculation process. If so (step S8: YES), the congestion degree calculation process is terminated as it is. On the other hand, when continuing the said congestion degree calculation process in determination of step S8 (step S8: NO), the process part 10 returns to said step S1, and continues the detection of the position of another vehicle.

  As described above, when the determination at step S2 is “NO”, the process proceeds to the determination at step S4. When the determination at step S4 is “NO”, the process proceeds to the determination at step S6. Thus, for example, due to the relationship between the own vehicle and another vehicle moving in another lane, the timing of calculating the change in the congestion degree before one vehicle is overtaken (or not overtaken) (see step S4). Even when the vehicle arrives or the host vehicle changes lanes (step S6), the degree of congestion or the amount of change in the degree of congestion can be calculated accurately.

  Next, in the congestion degree calculation processing according to the above-described embodiment, an image corresponding to image data from the camera 16 for detecting a speed difference from another vehicle moving in another lane (see step S3 in FIG. 3). This will be described with reference to examples.

  First, at the start of the congestion degree calculation process according to the embodiment, an image C is obtained via the camera 16 as illustrated on the left in FIG. From the image C illustrated on the left in FIG. 4A, it is recognized that the host vehicle is moving in the right end lane of a three-lane road. In the following description, each lane shown in the image C is referred to as “first lane” to “third lane” from the left in the traveling direction. In this case, the own vehicle is moving in the third lane. At this time, the congestion degree of each lane in the congestion degree table T recorded in the recording unit 15 is set to an initial value “0”. In the congestion degree table T in FIGS. 4 to 6, the number of the lane in which the vehicle is moving is indicated by hatching. Further, the speed display and the arrow indicating the speed difference in the image C illustrated in FIGS. 4 to 6 are conceptual, and such a speed display or the like is not displayed on the display 18, for example.

  Then, in the camera 16 of the host vehicle moving in the state illustrated in FIG. 4A, an event occurs in which the host vehicle overtakes another vehicle moving in the second lane as illustrated in the left of FIG. 4B. (See step S2 in FIG. 3: YES). Then, if it is detected from the content of the image C at that timing that the other vehicle moving in the second lane at 80 km / h has passed the other vehicle moving at 100 km / h, the speed difference at that time Will be faster at 20 kilometers per hour. In this case, the degree-of-congestion calculation unit 2 of the processing unit 10 calculates the degree of congestion in the second lane as “−2”, adds it to the value “0” so far, and illustrates it on the right in FIG. Is recorded in the congestion degree table T (see step S3 in FIG. 3).

  Next, when the own vehicle further moves in the third lane as it is (see step S4: NO and FIG. 3 step S8: NO), the camera 16 of the own vehicle uses the first as illustrated in the left of FIG. Assume that an event occurs in which the vehicle overtakes another vehicle that is moving in two lanes (see step S2: YES in FIG. 3). Then, if it is detected from the contents of the image C at that timing that the other vehicle moving in the second lane at 90 km / h has passed the other vehicle moving at 100 km / h, the speed difference at that time Will be faster at 10 kilometers per hour. In this case, the degree-of-congestion calculation unit 2 of the processing unit 10 newly calculates the degree of congestion in the second lane as “−1”, adds it to the previous value “−2”, and moves it to the right in FIG. As illustrated, it is recorded in the congestion degree table T (see step S3 in FIG. 3).

  Next, when the own vehicle further moves in the third lane as it is (see step S4: NO in FIG. 3 and step S8: NO in FIG. 3), in the camera 16 of the own vehicle, as illustrated on the left in FIG. Assume that an event occurs in which the vehicle overtakes another vehicle moving in one lane (see YES in step S2 in FIG. 3). Then, if it is detected from the content of the image C at that timing that the other vehicle moving in the first lane at 80 km / h has passed the other vehicle moving at 110 km / h, the speed difference at that time The vehicle is faster at 30 kilometers per hour. In this case, the degree-of-congestion calculation unit 2 of the processing unit 10 calculates the degree of congestion in the first lane as “−3”, adds it to the value “0” so far, and illustrates it on the right in FIG. Is recorded in the congestion degree table T (see step S3 in FIG. 3).

  Next, as illustrated in the image C on the left side of FIG. 6A, when the host vehicle changes lanes from the third lane to the second lane (see step S6: YES in FIG. 3), the processing unit 10 displays FIG. ) As illustrated on the right, the relative relationship of the degree of congestion in each lane before the lane change (that is, the degree of congestion in each of the first lane and the second lane is equal, and they are greater than the degree of congestion in the third lane. 3 ”(small relationship) is maintained, and the degree of congestion in each lane is adjusted so that the degree of congestion in the second lane of the vehicle after movement becomes“ 0 ”(see step S7 in FIG. 3).

  Thereafter, when the own vehicle moves in the second lane as it is (see Step S4: NO and Step S8: NO in FIG. 3), the camera 16 of the own vehicle uses the third as illustrated on the left in FIG. 6 (b). Assume that an event occurs in which the vehicle is overtaken by another vehicle moving in the lane (see step S2 in FIG. 3: YES). And if it is detected from the content of the image C at that timing that the other vehicle moving in the third lane at 120 km / h has passed the vehicle moving at 90 km / h, the speed at that time The difference is 30 kilometers per hour and the car is slower. In this case, the degree-of-congestion calculation unit 2 of the processing unit 10 calculates the degree of congestion in the third lane as “+3” and adds it to the value “+3” so far, as illustrated on the right in FIG. 6B. It is recorded in the congestion degree table T (see step S3 in FIG. 3). Note that in the congestion degree table T illustrated in FIG. 6B, the vehicle moving in the second lane is first at a speed difference of 20 kilometers per hour before the timing when the image C on the left in FIG. 6B is captured. An event that overtakes other vehicles moving in the lane has occurred.

  Then, when the timing for calculating the amount of change in the congestion level described in step S4 in FIG. 3 arrives while the congestion level table T is updated according to the situation described with reference to FIGS. 4 to 6, the congestion level up to that time is reached. The change amount calculation and the subsequent congestion degree prediction based on the change amount are executed in the change amount calculation unit 11 and the congestion degree prediction unit 12 (see step S4 and FIG. 3 step S5 in FIG. 3). Thereafter, the congestion degree calculation process according to the series of embodiments described above is continued until the end is determined (see step S8: YES in FIG. 3).

  As described above, according to the congestion degree calculation process according to the embodiment, based on the relative difference between the speed of the own vehicle and the speed of the other vehicle moving in another lane, the other The degree of congestion in the lane is calculated. Therefore, it is possible to accurately and in real time detect the degree of congestion in other lanes based on the relative speed difference from other moving vehicles without using the surrounding information of the area where the vehicle moves and statistical methods. Can do.

  Further, since the processing unit 10 including the acquisition unit 1 and the congestion degree calculation unit 2 is mounted on the own vehicle itself, only the own vehicle (that is, in a so-called stand-alone state) without using information from the outside. The degree of congestion in other lanes can be calculated accurately and in real time.

  Further, since the amount of change in the degree of congestion is calculated for each predetermined time interval, for each predetermined moving distance, or for each intersection (see step S4 in FIG. 3), with a simple configuration, every fixed time, every fixed distance, or every intersection The change in the degree of congestion can be calculated accurately and in real time and used for the prediction of the degree of congestion thereafter.

  Furthermore, since the congestion level is calculated based on the speed difference between the own vehicle and the other vehicle, the congestion level in other lanes can be calculated accurately and in real time.

  In addition, since the congestion degree is calculated by multiplying the speed difference by a predetermined adjustment parameter, for example, the use range of the calculated congestion degree can be expanded. That is, for example, it is possible to simplify the processing in other applications or processes that use the degree of congestion adjusted using the adjustment parameter, or to reduce the processing load. Can be enlarged.

  Further, when the lane in which the host vehicle moves is changed to another lane, the congestion degree in the changed lane is initialized while maintaining the relative relationship between the congestion degrees in each lane (that is, “ After the change of the lane in which the vehicle moves, the congestion degree is calculated in other lanes other than the changed lane (step S6 in FIG. 3: YES, see step S7 in FIG. 3). However, the congestion degree in other lanes can be calculated continuously, accurately and in real time.

(II) Modification Next, a modification corresponding to the above-described embodiment will be described.

(1) First Modification First, as the first modification, in the above-described embodiment, the degree of congestion in the lane in which the other vehicle moves is calculated based on the speed difference between the own vehicle and the other vehicle. . However, other than this, for example, based on the number of other vehicles that are the target of a passing event (see step S2 in FIG. 3) that occurs with the vehicle while the vehicle moves for a preset time or distance. Thus, the degree of congestion of the lane in which the other vehicle moves may be calculated. In this case, when the own vehicle overtakes three other vehicles during the predetermined time, the congestion degree of the lane in which the other vehicle was moving at that time may be set to “−3”. . Similarly, if the vehicle is overtaken by two other vehicles during the predetermined time, the congestion level of the lane that the other vehicle was moving at that time is set to “+2”. Good.

  In the case of the first modified example as described above, the number of other vehicles subjected to the overtaking event in the relationship with the own vehicle (in other words, the number of overtaking or overtaking in the relationship with the own vehicle). Based on this, the congestion degree in other lanes can be calculated accurately and in real time.

(2) Second Modification Next, as a second modification, when the preset condition is satisfied for the congestion degree table T according to the embodiment, all the contents are reset (that is, the lane in each lane). The degree of congestion at each time point may be “0”). At this time, examples of the preset condition include a case where the own vehicle stops, a case where the own vehicle turns right or left at the intersection, or a case where the number of lanes on the moving road changes. As an exception when the number of lanes on the moving road changes, in the case of a branch lane on an expressway (for example, because the expressway branches, the current three lanes become a one-lane branch road and a two-lane main road In the case of a branch lane that branches, it is only necessary to delete the degree of congestion in the lane of the road that does not move after the branch.

  In the case of the second modification as described above, the degree of congestion is initialized when the host vehicle stops, etc., so even if the vehicle stops again, etc., the degree of congestion in other lanes Can be calculated accurately and in real time.

(3) Third Modified Example Next, as a third modified example, when updating the congestion degree table T according to the embodiment, when the own vehicle stops, the congestion level table T is updated by excluding the time of the stop (in other words, If so, the calculation of the degree of congestion and the amount of change thereof may be continued. That is, when the own vehicle stops, the congestion degree table T may be continuously updated while maintaining continuity before and after the vehicle.

  According to the third modified example as described above, when the own vehicle stops, the congestion degree table T is continuously updated except for the time when the own vehicle stops. However, the degree of congestion in other lanes can be accurately calculated.

(4) Other Modifications Finally, as other modifications, the right and left turn dedicated lanes and the merging lanes on the expressway may be excluded from the lanes for which the degree of congestion is calculated.

  Further, instead of the vehicle according to the embodiment, the present application may be applied to calculation of the degree of congestion in each lane when a motorcycle or a bicycle moves on a road composed of a plurality of lanes. In this case, for example, when the vehicle, which is a motorcycle, is moving on a road composed of a plurality of lanes in which the vehicle (four-wheeled vehicle or motorcycle) should move in the same direction, What is necessary is just to comprise so that the congestion degree in the said other lane may be calculated by the speed difference with the other vehicle which moves this lane, and the operator of the own vehicle may be notified. In addition, for example, even when there is a road dedicated to a bicycle including a plurality of lanes in which the bicycle should move in the same direction, due to the speed difference between the bicycle as the own vehicle and another bicycle moving in another lane, What is necessary is just to comprise so that the congestion degree of a lane may be calculated and the operator of the own vehicle may be notified.

  Furthermore, in the congestion degree calculation process according to the embodiment, a speed difference between the own vehicle and another vehicle is detected based on the image data from the camera 16, but in addition to this, a laser or a sound wave emitted from the own vehicle, or the like The speed difference may be detected based on the reflection state.

  Furthermore, a program corresponding to the flowchart shown in FIG. 3 is recorded on a recording medium such as an optical disk or a hard disk, or is acquired via a network such as the Internet, and is read out to a general-purpose microcomputer or the like. It is possible to cause the microcomputer or the like to function as the processing unit 10 according to the embodiment.

1 Acquisition means (acquisition unit)
2 Calculation means (congestion degree calculation unit)
DESCRIPTION OF SYMBOLS 10 Processing part 11 Change amount calculation part 12 Congestion degree prediction part 16 Camera S Congestion degree calculation apparatus C Image T Congestion degree table NV Navigation apparatus

Claims (14)

The relative movement state of a moving body moving in one lane of a road composed of a plurality of lanes to be moved in the same direction and the moving state of another moving body moving in another lane different from the one lane on the road Acquisition means for acquiring relationship information indicating a general relationship;
Calculation means for calculating the congestion degree of the other lane based on the relationship information;
A congestion degree calculation device comprising: In the congestion degree calculation apparatus according to claim 1,
The congestion degree calculating apparatus, wherein the congestion degree calculating apparatus is mounted on the moving body. In the congestion degree calculation apparatus according to claim 1 or 2,
A congestion degree calculating apparatus, further comprising: a change amount calculating unit that calculates a change amount of the congestion degree for each set time interval. In the congestion degree calculation apparatus according to claim 1 or 2,
A congestion degree calculating apparatus, further comprising: a change amount calculating unit that calculates the change amount of the congestion degree each time the moving body moves a set distance. In the congestion degree calculation apparatus according to claim 1 or 2,
A congestion degree calculating apparatus, further comprising: a change amount calculating unit that calculates a change amount of the congestion degree each time the moving body passes through the intersection of the road. In the congestion degree calculation apparatus according to any one of claims 1 to 5,
The relationship information is information on the number of times based on at least one of the number of times the moving body has been overtaken by another moving body moving in the other lane and the number of times the moving body has overtaken the other moving body. A characteristic congestion degree calculation device. In the congestion degree calculation apparatus according to any one of claims 1 to 5,
The congestion degree calculation apparatus according to claim 1, wherein the relationship information is speed difference information indicating a speed difference between the moving body and the other moving body. In the congestion degree calculation apparatus according to any one of claims 1 to 7,
The congestion degree calculation apparatus, wherein the calculation means calculates the congestion degree by multiplying a coefficient set in the relationship information. In the congestion degree calculation apparatus according to any one of claims 1 to 8,
When the moving body changes the lane from the one lane, the calculating means initially sets the congestion degree of the changed lane while maintaining a relative relationship between the congestion degree of the one lane and the changed lane. After the conversion, the degree of congestion of the other lanes except the changed lane is calculated. In the congestion degree calculation apparatus according to any one of claims 1 to 8,
When the moving body stops, the calculation means initializes the congestion level. In the congestion degree calculation apparatus according to any one of claims 1 to 8,
When the moving body stops, the calculation means calculates the congestion level by excluding the stop time. The relative movement state of a moving body moving in one lane of a road composed of a plurality of lanes to be moved in the same direction and the moving state of another moving body moving in another lane different from the one lane on the road An acquisition step of acquiring relationship information indicating a general relationship;
A calculation step of calculating the degree of congestion of the other lane based on the relationship information;
The congestion degree calculation method characterized by including.   A computer for causing a computer to function as the congestion degree calculation device according to any one of claims 1 to 11.   A recording medium in which the congestion degree calculation program according to claim 13 is recorded so as to be readable by a computer.