JP2017182278A - Device and method for instructing evacuation - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an evacuation instruction device which allows an emergency vehicle to pass by smoothly even in a traffic situation where vehicles equipped with a communication function and vehicles not equipped with the communication function are both running.SOLUTION: An information processor 100 as an evacuation instruction device issues an instruction so that a scheduled running route can be secured for an emergency vehicle EV. Specifically, the information processor 100 acquires information on running of a vehicle including information on the scheduled running route by communications, and also acquires information on the detection of a non-equipped vehicle Ax. The information processor 100 instructs at least one equipped vehicle Ao to take an action of supporting evacuation of the non-equipped vehicle from the scheduled running route or an action of avoiding a non-equipped vehicle Ax to enter the scheduled running route, according to the state of the non-equipped vehicle Ax of which detection information has been acquired.SELECTED DRAWING: Figure 3

Description

  The disclosure according to this specification relates to an evacuation instruction apparatus and an evacuation instruction method for instructing to ensure a planned travel route of an emergency vehicle.

  Conventionally, for example, Patent Document 1 discloses a travel mode that instructs a general vehicle on a planned travel route to evacuate an emergency vehicle or supports a general vehicle evacuation from the planned travel route. A vehicle evacuation instruction device for instructing other general vehicles is disclosed. Such a vehicle evacuation instruction apparatus is installed at, for example, a predetermined intersection, a predetermined area, or an emergency vehicle, and receives travel information from a general vehicle via communication means. Then, the vehicle evacuation instruction apparatus determines an instruction of a traveling mode according to the acquired traveling information, and transmits the determined instruction to the general vehicle.

Japanese Patent No. 4187669

  Now, the vehicle evacuation instruction system including the vehicle evacuation instruction device disclosed in Patent Document 1 determines a traveling mode on the assumption that substantially all ordinary vehicles are equipped with a communication function. However, in an actual traffic situation, a vehicle equipped with a communication function and a vehicle not equipped with a communication function are mixed. Therefore, when the emergency vehicle passes, the mounted vehicle can act so as not to prevent the emergency vehicle from traveling, while the non-equipped vehicle that does not have the communication function is likely to remain on the planned travel route and prevent the emergency vehicle from traveling. It was. As described above, in a traffic situation in which the mounted vehicle and the non-mounted vehicle are mixed, it is still difficult to realize smooth passage of the emergency vehicle.

  The present disclosure has been made in view of the above problems, and an object of the present disclosure is to provide a retraction instruction device and a retraction support that enable smooth passage of an emergency vehicle even in a traffic situation in which a mounted vehicle and a non-mounted vehicle are mixed. It is to provide a method.

  In order to achieve the above object, the disclosed first aspect includes a vehicle (Ao) equipped with a communication function for acquiring information on a planned travel route on which an emergency vehicle (EV) is scheduled to travel, and communication. In a traffic situation in which non-equipped vehicles (Ax) not equipped with a function are mixed, a evacuation instruction device for instructing to secure a planned travel route, the vehicle travel information including at least information on the planned travel route The communication information acquisition unit (31) that acquires the information by communication, the detection information acquisition unit (32) that acquires the detection information for detecting the non-mounted vehicle, and the state of the non-mounted vehicle from which the detection information is acquired by the detection information acquisition unit And an instruction output unit for instructing at least one mounted vehicle to act to support the evacuation of the non-mounted vehicle from the planned traveling route or to avoid the entry of the non-mounted vehicle to the planned traveling route. And 36), are saving instruction device comprising a.

  Further, the disclosed second aspect is equipped with a communication function and an onboard vehicle (Ao) equipped with a communication function for acquiring information on a planned travel route on which the emergency vehicle (EV) is scheduled to travel by communication. This is an evacuation instruction method in which an instruction to ensure a planned travel route is performed by processing of at least one processor (41) in a traffic situation in which there are no non-mounted vehicles (Ax), and information on the planned travel route The vehicle travel information including at least the vehicle is acquired by communication, the detection information obtained by detecting the non-mounted vehicle is acquired, and the non-mounted vehicle is evacuated from the planned travel route according to the state of the non-mounted vehicle from which the detection information is acquired. This is an evacuation instruction method for instructing at least one mounted vehicle to perform an action that supports the vehicle or an action that avoids the entry of a non-mounted vehicle to the planned travel route.

  In these aspects, the non-mounted vehicle that does not have a communication function for acquiring information on the planned travel route is supported to evacuate from the planned travel route by at least one mounted vehicle acting according to the instruction, or Entering the scheduled route is blocked. According to the above, when the emergency vehicle passes, the non-mounted vehicle can be located off the planned travel route, and it is difficult for the emergency vehicle to travel. Therefore, even in a traffic situation in which the mounted vehicle and the non-mounted vehicle are mixed, the emergency vehicle can be smoothly passed.

  Note that the reference numbers in the parentheses merely show an example of a correspondence relationship with a specific configuration in an embodiment described later, and do not limit the technical scope at all.

It is a block diagram which shows the whole image of the evacuation instruction | indication system mounted in the mounted vehicle. It is a figure which shows the functional block constructed | assembled by information processing apparatus. It is a figure which shows the scene 1 by which an approach avoidance action is taken with the mounted vehicle. It is a figure which shows the scene 2 where an approach avoidance action is taken with the mounted vehicle. It is a figure which shows the scene 3 by which an approach avoidance action is taken with the mounted vehicle. It is a figure which shows the scene 4 by which evacuation assistance action is taken with the mounted vehicle. It is a figure which shows the scene 5 by which evacuation assistance action is taken with the mounted vehicle. It is a figure which shows the scene 6 where evacuation assistance action is taken with an mounted vehicle. It is a figure which shows the scene 7 by which evacuation assistance action is taken with the mounted vehicle. It is a figure which shows the scene 8 where evacuation assistance action is taken with the mounted vehicle. It is a figure which shows the scene 9 in which the own vehicle is regarded as a non-mounted vehicle and the evacuation support action is taken by another mounted vehicle. It is a figure which shows the scene 10 from which the setting of the vehicle with no appearance mounted on the own vehicle was canceled and the own vehicle resumed the evacuation support action as the mounted vehicle. It is a flowchart which shows the detail of an evacuation instruction | indication process. It is a flowchart which shows the detail of the process which performs a setting and cancellation | release of a vehicle with no appearance. It is a figure which shows another scene 11 by which an approach avoidance action is taken with the mounted vehicle.

  The function of the evacuation instruction apparatus according to an embodiment of the present disclosure is realized by the information processing apparatus 100 illustrated in FIGS. 1 and 2. The information processing apparatus 100 is mounted on, for example, a general vehicle As. The information processing apparatus 100 is electrically connected to a large number of in-vehicle devices mounted on the vehicle As, and constitutes a retraction instruction system 110 together with these in-vehicle devices.

  The evacuation instruction system 110 can acquire information on the planned travel route of the emergency vehicle EV in emergency service by communication. The emergency vehicle EV includes at least a fire-fighting vehicle, an emergency vehicle, a police vehicle, and the like. The emergency vehicle EV uses a server of a traffic management center for information on a planned travel route scheduled to travel using at least one of road-to-vehicle communication, vehicle-to-vehicle communication, mobile communication, and the like during emergency services. And transmission to other vehicles and the like. The evacuation instruction system 110 acquires information on the planned travel route distributed by the emergency vehicle EV, for example, by road-to-vehicle communication, vehicle-to-vehicle communication, and mobile communication. Then, the evacuation instruction system 110 issues an instruction so as to secure a planned travel route of the emergency vehicle EV, more specifically, a lane in which the planned travel route is set (hereinafter, “scheduled travel lane”).

  Here, a vehicle equipped with a communication function for acquiring information on a planned travel route, such as a vehicle As provided with the evacuation instruction system 110, is referred to as “mounted vehicle Ao”, and a vehicle not equipped with such a communication function. Is “non-mounted vehicle Ax (see FIG. 3 etc.)”. The vehicle As of the present embodiment is a specific one of the mounted vehicles Ao. Both the mounted vehicle Ao and the non-mounted vehicle Ax are vehicles that do not correspond to the emergency vehicle EV. The evacuation instruction system 110 instructs at least one mounted vehicle Ao including the vehicle As so that the planned travel route of the emergency vehicle EV is secured even in a traffic situation where the mounted vehicle Ao and the non-mounted vehicle Ax are mixed. It can be performed.

  In the above evacuation instruction system 110, the image sensor 11, the radar sensor 12, the GNSS receiver 13, the external communication device 14, the vehicle speed sensor 15, the direction indicator 19, the instruction device 20, and the like are connected to the information processing device 100. .

  The image sensor 11 and the radar sensor 12 are autonomous devices that detect moving objects such as pedestrians and other vehicles, as well as stationary objects such as falling objects on the road, traffic signals, guardrails, curbs, road signs, road markings, and lane markings. It is a sensor. The image sensor 11 and the radar sensor 12 sequentially output sensor information related to the detected moving object and stationary object toward the information processing apparatus 100.

  The image sensor 11 includes a monocular or compound eye camera unit that captures a front area of the vehicle As, and an image processing unit that analyzes an image of the vehicle periphery captured by the camera unit. The image sensor 11 acquires sensor information related to the moving object and the stationary object by extracting the moving object and the stationary object that appear in the image around the vehicle.

  The radar sensor 12 emits laser light or millimeter waves toward the periphery of the vehicle As. The radar sensor 12 receives laser light or millimeter waves reflected by a moving object and a stationary object existing in the vicinity, and acquires sensor information relating to the moving object and the stationary object.

  A GNSS (Global Navigation Satellite System) receiver 13 receives positioning signals from a plurality of artificial satellites. The GNSS receiver 13 measures the current position of the vehicle As based on the received positioning signal. The GNSS receiver 13 sequentially outputs the measured position information of the vehicle As toward the information processing apparatus 100.

  The out-of-vehicle communication device 14 can transmit and receive information by wireless communication between the out-of-vehicle communication device mounted on another vehicle and the roadside device installed on the side of the road. In addition, the in-vehicle communication device 14 can transmit / receive information to / from a base station of a mobile communication network using, for example, a cellular system. Further, the vehicle exterior communication device 14 may be capable of transmitting and receiving information by short-range wireless communication such as Wi-Fi (registered trademark).

  The external communication device 14 can receive travel information, traffic information, weather information, and the like of other vehicles through at least one of road-to-vehicle communication, vehicle-to-vehicle communication, mobile communication, short-range wireless communication, and the like. The travel information of other vehicles includes travel information related to the emergency vehicle EV including information on the planned travel route, travel information related to the other mounted vehicle Ao, and a non-mounted vehicle Ax detected by the other mounted vehicle Ao (see FIG. 3)) is included. The out-of-vehicle communication device 14 lists the travel information of the vehicle As acquired by the information processing apparatus 100 and the acquired travel information of other vehicles in a predetermined format (see FIG. 2), and other on-board vehicles. It can be shared with other external communication devices 14 installed in Ao.

  The vehicle speed sensor 15 is a magnetic sensor installed around the wheel of the vehicle As. The vehicle speed sensor 15 outputs a pulse signal corresponding to the rotational speed of the wheels toward the information processing apparatus 100 as an output indicating the traveling speed of the vehicle As.

  The direction indicator 19 blinks the left and right direction indicator lamps according to the lever operation by the driver. The direction indicator 19 outputs operation information based on a driver's lever operation or the like to the information processing apparatus 100.

  The instruction device 20 is an output interface that outputs an instruction for the driver. The instruction device 20 includes, for example, at least one of a display device and an audio output device. The instruction device 20 is attached around the driver's seat and presents information to the driver based on a control signal output from the information processing device 100.

  The information processing apparatus 100 is mainly configured by a microcomputer having a processor 41, a RAM 42, a storage medium 43, and an input / output interface 44. The information processing apparatus 100 can execute the save instruction program stored in the storage medium 43 by the processor 41. The information processing apparatus 100 saves the travel information acquisition unit 31, the non-mounted vehicle detection unit 32, the map information acquisition unit 33, the traffic information acquisition unit 34, the behavior determination unit 35, and the instruction output unit 36 based on the save instruction program. It is constructed as a functional block related to the instruction.

  The travel information acquisition unit 31 acquires travel information of various vehicles including the vehicle As and other vehicles. The travel information acquisition unit 31 acquires travel information of the vehicle As based on detection results of various configurations (11 to 13, 15, 19 and the like) connected to the information processing apparatus 100. The travel information acquisition unit 31 acquires travel information of other vehicles from various information received by the external communication device 14. Individual travel information includes type information, position information, speed and acceleration information, size information, destination and planned travel route information, direction indicator operation information, and whether or not emergency travel is being performed. Flag information is included. The vehicle type information is information indicating the mounted vehicle Ao, the non-mounted vehicle Ax (see FIG. 3 and the like), and the emergency vehicle EV. The position information also includes information on which lane the vehicle is traveling among a plurality of lanes.

  The non-mounted vehicle detection unit 32 combines information on inter-vehicle communication received by the external communication device 14 and sensor information of autonomous sensors such as the image sensor 11 and the radar sensor 12 to thereby detect the non-mounted vehicle Ax (FIG. 3). ) Is detected. The non-mounted vehicle detection unit 32 can acquire relative position information of surrounding vehicles based on the sensor information of the autonomous sensor. The non-mounted vehicle detection unit 32 compares the relative position information obtained by the autonomous sensor with the position information acquired by the travel information acquisition unit 31, so that a vehicle that cannot communicate by inter-vehicle communication, The mounted vehicle Ax is extracted.

  The non-mounted vehicle detection unit 32 provides the detected information of the detected non-mounted vehicle Ax (see FIG. 3 and the like) to the travel information acquisition unit 31. The travel information acquisition unit 31 detects the non-mounted vehicle Ax detected by the non-mounted vehicle detection unit 32 of the other mounted vehicle Ao in addition to the detection information of the non-mounted vehicle Ax detected by the non-mounted vehicle detection unit 32. Information (running information) can also be acquired through inter-vehicle communication.

  The map information acquisition unit 33 acquires map data around the vehicle As and the traveling direction, and map data of a road on which a planned travel route is set (hereinafter, “travel planned road”). The map data may be map data in a database stored in advance in the storage medium 43 of the information processing apparatus 100, or map data generated based on sensor information such as the image sensor 11 and the radar sensor 12. Also good. In addition, the map information acquisition unit 33 can acquire the map data downloaded by the external communication device 14. The map data includes the coordinates of each node, information on the number of lanes of links connecting the nodes, road width information, road type information, and the like.

  The traffic information acquisition unit 34 mainly acquires the traffic information received by the vehicle exterior communication device 14. The traffic information includes traffic jam information, traffic regulation information, construction information, accident information, parked vehicle information, and the like. At least a part of such traffic information may be content based on sensor information such as the image sensor 11 and the radar sensor 12.

  The behavior determination unit 35 determines whether or not the driver has acted according to the instruction output by the instruction output unit 36 based on the behavior of the vehicle As. When the driver of the vehicle As does not take an action according to the instruction, the behavior determination unit 35 regards the vehicle As that is the mounted vehicle Ao as the non-mounted vehicle Ax. That is, the behavior determination unit 35 considers the vehicle As and sets it as a non-mounted vehicle Aox (see FIG. 11 and the like). In addition, when the driver of the vehicle As resumes the action according to the instruction, the action determination unit 35 considers and cancels the setting of the non-mounted vehicle Aox.

  The instruction output unit 36 is mounted excluding the vehicle As and the vehicle As according to the state of the non-mounted vehicle Ax (see FIG. 3 and the like) whose detection information is acquired by the travel information acquisition unit 31 or the non-mounted vehicle detection unit 32. An instruction output to the vehicle Ao is generated. The instruction output unit 36 generates an instruction for requesting an evacuation support action for supporting the evacuation of the non-mounted vehicle Ax from the planned travel route or an approach avoidance action for avoiding the entry of the non-mounted vehicle Ax to the planned travel route. . The instruction by the instruction output unit 36 may be content for one mounted vehicle Ao or may be content for a plurality of mounted vehicles Ao.

  When the instruction output unit 36 generates an instruction for the driver of the vehicle As, the instruction output unit 36 outputs a control signal to the instruction device 20 to present the generated instruction to the driver. Moreover, the instruction | indication output part 36 transmits the produced | generated instruction | indication request | requirement to other mounted vehicle Ao by the vehicle-mounted communication apparatus 14, when the instruction | indication toward other mounted vehicles Ao is produced | generated. Thereby, the instruction device 20 of the other mounted vehicle Ao presents an instruction to the driver of the other mounted vehicle Ao.

  In addition, the instruction output unit 36 updates the traveling information related to the vehicle As when the behavior determination unit 35 sets and cancels the non-mounted vehicle Aox (see FIG. 11 and the like). The instruction output unit 36 transmits the updated travel information to the surrounding mounted vehicle Ao, thereby notifying the surrounding mounted vehicle Ao of the setting change of the non-mounted vehicle Aox.

  Next, a plurality of scenes in which the action based on the instruction generated by the information processing apparatus 100 prevents the non-mounted vehicle Ax from obstructing the traveling of the emergency vehicle EV will be described with reference to FIGS. In the following description, the mounted vehicle Ao that detects the non-mounted vehicle Ax is particularly described as “own vehicle As”.

<Scene 1: Invasion avoidance instruction for non-mounted vehicle Ax>
In the scene 1 shown in FIG. 3, the host vehicle As is traveling on an intersection road that intersects the planned travel lane in which the planned travel route is set. The host vehicle As is approaching an intersection where the planned travel route and the intersection road intersect. In front of the host vehicle As, a non-mounted vehicle Ax that travels toward the intersection in the same manner as the host vehicle As and may enter the planned travel route of the emergency vehicle EV is traveling. In addition, another onboard vehicle Ao capable of inter-vehicle communication with the host vehicle As is traveling toward the intersection on the planned travel lane. The other on-board vehicles Ao and the host vehicle As share each other's positional information through inter-vehicle communication via the mutual external vehicle communication device 14.

  When the information processing apparatus 100 of the own vehicle As detects the non-mounted vehicle Ax approaching the intersection in the state of acquiring the traveling information of the emergency vehicle EV in emergency service, based on the detection information of the non-mounted vehicle Ax, An action request instruction to be output toward another mounted vehicle Ao is generated. Specifically, the information processing apparatus 100 generates an instruction for requesting an action that prevents the non-mounted vehicle Ax from entering the planned travel route, and transmits the instruction to another mounted vehicle Ao by inter-vehicle communication.

  The other mounted vehicle Ao decelerates or stops in front of the non-mounted vehicle Ax by following the instruction requested from the host vehicle As. As a result, the entrance to the intersection of the intersection road is blocked by the other mounted vehicle Ao, so that the non-mounted vehicle Ax is prevented from entering the planned travel lane. As described above, the planned travel route of the emergency vehicle EV is ensured by stopping the non-mounted vehicle Ax and prompting the evacuation.

  In the above scene 1, the information processing apparatus 100 may transmit the travel information of the non-mounted vehicle Ax to the other mounted vehicle Ao instead of the direct action request. In this case, the information processing apparatus 100 mounted on another mounted vehicle Ao requests an action to prevent the non-mounted vehicle Ax from entering the planned traveling route based on the notified travel information (detection information) of the non-mounted vehicle Ax. And instructing the driver of the own vehicle (the other mounted vehicle Ao). As a result, the other mounted vehicle Ao can decelerate or stop in front of the non-mounted vehicle Ax and block the course of the non-mounted vehicle Ax. As described above, even when the information processing apparatus 100 of another mounted vehicle Ao generates an action request, entry of the non-mounted vehicle Ax into the planned travel route is avoided.

<Scene 2: Invasion avoidance action instruction of non-mounted vehicle Ax>
In the scene 2 shown in FIG. 4, the host vehicle As is traveling in a direction away from the intersection on the intersection road. On the side of the host vehicle As, a non-mounted vehicle Ax that is likely to enter the planned travel route of the emergency vehicle EV is traveling by traveling toward the intersection. Further, another mounted vehicle Ao capable of inter-vehicle communication with the host vehicle As is traveling toward the intersection in front of the non-mounted vehicle Ax detected by the host vehicle As. Although other on-board vehicles Ao share each other's position information with the own vehicle As through inter-vehicle communication, it is difficult for mobile communication radio waves to enter and can acquire information on the planned travel route of the emergency vehicle EV. Not.

  When the information processing apparatus 100 of the own vehicle As detects the non-mounted vehicle Ax approaching the intersection in the state of acquiring the traveling information of the emergency vehicle EV in emergency service, the information processing apparatus 100 of the non-mounted vehicle Ax on the planned traveling route is detected. The instruction | indication which requests | requires the action which blocks | prevents approach is produced | generated, and it transmits to other mounted vehicles Ao. The other mounted vehicle Ao can decelerate or stop in front of the non-mounted vehicle Ax and before the intersection, and can block the entrance to the intersection by following the instruction requested from the own vehicle As. Thus, even if the other onboard vehicle Ao has not acquired travel information of the emergency vehicle EV, it can take a preparatory action in preparation for the passage of the emergency vehicle EV. As a result, since the entry of the non-mounted vehicle Ax into the planned travel lane is avoided, the planned travel route of the emergency vehicle EV is secured.

  Also in the above scene 2, as in the case of the scene 1, the information processing apparatus 100 transmits each traveling information of the emergency vehicle EV and the non-mounted vehicle Ax to the other mounted vehicle Ao instead of the direct action request. May be. In this case, the information processing apparatus 100 of the other mounted vehicle Ao generates an action request to stop before the intersection based on each travel information notified from the own vehicle As, and the own vehicle (other mounted vehicle Ao) Instruct the driver. As described above, even when the information processing apparatus 100 of another mounted vehicle Ao generates an action request, entry of the non-mounted vehicle Ax into the planned travel route is avoided.

<Scene 3: Invasion avoidance instruction for non-mounted vehicle Ax>
In the scene 3 shown in FIG. 5, the host vehicle As stops before the intersection where the planned travel route is set. There is a non-mounted vehicle Ax approaching the intersection behind the host vehicle As. The non-equipped vehicle Ax has not acquired information on the planned travel route of the emergency vehicle EV. Therefore, the non-mounted vehicle Ax may overtake the host vehicle As that is in a stopped state to be in a travel-planned lane.

  In addition, two on-board vehicles Ao that can communicate with the host vehicle As are located around the intersection. One mounted vehicle Ao (hereinafter, “first mounted vehicle Ao1”) is traveling in a planned lane. The other mounted vehicle Ao (hereinafter, “second mounted vehicle Ao2”) approaches the intersection from the direction facing the host vehicle As. The own vehicle As and the two mounted vehicles Ao1 and Ao2 share each other's position information.

  When the information processing apparatus 100 of the own vehicle As detects the non-mounted vehicle Ax that changes the course behind the own vehicle As in the state in which the traveling information of the emergency vehicle EV in emergency service is acquired, An action request instruction to be output toward one mounted vehicle Ao1 is generated. Specifically, the information processing apparatus 100 generates a request instruction for an action to stop in front of the non-mounted vehicle Ax whose route has been changed as the approach avoidance action of the non-mounted vehicle Ax on the planned travel route, and the first mounting It transmits to vehicle Ao1.

  On the other hand, the information processing apparatus 100 mounted on the second mounted vehicle Ao2 notifies the first mounted vehicle Ao1 of the stop before the intersection by inter-vehicle communication. As described above, the information processing apparatus 100 mounted on the first mounted vehicle Ao1 confirms the stop notification of the second mounted vehicle Ao2, and then issues a request instruction from the host vehicle As (the first mounted vehicle). Present it to the driver of Ao1). As a result, the first mounted vehicle Ao1 can stop in front of the non-mounted vehicle Ax whose course has been changed, and can reliably block the entrance to the intersection of the intersection road in cooperation with the host vehicle As. According to the above, since the entry of the non-mounted vehicle Ax that has overtaken the host vehicle As to the planned travel route is avoided, the planned travel route of the emergency vehicle EV is secured.

  Even in the scene 3 described above, the information processing apparatus 100 of the host vehicle As may transmit travel information for notifying the overtaking of the non-mounted vehicle Ax to the first mounted vehicle Ao1 instead of a direct action request. Good. In this case, the information processing apparatus 100 of the first mounted vehicle Ao1 generates an action request to stop in front of the non-mounted vehicle Ax whose route has been changed based on the traveling information notified from the own vehicle As, and the own vehicle ( The driver of the first mounted vehicle Ao1) is instructed. As described above, even when the information processing apparatus 100 of the first mounted vehicle Ao1 generates an action request, entry of the non-mounted vehicle Ax into the planned travel route is avoided.

<Scene 4: Evacuation support action instruction for non-mounted vehicle Ax>
In the scene 4 shown in FIG. 6, the host vehicle As is traveling in the planned travel lane in which the planned travel route is set. In front of the host vehicle As, there is a non-mounted vehicle Ax that issues a left turn signal. The non-mounted vehicle Ax waits for the vehicle (other mounted vehicle Ao) that is about to enter the intersection from the right to pass through the intersection. Other on-board vehicles Ao can communicate with the host vehicle As, and share position information with the host vehicle As.

  When the information processing apparatus 100 of the own vehicle As has detected the travel information of the emergency vehicle EV in emergency service and detects a non-mounted vehicle Ax that is about to turn left at the intersection in front of the own vehicle As. Then, an action request instruction to be output toward another mounted vehicle Ao is generated. Specifically, the information processing apparatus 100 generates a request instruction for an action to stop at the entrance of an intersection as a evacuation support action for assisting the evacuation of the non-equipped vehicle Ax from the planned travel route, and transmits the instruction to the other mounted vehicle Ao. To do.

  The other mounted vehicle Ao stops in front of the intersection so as not to prevent the left turn of the non-mounted vehicle Ax by following the instruction requested from the host vehicle As. As a result, there is no vehicle entering the intersection from the right side of the non-mounted vehicle Ax, and the non-mounted vehicle Ax can easily make a left turn after confirming that the mounted vehicle Ao has stopped. As described above, the planned travel route of the emergency vehicle EV is secured by assisting the evacuation of the non-mounted vehicle Ax from the planned travel route.

  Even in the scene 4 described above, the information processing apparatus 100 of the host vehicle As may transmit travel information for notifying the left turn schedule of the non-mounted vehicle Ax to another mounted vehicle Ao instead of a direct action request. Good. In this case, the information processing apparatus 100 of the other mounted vehicle Ao generates an action request for stopping before the intersection, and instructs the driver of the own vehicle (other mounted vehicle Ao). As described above, even when the information processing apparatus 100 of another mounted vehicle Ao generates an action request, evacuation of the non-mounted vehicle Ax from the planned travel route is supported.

<Scene 5: Instruction for evacuation support action for non-mounted vehicle Ax>
In the scene 5 shown in FIG. 7, the host vehicle As is traveling on the planned travel lane in which the planned travel route is set. In front of the host vehicle As, there is a non-mounted vehicle Ax that issues a right turn signal. The non-mounted vehicle Ax waits for a plurality of vehicles (other mounted vehicles Ao) that are about to enter the intersection from each direction. The plurality of other mounted vehicles Ao can communicate with the own vehicle As and between the vehicles, and share position information with each other.

  In the following description, for convenience, another mounted vehicle Ao that approaches the intersection from the right side of the non-mounted vehicle Ax will be referred to as a first mounted vehicle Ao1, and other vehicles that approach the intersection from the left side of the non-mounted vehicle Ax. The mounted vehicle Ao is referred to as a second mounted vehicle Ao2. Furthermore, another mounted vehicle Ao that approaches the intersection from the direction facing the non-mounted vehicle Ax is referred to as a third mounted vehicle Ao3.

  When the information processing apparatus 100 of the host vehicle As detects the non-mounted vehicle Ax that is about to turn right at the intersection in front of the host vehicle As while acquiring travel information of the emergency vehicle EV in emergency service. The action request instruction to be output to each of the mounted vehicles Ao1 to Ao3 is generated. Specifically, the information processing apparatus 100 generates a request instruction for an action to stop at the entrance of the intersection as a evacuation support action for supporting the evacuation of the non-mounted vehicle Ax from the planned travel route, and sends it to each of the mounted vehicles Ao1 to Ao3. Send.

  Each mounted vehicle Ao1 to Ao3 stops in front of the intersection so as not to prevent the right turn of the non-mounted vehicle Ax by following the instruction requested from the host vehicle As. As a result, since there are no vehicles entering the intersection from each direction, the non-mounted vehicle Ax can easily make a right turn after confirming that the mounted vehicles Ao1 to Ao3 have stopped. As described above, the planned travel route of the emergency vehicle EV is secured by assisting the evacuation of the non-mounted vehicle Ax from the planned travel lane.

  Even in the above scene 5, the information processing apparatus 100 of the own vehicle As transmits driving information for notifying the right turn schedule of the non-mounted vehicle Ax to each of the mounted vehicles Ao1 to Ao3 instead of a direct action request. Also good. In this case, the information processing apparatus 100 of each of the mounted vehicles Ao1 to Ao3 generates an action request to stop before the intersection, and instructs each driver of the own vehicle (mounted vehicles Ao1 to Ao3). As described above, even when each information processing apparatus 100 of each of the mounted vehicles Ao1 to Ao3 generates an action request, evacuation of the non-mounted vehicle Ax from the planned travel route is supported.

<Scene 6: Evacuation support action instruction for non-mounted vehicle Ax>
In the scene 6 shown in FIG. 8, the host vehicle As is traveling on an adjacent lane adjacent to the planned travel lane in which the planned travel route is set. On the side of the host vehicle As, there is a non-mounted vehicle Ax that runs parallel to the host vehicle As. The non-equipped vehicle Ax is traveling in the same direction as the host vehicle As on the planned travel lane of the emergency vehicle EV (see FIG. 8A).

  When the information processing apparatus 100 of the host vehicle As detects the non-mounted vehicle Ax that travels in the planned travel lane while acquiring the travel information of the emergency vehicle EV in emergency service, the driver of the host vehicle As An action request instruction to be output toward is generated. Specifically, the information processing apparatus 100 sets the evacuation space SS in which the non-mounted vehicle Ax can change the lane between the preceding vehicle LV as the evacuation support action for supporting the evacuation of the non-mounted vehicle Ax from the planned driving lane. Generate action requests to prepare. The information processing apparatus 100 instructs the driver to increase the inter-vehicle distance from the preceding vehicle LV under the control of the instruction device 20 (see FIG. 1).

  By following the instructions presented by the driver of the host vehicle As, a retreat space SS for the non-mounted vehicle Ax is secured in front of the host vehicle As (see FIG. 8B). The non-mounted vehicle Ax can easily change the lane toward the evacuation space SS secured on the left side (see FIG. 8C). As described above, the planned travel route of the emergency vehicle EV is secured by assisting the evacuation of the non-mounted vehicle Ax from the planned travel lane.

<Scene 7: Instruction for evacuation support action for non-mounted vehicle Ax>
In the scene 7 shown in FIG. 9, the host vehicle As is traveling on a two-lane road with one lane on each side. The host vehicle As is traveling in an opposite lane adjacent to the planned travel lane in which the planned travel route is set. A large non-mounted vehicle Ax is traveling in front of the host vehicle As. Further, another onboard vehicle Ao capable of inter-vehicle communication with the host vehicle As is traveling in the planned lane. Other on-board vehicles Ao and own vehicle As share each other's position information through inter-vehicle communication.

  When the information processing apparatus 100 of the own vehicle As detects the large non-mounted vehicle Ax traveling on the two-lane road in a state where the traveling information of the emergency vehicle EV in emergency service is acquired, the other mounted vehicle An action request instruction to be output to Ao is generated. Specifically, the information processing apparatus 100 generates an action request for stopping in a state where a evacuation space SS is secured with the preceding vehicle LV as an evacuation support action for the large non-mounted vehicle Ax on the planned travel route. And it transmits to other mounted vehicles Ao (refer FIG. 9A).

  The other onboard vehicle Ao follows the instruction requested from the host vehicle As, thereby increasing the inter-vehicle distance from the preceding vehicle LV (see FIG. 9B) and stopping in a state where the evacuation space SS is secured (see FIG. 9C). ). Therefore, even when the large non-mounted vehicle Ax stops at the side of the other mounted vehicle Ao, the other mounted vehicle Ao uses the prepared evacuation space SS and the preceding vehicle LV. Can close the distance. As described above, when the other mounted vehicle Ao is displaced to the rear of the large non-mounted vehicle Ax, the large non-mounted vehicle Ax can be located off the planned travel route of the emergency vehicle EV (see FIG. 9D). ). As a result, it is possible to avoid a situation where the two-lane road is blocked by the large non-mounted vehicle Ax, and therefore it is possible to secure a planned travel route for the emergency vehicle EV.

  Even in the scene 7 described above, the information processing apparatus 100 of the host vehicle As transmits driving information for notifying the approach of the large non-mounted vehicle Ax to another mounted vehicle Ao instead of a direct action request. Also good. In this case, the information processing apparatus 100 of another mounted vehicle Ao generates an action request for stopping in a state where the inter-vehicle distance is secured, and instructs the driver of the own vehicle (mounted vehicle Ao). As described above, even when the information processing apparatus 100 of another mounted vehicle Ao generates an action request, evacuation of the non-mounted vehicle Ax from the planned travel route is supported.

<Scene 8: Instruction for evacuation support action for non-mounted vehicle Ax>
In the scene 8 shown in FIG. 10, the host vehicle As is about to enter the narrow street with a narrow road where it is difficult for the vehicles to pass each other from the intersection road. The narrow street is a travel lane of the emergency vehicle EV. A non-mounted vehicle Ax is traveling on the narrow street. Further, another onboard vehicle Ao capable of inter-vehicle communication with the host vehicle As is entering the narrow street from a position different from the host vehicle As. Other on-board vehicles Ao and own vehicle As share each other's position information through inter-vehicle communication.

  When the information processing apparatus 100 of the own vehicle As detects the non-mounted vehicle Ax that travels on the narrow street and passes in front of the own vehicle As in a state where the traveling information of the emergency vehicle EV in emergency service is acquired. Then, an action request instruction to be output toward another mounted vehicle Ao is generated. Specifically, the information processing apparatus 100 generates an action request for temporarily stopping in front of a narrow street as an evacuation support action on the planned travel route of the non-mounted vehicle Ax, and transmits it to another mounted vehicle Ao.

  The other mounted vehicle Ao waits for entry into the narrow street until the non-mounted vehicle Ax and the emergency vehicle EV continue to pass forward by following the instruction requested from the host vehicle As. As a result, a situation in which the narrow streets are clogged with other mounted vehicles Ao and non-mounted vehicles Ax is avoided. Therefore, the planned travel route of the emergency vehicle EV can be secured.

  Even in the scene 8 described above, the information processing apparatus 100 of the host vehicle As may transmit travel information for notifying the approach of the non-mounted vehicle Ax to another mounted vehicle Ao instead of a direct action request. . In this case, the information processing apparatus 100 of the other mounted vehicle Ao generates an action request that waits for entry into the narrow street and instructs the driver of the own vehicle (mounted vehicle Ao). As described above, even when the information processing apparatus 100 of another mounted vehicle Ao generates an action request, the evacuation of the non-mounted vehicle Ax from the planned travel route is supported by preventing the narrow street from being clogged.

  Next, the host vehicle As determined not to behave in accordance with the instruction generated by the information processing apparatus 100 is regarded as a non-mounted vehicle Ax, and an instruction for another mounted vehicle Ao is generated. Details of the scene 9 will be described with reference to FIG. In the following description, the own vehicle As that is the mounted vehicle Ao regarded as the non-mounted vehicle Ax is particularly described as “the non-mounted vehicle Aox”.

<Scene 9: Instruction for evacuation support action associated with setting of non-mounted vehicle Aox>
In the scene shown in FIG. 11, the host vehicle As is traveling in the adjacent lane adjacent to the planned lane of travel of the emergency vehicle EV, as in the scene 6 described above. On the side of the host vehicle As, there is a non-mounted vehicle Ax that runs parallel to the host vehicle As. In addition, another mounted vehicle Ao is traveling in the adjacent lane in front of the host vehicle As (see FIG. 11A).

  When the information processing apparatus 100 of the own vehicle As has detected the travel information of the emergency vehicle EV in emergency service and detects the non-installed vehicle Ax traveling in the planned travel lane, An action request for increasing the inter-vehicle distance with a certain preceding vehicle LV is generated. The driver of the host vehicle As should increase the inter-vehicle distance from the preceding vehicle LV by following the presented instructions (see the broken line in FIG. 11B).

  However, the driver of the host vehicle As may not follow the action request presented for some reason. In this case, the information processing apparatus 100 generates traveling information indicating that the host vehicle As is assumed and set to the non-mounted vehicle Aox, and transmits the traveling information to the other mounted vehicle Ao (see FIG. 11C). The information processing apparatus 100 of the other mounted vehicle Ao performs the evacuation support action for supporting the evacuation of the non-mounted vehicle Ax from the planned travel route based on the notified setting of the non-mounted vehicle Aox. It is determined that the vehicle is another vehicle (other vehicle Ao).

  The information processing apparatus 100 of the other mounted vehicle Ao generates an action request for preparing the evacuation space SS of the non-mounted vehicle Ax by deceleration as the evacuation support action, and instructs the driver of the own vehicle (other mounted vehicle Ao). To do. By following the instructions presented by the driver of the other mounted vehicle Ao, a retreat space SS is secured on the left side of the non-mounted vehicle Ax. As a result, the non-equipped vehicle Ax can quickly evacuate from the planned travel route when the emergency vehicle EV approaches (see FIG. 11D).

  Next, a scene in which the driver of the own vehicle As set as the non-mounted vehicle Aox is re-established in accordance with an instruction from the information processing apparatus 100, thereby deauthorizing the non-mounted vehicle Aox. 10 will be described with reference to FIG.

<Scene 10: Instruction for evacuation support action associated with setting of non-mounted vehicle Aox>
Also in the scene 10 shown in FIG. 12, the own vehicle As is traveling on an adjacent lane adjacent to the planned travel lane of the emergency vehicle EV (see FIG. 12A). Even when the host vehicle As is regarded as a non-mounted vehicle Ax, the information processing apparatus 100 of the host vehicle As detects the side non-mounted vehicle Ax and increases the inter-vehicle distance from the preceding vehicle. The request is continuously instructed to the driver. On the other hand, the information processing apparatus 100 of the other mounted vehicle Ao considers the host vehicle As, which is a subsequent vehicle, and treats it as a non-mounted vehicle Ax. An attempt is made to present it to a person (see FIG. 12B).

  However, the driver of the host vehicle As prepares the evacuation space SS for the non-mounted vehicle Ax by increasing the inter-vehicle distance by following the presented action request. The information processing apparatus 100 of the own vehicle As is assumed to release the setting of the non-mounted vehicle Aox and the driving information indicating that the own vehicle As is handled as the mounted vehicle Ao is displayed on the other mounted vehicles by the driver's action described above. Send to Ao. The information processing apparatus 100 of the other mounted vehicle Ao handles the rear host vehicle As as a normal mounted vehicle Ao based on the notification from the host vehicle As. As a result, the presentation of the deceleration instruction to the driver is stopped (see FIG. 12C).

  According to the above, the retreat space SS for the non-mounted vehicle Ax is secured between the other mounted vehicle Ao and the host vehicle As. As a result, the non-mounted vehicle Ax can be quickly evacuated from the planned travel route when the emergency vehicle EV approaches (see FIG. 12D).

  As described so far, the details of the evacuation instruction process for outputting the instruction of the evacuation support action or the approach avoidance action based on the detection information of the non-mounted vehicle Ax will be described below with reference to FIGS. 1 and 2 based on FIG. However, it will be explained. The evacuation instruction process illustrated in FIG. 13 is started by the information processing apparatus 100 based on, for example, the travel information of the emergency vehicle EV being received by the external communication device 14.

  In S101, a process for acquiring travel information of the vehicle including the host vehicle As is performed, and the process proceeds to S102. In S102, it is determined whether or not the detection information (travel information) of the non-mounted vehicle Ax has been acquired in S101. If it is determined in S102 that the detection information of the non-mounted vehicle Ax is acquired, the process proceeds to S103. Even when the host vehicle As is regarded as the non-mounted vehicle Aox, it is determined in S102 that the detection information of the non-mounted vehicle Ax has been acquired. On the other hand, if it is determined in S102 that the detection information of the non-mounted vehicle Ax is not acquired, the evacuation instruction process is terminated.

  In S103, the traveling information of the non-mounted vehicle Ax acquired in S101 is added to the traveling information transmitted to the other mounted vehicle Ao, and the process proceeds to S104. In S104, it is determined whether or not the host vehicle As is on the planned travel route of the emergency vehicle EV. If it is determined in S104 that the host vehicle As is on the planned travel route (scheduled travel road), the process proceeds to S105. On the other hand, if it is determined in S104 that the host vehicle As is not on the planned travel route, the process proceeds to S110.

  In S105, it is determined whether or not the host vehicle As is in a travel lane of the emergency vehicle EV. If it is determined in S105 that the host vehicle As is in the planned travel lane, the process proceeds to S106. On the other hand, if it is determined in S105 that the host vehicle As is not in the planned lane, the process proceeds to S109.

  In S <b> 106, it is determined whether the road on which the planned lane is set is a one-lane road or a narrow street. In S106, it is determined whether or not the road width of the planned road for the emergency vehicle EV is narrower than a predetermined determination threshold. If it is determined in S106 that the road width of the scheduled road is a one-lane road narrower than the determination threshold, the process proceeds to S107. In S107, the evacuation support action of the non-mounted vehicle Ax is instructed, and the evacuation instruction process is terminated (see scene 7 in FIG. 9).

  On the other hand, when it is determined in S106 that the road width of the planned road is a one-lane two-lane road wider than the determination threshold, the process proceeds to S108. In S108, the lane change is instructed to the own vehicle As in the planned lane of the emergency vehicle EV, and the process proceeds to S109. In S109, the evacuation support action of the non-mounted vehicle Ax is instructed, and the evacuation instruction process is ended (see scene 6 in FIG. 8).

  In S110, it is determined whether or not the host vehicle As is present on an intersecting road that intersects the planned travel road of the emergency vehicle EV. If it is determined in S110 that the host vehicle As is not on the cross road, the evacuation instruction process is terminated. On the other hand, if it is determined that the host vehicle As is on an intersection road, the process proceeds to S111.

  In S111, it is determined whether or not the non-mounted vehicle Ax for which the detection information has been acquired in S101 is in the planned travel lane of the emergency vehicle EV. If it is determined in S111 that the non-mounted vehicle Ax is in the planned lane, the process proceeds to S109. In S109, the evacuation support action of the non-mounted vehicle Ax is instructed, and the evacuation instruction process is terminated (see scene 8 in FIG. 10).

  On the other hand, if it is determined in S111 that the non-mounted vehicle Ax is not in the planned travel lane, the process proceeds to S112. In S112, an instruction to avoid entering the planned travel route of the non-mounted vehicle Ax is instructed, and the evacuation instruction process is ended (see scenes 1 to 3 in FIGS. 3 to 5).

  Next, as shown in scenes 9 and 10 in FIGS. 11 and 12, details of update processing for setting and canceling an assumed non-mounted vehicle Aox will be described based on FIG. 14. The update process shown in FIG. 14 is started by the information processing apparatus 100 (see FIG. 2) based on the output of a request instruction for evacuation support action or approach avoidance action to the driver.

  In S121, the vehicle behavior along the content of the instruction action output to the driver is defined, and the process proceeds to S122. In S121, as the vehicle behavior in accordance with the instruction behavior, for example, the distance between the vehicle LV and the preceding vehicle LV is increased by stepping on the brake pedal, the direction indicator 19 (see FIG. 2) is operated, the vehicle stops before the intersection, etc. Vehicle behavior is defined.

  In S122, it is determined whether or not the vehicle behavior defined in S121 is taken within a certain time. When it is determined in S122 that the defined vehicle behavior has not been taken within a certain time, the process proceeds to S123. In S123, the host vehicle As is set not as the mounted vehicle Ao but as a non-mounted vehicle Aox, and the traveling information transmitted to the other mounted vehicle Ao is updated. Thus, a notification that the host vehicle As is regarded as a non-mounted vehicle Ax is transmitted to the other mounted vehicle Ao. As a result, an evacuation support action or an approach avoidance action can be performed by another onboard vehicle Ao (see scene 9 in FIG. 11).

  On the other hand, if it is determined in S122 that the defined vehicle behavior is taken within a certain time, the process proceeds to S124. In S124, the setting of the assumed non-mounted vehicle Aox with respect to the own vehicle As is canceled, and the traveling information for the normal mounted vehicle Ao is updated. Thus, a notification that the host vehicle As is handled as the mounted vehicle Ao is transmitted to the other mounted vehicle Ao. As a result, the evacuation support action or the approach avoidance action by the other mounted vehicle Ao is stopped (see scene 10 in FIG. 12).

  In the present embodiment described so far, when at least one mounted vehicle Ao acts in accordance with the instruction, the non-mounted vehicle Ax is supported to evacuate from the planned travel route or enters the planned travel route. Be blocked. According to the above, when the emergency vehicle EV passes, the non-mounted vehicle Ax can be located off the planned travel route, and is unlikely to hinder the travel of the emergency vehicle EV. Therefore, even in a traffic situation where the mounted vehicle Ao and the non-mounted vehicle Ax are mixed, the emergency vehicle EV can be smoothly passed.

  In addition, in the present embodiment, an instruction for an action request to decelerate or stop in front of the non-mounted vehicle Ax is presented to the driver of the mounted vehicle Ao. In particular, when a non-mounted vehicle Ax that is about to enter the planned travel route is detected, the mounted vehicle Ao is required to enter an approach avoidance action that decelerates or stops in front of the non-mounted vehicle Ax (scene in FIG. 3). 1 etc.). According to the above, the progress of the non-mounted vehicle Ax is stopped by the mounted vehicle Ao by following the action request presented by the driver of the mounted vehicle Ao. Therefore, a situation in which the travel lane of the emergency vehicle EV is blocked by the non-mounted vehicle Ax is prevented.

  Further, in the present embodiment, based on the detection of the non-mounted vehicle Ax traveling toward the intersection, an instruction for an approach avoidance action is output to the mounted vehicle Ao traveling in front of the non-mounted vehicle Ax (FIG. 4). (See scene 2). If the mounted vehicle Ao stops before the intersection based on the above instructions, it becomes difficult for the non-mounted vehicle Ax to enter the intersection. Therefore, the planned travel route of the emergency vehicle EV is more easily secured.

  Further, in the present embodiment, the onboard vehicle Ao traveling on the intersection road that intersects the planned traveling route is instructed to perform the evacuation support action to stop before the intersection (see scene 4 in FIG. 6). Similarly, the onboard vehicle Ao that is traveling in the opposite lane facing the planned traveling lane is also instructed to perform the evacuation support action to stop before the intersection (see scene 5 in FIG. 7). According to the above, the non-mounted vehicle Ax on the planned travel lane can easily make a right turn or a left turn at the intersection. In this way, when the non-mounted vehicle Ax retreats out of the planned travel lane, the planned travel route of the emergency vehicle EV is more easily secured.

  In addition, in the present embodiment, when the non-mounted vehicle Ax traveling in the planned lane is detected, the driver of the mounted vehicle Ao running in parallel with the non-mounted vehicle Ax is provided with a evacuation space SS for the non-mounted vehicle Ax. The evacuation support action to be secured is instructed (see scene 6 in FIG. 8). Specifically, an instruction to increase the inter-vehicle distance from the preceding vehicle LV is presented to the driver of the mounted vehicle Ao. If the evacuation space SS is secured based on such an instruction, the non-mounted vehicle Ax can be quickly evacuated from the planned travel lane by changing the lane. As a result, the emergency vehicle EV can smoothly travel in the planned travel lane.

  In the present embodiment, when the driver of the host vehicle As does not follow the action request instruction, the host vehicle As is regarded as a non-mounted vehicle Aox. As a result, the action of supporting the evacuation of the non-mounted vehicle Ax is performed by the driver of the other mounted vehicle Ao (see scene 9 in FIG. 11). According to the above, even if a specific driver takes an action different from the instruction, the preparation for evacuation of the non-mounted vehicle Ax is reliably performed by the other mounted vehicle Ao.

  Further, in the present embodiment, even after the vehicle is set as the non-mounted vehicle Aox, the driver of the host vehicle As is continuously instructed to perform the evacuation support action or the approach avoidance action (see scene 10 in FIG. 12). ). Then, if the driver takes an action in accordance with the action request, the setting of the non-mounted vehicle Aox is canceled. According to the above, other mounted vehicles Ao do not need to prepare for evacuation of the non-mounted vehicle Ax.

  In the present embodiment, the travel information acquisition unit 31 corresponds to a “communication information acquisition unit”, and at least one of the travel information acquisition unit 31 and the non-mounted vehicle detection unit 32 corresponds to a “detection information acquisition unit”. The information acquisition unit 33 corresponds to a “road information acquisition unit”. The information processing apparatus 100 corresponds to a “evacuation instruction apparatus”.

(Other embodiments)
Although one embodiment of the present disclosure has been described above, the present disclosure is not construed as being limited to the above-described embodiment, and can be applied to various embodiments and combinations without departing from the scope of the present disclosure. be able to.

  In the above embodiment, a plurality of scenes in which the approach avoidance action and the evacuation support action are performed are illustrated, but the scene in which the approach avoidance action and the evacuation support action are performed is not limited to the scene of the above embodiment. For example, in the scene 11 shown in FIG. 15, the non-mounted vehicle Ax is about to enter the roadway set in the planned travel lane from outside the road. The mounted vehicle Ao detects the non-mounted vehicle Ax outside the road, thereby generating an approach avoidance action for stopping the own vehicle (mounted vehicle Ao) in front of the non-mounted vehicle Ax. As described above, the non-mounted vehicle Ax is prevented from entering the roadway, so that the emergency vehicle EV can smoothly pass through the side of the mounted vehicle Ao and the non-mounted vehicle Ax.

  The information processing apparatus 100 according to the embodiment can perform both the evacuation support action and the approach avoidance action. However, the information processing apparatus may perform only one of the evacuation support action and the approach avoidance action.

  In the above-described embodiment, the information processing device mounted on the vehicle fulfills the function of the evacuation instruction device. However, the evacuation instruction device may be a server or the like installed in a specific information control center. Furthermore, the information processing apparatus may be mounted on the emergency vehicle EV. One or a plurality of processors provided in various arithmetic devices can execute the save instruction method according to the present disclosure based on the save instruction program. Various non-transitional tangible storage media such as a flash memory and a hard disk can be used as a storage medium for storing the save instruction program.

  In the above embodiment, the evacuation support action and the entry support action are presented to the driver who drives the vehicle. However, the target for which the evacuation support action and the approach support action are instructed may be an artificial intelligence for automatic driving functioning by an automatic driving ECU or the like instead of the driver.

Ao-equipped vehicle, non-Ax-equipped vehicle, non-Aox-equipped vehicle, EV emergency vehicle, SS evacuation space, 31 travel information acquisition unit (communication information acquisition unit, detection information acquisition unit), 32 non-equipment vehicle detection unit (detection) Information acquisition unit), 33 map information acquisition unit (road information acquisition unit), 35 action determination unit, 36 instruction output unit, 41 processor, 100 information processing device (evacuation instruction device)

Claims (12)

A mixed vehicle (Ao) equipped with a communication function for acquiring information of a planned travel route on which an emergency vehicle (EV) is scheduled to travel by communication and a non-mounted vehicle (Ax) not equipped with the communication function are mixed. A evacuation instruction device for instructing to ensure the planned travel route in a traffic situation,
A communication information acquisition unit (31) for acquiring vehicle travel information including at least information on the planned travel route by communication;
A detection information acquisition unit (32) for acquiring detection information for detecting the non-mounted vehicle;
Depending on the state of the non-mounted vehicle from which detection information has been acquired by the detection information acquisition unit, an action for assisting evacuation of the non-mounted vehicle from the planned travel route, or the non-mounted vehicle to the planned travel route An instruction output unit (36) for instructing at least one of the mounted vehicles to avoid the entry of the vehicle;
An evacuation instruction device comprising:   The evacuation instruction apparatus according to claim 1, wherein the instruction output unit outputs an instruction to decelerate or stop in front of the non-mounted vehicle for which detection information has been acquired by the detection information acquisition unit, toward the mounted vehicle.   The instruction output unit instructs the mounted vehicle to stop in front of the non-mounted vehicle when detection information of the non-mounted vehicle that is about to enter the planned travel route is acquired by the detection information acquiring unit. The evacuation instructing device according to claim 1 or 2, wherein the evacuation instruction device outputs the output toward the screen.   The instruction output unit outputs an instruction to stop before the intersection to the mounted vehicle that travels on an intersection road that intersects the planned travel route toward an intersection between the planned travel route and the intersection road. The retraction instruction device according to any one of Items 1 to 3.   The said instruction output part outputs the instruction | indication which stops in front of the said intersection to the said mounting vehicle which drive | works toward the said intersection on the opposite lane facing the scheduled driving lane to which the said scheduled driving route was set. The evacuation instruction device described.   When the detection information of the non-equipped vehicle that travels in the planned travel lane in which the planned travel route is set is acquired by the detection information acquisition unit, the instruction output unit displays an adjacent lane adjacent to the planned travel lane. The evacuation instruction apparatus according to any one of claims 1 to 5, wherein an instruction to secure a evacuation space (SS) for the non-mounted vehicle is output to the mounted vehicle that travels alongside the non-mounted vehicle.   The said instruction | indication output part is a retract instruction | indication apparatus of Claim 6 which outputs the instruction | indication which enlarges the distance between front vehicles to the said mounted vehicle on the said adjacent lane which drive | works the side of the said non-mounted vehicle.   The instruction output unit changes the course when detection information of the non-mounted vehicle that changes the course is acquired by the detection information acquisition unit behind the mounted vehicle that stops before the planned travel route. The evacuation instruction apparatus according to any one of claims 1 to 7, wherein an instruction to stop in front of the non-mounted vehicle is output toward the other mounted vehicle. A road information acquisition unit (33) for acquiring road width information of the planned road for which the planned travel route is set;
In the instruction output unit, the detection information of the non-equipped vehicle traveling on the planned travel road is acquired by the detection information acquisition unit, and the road width of the planned travel road acquired by the road information acquisition unit is The instruction of supporting the evacuation of the non-equipped vehicle from the planned travel route is output to the mounted vehicle traveling on the planned travel road when the threshold is smaller than a predetermined determination threshold. The evacuation instruction device according to any one of the above. The action of determining whether the mounted vehicle has acted in accordance with the instruction of the instruction output unit, and determining that the mounted vehicle is not taking an action in accordance with the instruction, the action of regarding the mounted vehicle as the non-mounted vehicle A determination unit (35),
The retreat instruction device according to any one of claims 1 to 9, wherein the instruction output unit transmits a notification that the mounted vehicle is regarded as the non-mounted vehicle to another mounted vehicle. In an assumed non-equipped vehicle (Aox) that is regarded as the non-equipped vehicle, an action for assisting the evacuation of the non-equipped vehicle from the planned traveling route, or an approach of the non-equipped vehicle to the planned traveling route Will continue to be instructed to avoid
When the action determination unit determines that the mounted vehicle has taken an action in accordance with the instruction, the action determination unit cancels the setting of the non-equipped vehicle.
The evacuation instruction apparatus according to claim 10, wherein the instruction output unit transmits a notification for canceling the setting of the non-equipped vehicle mounted to another mounted vehicle. A mixed vehicle (Ao) equipped with a communication function for acquiring information of a planned travel route on which an emergency vehicle (EV) is scheduled to travel by communication and a non-mounted vehicle (Ax) not equipped with the communication function are mixed. In the traffic situation, the evacuation instruction method for performing an instruction to ensure the planned travel route by processing of at least one processor (41),
Obtaining vehicle travel information including at least information of the planned travel route by communication,
Obtaining detection information for detecting the non-equipped vehicle,
An action that supports evacuation of the non-mounted vehicle from the planned travel route or an action that avoids the entry of the non-mounted vehicle to the planned travel route according to the state of the non-mounted vehicle from which the detection information is acquired. A evacuation instruction method for instructing at least one of the mounted vehicles.

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