Lane selecting device, vehicle control system and lane selecting method
To make it possible to execute processing taking into account the fact that a plurality of lanes are provided in a road. An automatic driving support device 500 includes a map database 541 including lane information concerning lanes of a road, a position specifying section 173 that specifies a present position of a vehicle, and a recommended-lane selecting section 171 that calculates, on the basis of the lane information, a recommendation degree of each of lanes of a road on which the vehicle is traveling and selects, on the basis of the calculated recommendation degree, a lane in which the vehicle travels. Therefore, it is possible to select a recommended lane taking into account the fact that a plurality of lanes are provided in a road.
1. A lane selecting device comprising:
a GPS receiver receiving information indicating a position coordinate and an advancing direction of a vehicle;
a memory storing a map database including lane information, which is information concerning lanes of a road;
a control section; and
a transceiver connecting between the control section and an engine control unit of the vehicle to transmit data generated by the control section and receive data transmitted from the engine control unit,
wherein the control section includes
a CPU,
a position specifying section controlled by the CPU to specify a present position of a vehicle based on the information received by the GPS receiver, and
a recommended-lane selecting section controlled by the CPU to calculate, on the basis of the present position specified by the position specifying section and the lane information included in the map database, for each of lanes of a road on which the vehicle is traveling, a recommendation degree indicating a degree of recommending traveling and to select, on the basis of the calculated recommendation degree, a lane in which the vehicle is to travel,
wherein when a branching point is present ahead of the vehicle,
the recommended-lane selecting section
specifies a lane in which the vehicle is recommended to travel in entering the branching point,
uses a number of changes from a lane in which the vehicle is currently traveling to the specified lane as the lane information and
calculates the recommendation degree of each of the lanes making the degree of recommendation inversely proportional to a number of lane changes from a lane in which the vehicle is currently traveling to the specified lane,
wherein the recommended-lane selecting section
sets a predetermined section immediately before the branching point as a lane unchangeable section in which the lane change cannot be performed and
calculates the recommendation degree to be inversely proportional to a remaining distance from a present position to entrance in the lane unchangeable section.
2. The lane selecting device according to claim 1 , wherein the recommended-lane selecting section changes length of the lane unchangeable section according to presence or absence of occurrence of a traffic jam.
3. A lane selecting method comprising:
a step of specifying a present position of a vehicle by a position specifying section controlled by a CPU based on information indicating a position coordinate and an advancing direction of the vehicle received by a GPS receiver;
a step of calculating, on the basis of the specified present position and lane information, which is information concerning lanes of a road included in a map database stored in a memory, for each of lanes of a road on which the vehicle is traveling, a recommendation degree indicating a degree of recommending traveling by a recommended-lane selecting section controlled by the CPU; and
a step of transmitting the recommendation degree generated from the recommended-lane selecting section to an engine control unit through a transceiver,
wherein, in the step of calculating the recommendation degree,
when a branching point is present ahead of the vehicle,
a lane in which the vehicle is recommended to travel in entering the branching point is specified,
a number of changes from a lane in which the vehicle is currently traveling to the specified lane is used as the lane information and
the recommendation degree of each of the lanes is calculated inversely proportional to a number of lane changes from a lane in which the vehicle is currently traveling to the specified lane,
wherein, in the step of calculating the recommendation degree, a predetermined section immediately before the branching point is set as a lane unchangeable section in which the lane change cannot be performed and
the recommendation degree is calculated inversely proportional to a remaining distance from a present position to entrance in the lane unchangeable section.
4. The lane selecting method according to claim 3 , wherein, in the step of calculating the recommendation degree, length of the lane unchangeable section is changed according to presence or absence of occurrence of a traffic jam.