US 12,241,750 B2
Route arbitration apparatus, automatic driving controller, and automatic driving and route arbitration system
Ryo Ishida, Tokyo (JP)
Assigned to Mitsubishi Electric Corporation, Tokyo (JP)
Appl. No. 17/799,108
Filed by Mitsubishi Electric Corporation, Tokyo (JP)
PCT Filed Mar. 24, 2020, PCT No. PCT/JP2020/012850
§ 371(c)(1), (2) Date Aug. 11, 2022,
PCT Pub. No. WO2021/191995, PCT Pub. Date Sep. 30, 2021.
Prior Publication US 2023/0078294 A1, Mar. 16, 2023
Int. Cl. G01C 21/34 (2006.01); B60W 60/00 (2020.01); G08G 1/16 (2006.01)
CPC G01C 21/3461 (2013.01) [B60W 60/001 (2020.02); G08G 1/162 (2013.01); G08G 1/167 (2013.01)] 25 Claims
OG exemplary drawing
 
1. A route arbitration apparatus comprising at least one processor configured to implement:
communicator that communicates with a multiple of vehicles;
a target route receiver that receives a target travel route from each vehicle;
a route overlapping determiner that determines whether or not the target travel routes of respective vehicles overlap with each other;
a priority determiner that determines priority between vehicles; and
a travel area determiner that, when it is determined that a mutual overlapping of the target travel routes occurs, determines a priority travel area which is an area where the highest priority vehicle which is a vehicle with the highest priority among the overlapping vehicles whose target travel routes were determined to overlap mutually can travel in accordance with the target travel route of the highest priority vehicle, and determines an avoidance travel area which is an area where a low priority vehicle which is a vehicle other than the highest priority vehicle among the overlapping vehicles can travel while avoiding the priority travel area; and
a travel area transmitter that transmits the priority travel area to the highest priority vehicle via the communicator and makes the highest priority vehicle travel within the priority travel area, and transmits the avoidance travel area to the low priority vehicle and makes the low priority vehicle travel within the avoidance travel area.