Patent Publication Number: US-2017361849-A1

Title: Code processing device, code processing method, and vehicle control device

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is based upon and claims the benefit of priority from Japanese Patent Application No. 2016-121115, filed Jun. 17, 2016, the entire contents of which are incorporated herein by reference. 
     FIELD 
     An embodiment described herein relates generally to a code processing device, a code processing method, and a vehicle control device. 
     BACKGROUND 
     In recent years, the technology of automated driving of vehicles has been developed. The automated driving technology controls the traveling direction, the speed, etc. of vehicles based on the surrounding situation. 
     When entering an expressway or the like, automated vehicles select one lane from a plurality of lanes to enter the expressway. Some of the plurality of lanes are sometimes impassable or congested. Heretofore, there has been no system of showing traffic information for selecting a lane to automated vehicles, likely letting the automated vehicles select and pass through an impassable or congested lane. 
     OBJECT OF INVENTION 
     In order to solve the aforementioned problem, a code processing device, a code processing method, and a vehicle control device are provided which are able to contribute to selection of a lane according to the conditions of the lane. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a block diagram showing a configuration example of a road system according to an embodiment. 
         FIG. 2  is a block diagram showing a configuration example of a lane device according to the embodiment. 
         FIG. 3  is a block diagram showing a configuration example of a display device according to the embodiment. 
         FIG. 4  is a diagram showing an example of display of the display device according to the embodiment. 
         FIG. 5  is a block diagram showing a configuration example of a vehicle according to the embodiment. 
         FIG. 6  is a flowchart showing an example of an operation of the display device according to the embodiment. 
         FIG. 7  is a flowchart showing an example of an operation of the vehicle according to the embodiment. 
     
    
    
     DETAILED DESCRIPTION 
     In general, according to one embodiment, a code processing device includes an acquisition unit, a lane information generation unit, a code generation unit, and a display processing unit. The acquisition unit acquires traffic information which indicates the traffic conditions of a lane. The lane information generation unit generates lane information which indicates the traffic conditions of each lane based on the traffic information from each lane. The code generation unit generates a code which indicates the lane information. The display processing unit outputs the code. 
     Hereinafter, an embodiment will be described with reference to the accompanying drawings. 
     The road system according to the embodiment is installed at an interchange which includes a plurality of lanes, such as an entrance lane of an expressway, and the like. The road system provides vehicles entering the interchange or the like with information on each lane of the interchange, etc. In this embodiment, the road system is installed at an interchange of an expressway. 
     The interchange at which the road system is installed includes a plurality of lanes that vehicles can pass through. The interchange is configured to allow vehicles entering from at least one road to enter one lane selected from the plurality of lanes. 
       FIG. 1  is a block diagram showing a configuration example of a road system  1 . 
     The road system  1  includes lane devices  10  ( 10   a  to  10   n ), display devices  20  ( 20   a  and  20   b ) (code processing device), a vehicle  30 , a tollgate server  40 , a lane monitor control device  50 , etc., as shown in  FIG. 1 . In this embodiment, the interchange includes lanes a to n. 
     The lane devices  10  are installed in the lanes a to n, respectively. For example, the lane devices  10  are installed in a roadside zone of each lane. Also, the lane devices  10  may include a gantry formed on the lanes. 
     The lane devices  10  send traffic information which indicates the conditions of the lanes to the display devices  20 . In addition, the lane devices  10  perform an operation related to toll collection from vehicles passing through the lanes. 
     A configuration example of the lane devices  10  and the traffic information will be described in detail later on. 
     The number of lane devices  10  included in the road system  1  is not limited to a specific number. 
     The display devices  20  display a code which indicates lane information indicating the conditions of each lane. The display device  20   a  displays a code to vehicles traveling on a road before the plurality of lanes. Namely, the display device  20   a  displays a code to vehicles that are located at a position where any of the lanes can be selected as a course to take. A configuration example of the display devices  20  and the lane information will be described in detail later on. 
     In this embodiment, the road system  1  includes two display devices  20  ( 20   a  and  20   b ). For example, the display device  20   a  is arranged in one of the roadside zones (e.g., the roadside zone on the left side in the traveling direction) of the road before the plurality of lanes, to display a code in this roadside zone. Also, the display device  20   b  is arranged in the other roadside zone (e.g., the roadside zone on the right side in the traveling direction) of the road before the plurality of lanes, to display a code in this roadside zone. 
     The road system  1  may include one display device  20 . The road system  1  may also include three or more display devices  20 . 
     The vehicle  30  selects one lane from the plurality of lanes of the interchange, to pass therethrough. The vehicle  30  is controlled by automated driving. The vehicle  30  reads the code displayed by the display devices  20 . The vehicle  30  acquires the lane information from the code read by the vehicle  30 , and selects a lane to pass through based on the lane information. A configuration example of the vehicle  30  will be described in detail later on. 
     The tollgate server  40  charges a user a usage fee of the road based on the payment information from the lane devices  10 . For example, the payment information indicates an ID identifying the user, the amount of money, etc. In this embodiment, the tollgate server  40  supports payments made using an ETC (electronic toll collection) card. For example, the payment information indicates an ID of the ETC card as the ID identifying the user. Based on the payment information, the tollgate server  40  settles the payment of the usage fee of the user by using credit card information, etc. 
     The lane monitor control device  50  controls the congestion conditions, etc. of each lane based on the information from the lane devices  10 . 
     In addition, the road system  1  may add a necessary structure as appropriate, or delete an unnecessary structure. 
     Next, a configuration example of the lane devices  10  will be described. 
       FIG. 2  is a block diagram showing a configuration example of the lane device  10 . 
     The lane device  10  includes a processing terminal  11 , a first ETC antenna  107 , a second ETC antenna  108 , an ETC recovery antenna  109 , a roadside display unit  110 , an in-booth display unit  111 , a start control unit  112 , an image capture unit  113 , an entry detection unit  114 , a length detection unit  115 , a number-of-axes detection unit  116 , and a vehicle weight detection unit  117 , etc., as shown in  FIG. 2 . 
     The processing terminal  11  controls the entire lane device  10 . The processing terminal  11  includes a main control unit  12 , a communication unit  101 , a security processing unit  102 , an interface  106 , and the like. For example, the processing terminal  11  is installed in the roadside zone of the road. 
     The main control unit  12  controls the entire processing terminal  11 . The main control unit  12  includes a vehicle type determination unit  103 , a monitor control unit  104 , and an ETC processing unit  105 , etc. 
     The first ETC antenna  107  is an antenna for performing wireless communication with an on-vehicle ETC device of the vehicle  30  passing through the lane. For example, the first ETC antenna  107  is used to receive ETC card information from the on-vehicle ETC device. 
     The second ETC antenna  108  is configured in a manner similar to the first ETC antenna  107 . The second ETC antenna  108  may be installed at a position different from that of the first ETC antenna  107 . 
     The ETC recovery antenna  109  is an antenna for performing wireless communication with the on-vehicle ETC device of the vehicle  30  in the case where the communication with the on-vehicle ETC device using the first ETC antenna  107  and the second ETC antenna  108  fails. 
     The roadside display unit  110  displays various kinds of information to a fellow passenger of the vehicle  30  according to a signal from the main control unit  12 . For example, the roadside display unit  110  displays a usage fee, etc. For example, the roadside display unit  110  is installed at a position on a side of the lane where a user can see it. 
     The in-booth display unit  111  is a display unit which is installed inside a booth where there is an attendant. The in-booth display unit  111  displays various kinds of information to the attendant in the booth according to the signal from the main control unit  12 . 
     The start control unit  112  controls starting of the vehicle  30  which passes through the lane based on the signal from the main control unit  12 . For example, the start control unit  112  includes a bar. For example, the start control unit  112  lowers the bar to the lane to prevent the vehicle  30  from starting. In addition, the start control unit  112  raises the bar from the lane to prompt the vehicle  30  to start. 
     The image capture unit  113  captures an image of the vehicle  30  passing through the lane. The image capture unit  113  sends a captured image to the main control unit  12 . 
     The entry detection unit  114  detects the vehicle  30  entering the lane. For example, the entry detection unit  114  detects the vehicle  30  by using a laser or the like. The entry detection unit  114  sends, for example, a signal indicating that the vehicle  30  has been detected, to the main control unit  12 . 
     The length detection unit  115  detects the size of the vehicle  30 . For example, the length detection unit  115  detects whether the entire length of the vehicle  30  is greater than a predetermined length. For example, the length detection unit  115  sends a predetermined signal to the main control unit  12  if the entire length of the vehicle  30  is greater than a predetermined length. 
     The number-of-axes detection unit  116  detects the number of axes of the vehicle  30 . For example, the number-of-axes detection unit  116  may detect the number of axes by using the image of the vehicle  30 . For example, the number-of-axes detection unit  116  sends a signal indicating the detected number of axes to the main control unit  12 . 
     The vehicle weight detection unit  117  detects the weight of the vehicle  30  passing through the lane. For example, the vehicle weight detection unit  117  is installed under the road of the lane, to detect the weight of the vehicle  30  passing on the road. 
     The vehicle weight detection unit  117  sends a signal indicating the detected weight to the main control unit  12 . 
     The communication unit  101  sends/receives data by wire or wirelessly to/from an external device. In this embodiment, the communication unit  101  sends/receives data to/from the tollgate server  40  and the lane monitor control device  50 . The communication unit  101  may comprise an interface which supports communication with the tollgate server  40  and an interface which supports communication with the lane monitor control device  50 . 
     The security processing unit  102  performs processing related to communication security, such as encryption and decryption, when communicating with the on-vehicle ETC device mounted on the vehicle  30 . 
     The interface  106  sends/receives data to/from a device arranged outside of the processing terminal  11 . In this embodiment, the interface  106  sends/receives data to/from the first ETC antenna  107 , the second ETC antenna  108 , the ETC recovery antenna  109 , the roadside display unit  110 , the in-booth display unit  111 , the start control unit  112 , the image capture unit  113 , the entry detection unit  114 , the length detection unit  115 , the number-of-axes detection unit  116 , and the vehicle weight detection unit  117 , etc. 
     The vehicle type determination unit  103  determines the type of the vehicle  30  passing through the lane. For example, the type of vehicle is a classification for determining a usage fee of vehicles, such as standard-sized cars, medium-sized cars, large cars, and extra-large cars. 
     The vehicle type determination unit  103  determines the type of the vehicle  30  based on the number of axes of the vehicle  30 , the length of the vehicle  30 , the weight of the vehicle  30 , or the like. For example, the vehicle type determination unit  103  acquires information on the vehicle  30  from each unit of the lane device  10  via the interface  106 . The vehicle type determination unit  103  determines the type of the vehicle  30  based on the acquired information. 
     The monitor control unit  104  generates traffic information which indicates the conditions of the lanes. 
     The traffic information indicates whether the lanes in which the lane device  10  is installed are passable or not. For example, the traffic information indicates that the lanes are passable if the lanes are compatible with the ETC system. The traffic information indicates that the lanes are passable if the lanes are, for example, ETC exclusive lanes, or ETC/general mixed lanes. Since both ETC exclusive lanes and ETC/general mixed lanes are compatible with the ETC system, these lanes are defined as ETC compatible lanes. 
     In addition, if the lanes are not compatible with the ETC system, the traffic information indicates that the lanes are impassable. For example, if the lanes are general lanes, the traffic information indicates that the lanes are impassable. 
     In this embodiment, the ETC exclusive lanes are lanes in which the ETC system is installed and only the payment using the ETC system is made. The ETC/general mixed lanes are lanes in which the ETC system is installed but both the payment using the ETC system and the payment not using the ETC system are made. In addition, the general lanes are lanes in which the ETC system is not installed and only the payment not using the ETC system is made. 
     If the lanes are impassable due to some trouble such as an accident, the traffic information may indicate that the lanes are impassable. 
     Moreover, the traffic information indicates the congestion condition of the lanes. For example, the traffic information may indicate the number of vehicles that line up in a lane, etc., as the congestion condition of the lane. In addition, the traffic information may indicate, as the congestion condition of the lanes, a classification indicating the congestion condition, such as “normal” and “congested.” 
     The monitor control unit  104  generates the traffic information based on the information input by an operator, the information from each unit of the lane device  10 , etc. For example, the monitor control unit  104  identifies whether the lanes are passable or not based on an operation input to the processing terminal  11  by the operator. 
     In addition, the monitor control unit  104  specifies, as the congestion condition, the number of vehicles that line up in a lane based on, for example, images captured by the image capture unit  113 , etc. The monitor control unit  104  may specify, as the congestion condition, a classification of the congestion condition corresponding to the number of vehicles. 
     The monitor control unit  104  generates the traffic information which indicates whether the lanes are passable or not, and the congestion condition of the lanes. 
     The monitor control unit  104  updates the traffic information as necessary. For example, the monitor control unit  104  updates the traffic information at a predetermined interval. In addition, the monitor control unit  104  may update the traffic information according to the change of the traffic conditions of the lanes. For example, the monitor control unit  104  may update the traffic information when a change occurs in whether the lanes are passable or not, or when a change occurs in the congestion condition. 
     The monitor control unit  104  sends the traffic information to the display devices  20  through the communication unit  101 , or the like. For example, the monitor control unit  104  sends the traffic information at a predetermined interval. In addition, the monitor control unit  104  may send the traffic information if the monitor control unit  104  updates the traffic information. 
     The ETC processing unit  105  carries out settlement using the ETC system. For example, the ETC processing unit  105  acquires the information of the ETC card from the on-vehicle ETC device of the vehicles passing through the lanes, via the first ETC antenna  107 , the second ETC antenna  108 , or the ETC recovery antenna  109 . The ETC processing unit  105  determines the usage fee based on the type of the vehicle determined by the vehicle type determination unit  103 . The ETC processing unit  105  settles the payment of the usage fee by using the information of the ETC card. For example, the ETC processing unit  105  sends the information of the ETC card and the payment information indicating the usage fee to the tollgate server  40 , etc. through the communication unit  101 . 
     The lane device  10  may add a necessary structure as appropriate, or delete an unnecessary structure. 
     The main control unit  12  comprises a CPU and a memory, for example. The main control unit  12  is, for example, a PC. The vehicle type determination unit  103 , the monitor control unit  104 , and the ETC processing unit  105  are implemented by the CPU and memory, for example. 
     Next, a configuration example of the display device  20  will be described. 
       FIG. 3  is a block diagram showing a configuration example of the display device  20 . 
     The display device  20  includes a main control unit  21 , a communication unit  201 , a display unit  206 , etc., as shown in  FIG. 3 . 
     The main control unit  21  controls the entire display device  20 . The main control unit  21  includes a traffic information acquisition unit  202 , a lane information generation unit  203 , a code generation unit  204 , and a display processing unit  205 , etc. 
     The communication unit  201  is an interface for sending/receiving data to/from the lane devices  10 . The main control unit  21  receives traffic information from each lane device  10  through the communication unit  201 . 
     The display unit  206  displays a code indicating the lane information based on a signal from the main control unit  21 . The display unit  206  is installed at a position where the code can be displayed to vehicles traveling on a road before each lane. Namely, the display unit  206  displays a code to vehicles that are located at a position where any of the lanes can be selected as a course to take. The display unit  206  comprises, for example, a liquid crystal display, etc. 
     The traffic information acquisition unit  202  (acquisition unit) acquires traffic information from each lane device  10  through the communication unit  201 . For example, the traffic information acquisition unit  202  may send a request to each lane device  10  at a predetermined interval and receive traffic information as a response. In addition, the traffic information acquisition unit  202  may receive the traffic information sent from each lane device  10  without sending a request. For example, the traffic information is information updated according to the change of the traffic conditions of the lanes; and each lane device  10  may send the traffic information according to the update. 
     The lane information generation unit  203  generates lane information based on the traffic information of each lane. The lane information indicates whether each lane is passable or not. For example, the lane information indicates passable lanes and impassable lanes. 
     Moreover, the lane information indicates the congestion condition of the passable lanes. For example, the lane information correlates the passable lanes and the congestion condition of the lanes with each other and stores them. 
     For example, the lane information generation unit  203  analyzes the traffic information received from each lane device  10 . For example, the lane information generation unit  203  specifies the passable lanes and the impassable lanes based on each piece of traffic information received. In addition, the lane information generation unit  203  specifies the congestion condition of each passable lane based on each piece of traffic information received. 
     If the traffic information indicates the number of vehicles that line up in a lane, the lane information generation unit  203  may make a classification which indicates the congestion condition, such as “normal” and “congested,” as the congestion situation of each lane. 
     The lane information generation unit  203  generates lane information based on the specified information. 
     The code generation unit  204  generates a code which indicates the lane information. The code is a code readable by the main control unit of the vehicle  30  described below. For example, the code is a one-dimensional code, such as a bar code, or a two-dimensional code, such as a QR code (registered trademark). The code generation unit  204  may generate a plurality of codes. For example, the code generation unit  204  may generate a bar code which indicates the lane information, and a QR code which indicates the lane information. 
     The display processing unit  205  outputs, to the display unit  206 , the code generated by the code generation unit  204 . If the code generation unit  204  generates a plurality of codes, the display processing unit  205  may display a plurality of codes. The display processing unit  205  may also display a character string which indicates at least a part of the lane information. For example, the display processing unit  205  may display the congestion situation of the passable lanes in a character string. 
       FIG. 4  shows an exemplary display of the display unit  206 . 
     The display unit  206  displays a code  210  which indicates the lane information, as shown in  FIG. 4 . In this embodiment, the display unit  206  displays a QR code as the code  210 . 
     The display device  20  may add a necessary structure as appropriate, or delete an unnecessary structure. 
     The main control unit  21  comprises a CPU and a memory, for example. The main control unit  21  is, for example, a PC. The lane information generation unit  203 , the code generation unit  204 , and the display processing unit  205  are implemented by the CPU and memory, for example. 
     Next, a configuration example of the vehicle  30  will be described. 
       FIG. 5  is a block diagram showing a configuration example of the vehicle  30 . 
     The vehicle  30  includes a main control unit  31  (vehicle control device), an image capture unit  301 , a direction control unit  306 , a brake  307 , an accelerator  308 , and a directional indicator  309 , etc., as shown in  FIG. 5 . 
     The main control unit  31  controls the entire vehicle  30 . The main control unit  31  includes an image acquisition unit  302 , a decoding unit  303 , a lane selection unit  304 , and a vehicle control unit  305 , etc. 
     The image capture unit  301  captures an image of the outside of the vehicle  30 . The image capture unit  301  captures the image of the code  210  displayed by the display unit  206 . For example, the image capture unit  301  captures the image of the forward direction of the vehicle  30  at a predetermined angle. The image capture unit  301  sends the captured image to the main control unit  31 . 
     The direction control unit  306  controls the traveling direction of the vehicle  30  based on a signal from the main control unit  31 . For example, the direction control unit  306  controls the direction of the front wheels of the vehicle  30 . 
     The brake  307  decelerates or stops the vehicle  30  based on the signal from the main control unit  31 . The brake  307  is, for example, a disc brake which sandwiches a disc rotating in connection with the wheel axis. 
     The accelerator  308  controls the speed of the vehicle  30  based on the signal from the main control unit  31 . If the vehicle  30  is a gas vehicle, for example, the accelerator  308  controls the amount of gasoline supplied to the engine of the vehicle  30 . If the vehicle  30  is an electric car, the accelerator  308  controls the electric power supplied to the motor of the vehicle  30 . 
     The directional indicator  309  lights up based on the signal from the main control unit  31 . The directional indicator  309 , for example, comprises a blinker and the like. 
     The image acquisition unit  302  acquires the image taken by the image capture unit  301 . For example, the image acquisition unit  302  acquires the image from the image capture unit  301  at a predetermined interval. 
     The decoding unit  303  (read unit) specifies the code  210  from the image acquired by the image acquisition unit  302  and decodes the code  201 . For example, the decoding unit  303  performs a raster scan of the image and specifies the code  210 . When the code  210  is specified, the decoding unit  303  decodes the code  210  according to a predetermined algorithm. 
     The decoding unit  303  decodes the code  210  and acquires the lane information. 
     The lane selection unit  304  selects a lane in which to travel based on the lane information acquired by the decoding unit  303 . For example, the lane selection unit  304  specifies passable lanes based on the lane information. If there is one passable lane, the lane selection unit  304  selects the lane. 
     If there is a plurality of passable lanes, the lane selection unit  304  selects one lane from the plurality of passable lanes. For example, the lane selection unit  304  selects a lane based on the congestion condition of each passable lane. For example, the lane selection unit  304  selects a passable lane that is least congested. Alternatively, the lane selection unit  304  preferentially selects an ETC exclusive lane if there is a plurality of passable lanes. Alternatively, the lane selection unit  304  selects an ETC exclusive lane if there is a plurality of passable lanes. 
     The lane selection unit  304  may select a lane based on a traveling direction after passing through the lane. For example, the lane selection unit  304  may select a lane close to a road that is entered after passing through the lane. The vehicle  30  includes a navigation system, for example. The navigation system registers the destination information that is input and determines the traveling direction (e.g., an inbound lane, an outbound lane, etc.) based on the destination information. The lane selection unit  304  selects a lane based on the traveling direction determined by the navigation system. The lane selection unit  304  may select a lane based on the congestion conditions and the traveling direction. 
     The method for the lane selection unit  304  to select a lane is not limited to a specific method. 
     The vehicle control unit  305  makes the vehicle  30  travel in the lane selected by the lane selection unit  304 . For example, the vehicle control unit  305  makes the vehicle  30  travel in the lane by controlling the direction control unit  306 , the brake  307 , and the accelerator  308 , etc., based on the image taken by the image capture unit  301 . The vehicle control unit  305  may implement other automated control, such as automated driving on the road. 
     The vehicle  30  may add a necessary structure as appropriate, or delete an unnecessary structure. 
     The main control unit  31  comprises a CPU and a memory, for example. The decoding unit  303 , the lane selection unit  304 , and the vehicle control unit  305  are implemented by the CPU and memory, for example. 
     Next, an example of an operation of the display device  20  will be described. 
       FIG. 6  is a flowchart illustrating the example of the operation of the display device  20 . 
     First, the traffic information acquisition unit  202  of the main control unit  21  of the display device  20  receives traffic information from each lane device  10  through the communication unit  201  (S 11 ). When the traffic information acquisition unit  202  receives the traffic information, the lane information generation unit  203  generates lane information based on each piece of traffic information (S 12 ). 
     When the lane information generation unit  203  generates the lane information, the code generation unit  204  generates a code which indicates the lane information generated by the lane information generation unit  203  (S 13 ). When the code generation unit  204  generates the code, the display processing unit  205  displays the code generated by the code generation unit  204  on the display unit  206  (S 14 ). 
     When the display processing unit  205  displays the code, the display device  20  terminates the operation. 
     The display device  20  may update the code as necessary. For example, the display device  20  may perform S 11  to S 14  as necessary. For example, the display device  20  may update the code every time it receives the traffic information. The display device  20  may also update the code at a predetermined interval. 
     Next, an example of an operation of the vehicle  30  will be described. 
       FIG. 7  is a flowchart illustrating the example of the operation of the vehicle  30 . 
     First, the image acquisition unit  302  of the main control unit  31  of the vehicle  30  acquires an image taken by the image capture unit  301  (S 21 ). When the image acquisition unit  302  acquires the image, the decoding unit  303  reads a code in the image (S 22 ). If there is no code in the image, the decoding unit  303  scans an image until an image including a code is acquired. 
     When the decoding unit  303  reads the code, the main control unit  31  determines whether the code includes the lane information (S 23 ). If the main control unit  31  determines that the code includes the lane information (S 23 , YES), the lane selection unit  304  analyzes the lane information (S 24 ). 
     Upon analyzing the lane information, the lane selection unit  304  determines whether there is a passable lane based on the lane information (S 25 ). If it is determined that there is a passable lane (S 25 , YES), the lane selection unit  304  selects a lane through which the vehicle  30  passes (S 26 ). 
     If the lane selection unit  304  selects a lane, the vehicle control unit  305  makes the vehicle  30  enter the lane selected by the lane selection unit  304  (S 27 ). 
     If the main control unit  31  determines that the code does not include the lane information (S 23 , NO), or if the lane selection unit  304  determines that there is no passable lane (S 25 , NO), the main control unit  31  switches to manual driving (S 28 ). 
     If the vehicle control unit  305  makes the vehicle  30  enter the lane selected by the lane selection unit  304 , or if the main control unit  31  switches to manual driving, the main control unit  31  terminates the operation. 
     The vehicle control unit  305  may continue automated driving even after it makes the vehicle  30  enter the lane. The main control unit  31  may notify a fellow passenger of the lane selected by the lane selection unit  304  by using an image, a sound, or the like. 
     In addition, the vehicle  30  need not comprise the vehicle control unit  305 . For example, the main control unit  31  may present a driver with the lane selected by the lane selection unit  304  as a candidate for the lane to enter. 
     The road system configured in the manner described above acquires, from each lane, the traffic information indicating whether lanes are passable or not and the congestion condition of the lanes. The road system generates the lane information which indicates the conditions of the lanes based on the traffic information. The road system presents the vehicle with the code which indicates the lane information. Accordingly, the road system enables presentation of impassable lanes to the vehicle which performs automated driving. 
     The vehicle decodes the code and acquires the lane information. The vehicle selects a passable lane based on the lane information and passes through the lane by automated driving. 
     Accordingly, the road system can prevent the vehicle which performs automated driving from entering an impassable lane. 
     While a certain embodiment has been described, the embodiment has been presented by way of example only, and is not intended to limit the scope of the inventions. Indeed, the novel embodiment described herein may be embodied in a variety of other forms; furthermore, various omissions, substitutions and changes in the form of the embodiments described herein may be made without departing from the spirit of the inventions. The accompanying claims and their equivalents are intended to cover such forms or modifications as would fall within the scope and spirit of the inventions.