JP2008090732A - Radio communication system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To obtain a radio communication system for reducing a process load in a vehicle mounted equipment side. <P>SOLUTION: The system comprises a first vehicle mounted device to be used in a vehicle-to-vehicle communication, a second vehicle mounted device to be used in a road-to-vehicle communication, a vehicle mounted controller for performing a communication between the first and second vehicle mounted devices, first radio devices 2a, 2b to be installed on a road and for performing a communication with the first vehicle mounted devices, second radio devices 3a, 3b to be installed on a road and for performing the road-to-vehicle communication, and a road side controller 5 for performing a communication with the first and second radio devices, wherein the road side controller 5 has a second road side transferring means 52 for transferring useful vehicle information to the second radio devices 3a, 3b after extracting from vehicle information transferred from the first radio devices 2a, 2b, and the vehicle mounted controller enables the vehicle information received from both of the first and second vehicle mounted devices to be effective. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a wireless communication system using inter-vehicle communication for performing communication between a vehicle and another vehicle, and more particularly to a technique suitable for application to a vehicle collision avoidance system on a road such as an intersection.

As a conventional wireless communication system, a vehicle warning device using vehicle-to-vehicle communication for performing communication between a vehicle and another vehicle is known (for example, see Patent Document 1).
The conventional system described in Patent Document 1 is configured to calculate a collision probability between a vehicle and another vehicle and to issue an avoidance instruction when there is a possibility of a collision.

  Specifically, in the conventional system described in Patent Document 1, in each vehicle, the existence position probability several seconds after the present is calculated, the calculation result is transmitted to another vehicle, and the transmitted calculation result is received. The vehicle calculates a collision probability from its own existence position probability and the received existence position probability, and when there is a possibility of collision, an instruction to avoid it is issued.

On the other hand, as another wireless communication system, a vehicle collision prevention system using road-to-vehicle communication that performs communication between a roadside and a vehicle is known (for example, see Patent Document 2).
The conventional system described in Patent Document 2 communicates between a communication device installed at an intersection and a communication device installed in a vehicle to prevent a collision at an intersection and travels on a non-priority road The vehicle information provided on the priority road is provided to the vehicle in the middle so that a collision at the intersection at the time of merging from the non-priority road to the priority road is prevented.

JP 2000-276696 A JP 2001-126198 A

In a conventional wireless communication system, for example, as in Patent Document 1, when performing a collision prevention service using inter-vehicle communication at an intersection, a relay is provided at the intersection to communicate with a vehicle traveling on each intersecting road. Although it is conceivable to install a repeater at an intersection, it is necessary for the vehicle-mounted device to receive the vehicle information of a large number of vehicles and calculate the collision probability, which increases the processing load on the vehicle-mounted device side. There was a problem that it was not practical.
Further, as in Patent Document 2, in a radio communication system for preventing vehicle collision using road-to-vehicle communication at an intersection, it is necessary to install infrastructure equipment such as a communication device on the road. There was a problem of not being able to receive a collision prevention service.

  The present invention has been made to solve the above-described problems, and is a first wireless device (roadside vehicle) that receives vehicle information transmitted by a vehicle in inter-vehicle communication on a road on which a plurality of vehicles travel. Vehicle-to-vehicle wireless device), a second wireless device in road-to-vehicle communication (road-side road-to-vehicle wireless device), and a road-side controller, and in the first wireless device receives vehicle information transmitted from the vehicle, The roadside controller calculates the collision probability from the received vehicle information and transmits the vehicle information to the vehicle via the second wireless device only when there is a possibility of collision, thereby reducing the processing load on the vehicle-mounted device side. An object is to obtain a reduced radio communication system.

  A wireless communication system according to the present invention is installed in a vehicle and used for inter-vehicle communication between the vehicle and another vehicle, and is installed in the vehicle for road-to-vehicle communication between the vehicle and the road. A second on-vehicle device used, an on-vehicle controller that is installed in the vehicle and communicates with the first and second on-vehicle devices, and a communication device that is installed on the road and communicates with the first on-vehicle device. A first wireless device that performs communication, a second wireless device that is installed on the road and performs road-to-vehicle communication between the vehicle and the road, and communicates between the first and second wireless devices that are installed on the road A first communication device including a first road-side receiving means for receiving vehicle information transmitted from the first vehicle-mounted device, and a first road-side controller. First roadside transfer means for transferring the vehicle information received by the receiving means to the roadside controller. The device extracts useful vehicle information from the second roadside receiving means for receiving the vehicle information transferred from the first wireless device and the vehicle information received by the second roadside receiving means. A second roadside transfer means for transferring the vehicle information to the second radio apparatus, wherein the second radio apparatus receives the useful vehicle information transferred from the second roadside transfer means. Means and roadside transmission means for transmitting useful vehicle information received by the third roadside reception means to the second vehicle-mounted device, wherein the first vehicle-mounted device transmits vehicle information of the vehicle. Means, first vehicle-mounted receiving means for receiving vehicle information transmitted by another vehicle, and first vehicle-mounted transfer means for transferring vehicle information received by the first vehicle-mounted receiving means to the vehicle-mounted controller. The second vehicle-mounted device receives the vehicle information transmitted by the second wireless device. And a second vehicle-mounted transfer unit that transfers vehicle information received by the second vehicle-mounted receiving unit to the vehicle-mounted controller, and the vehicle-mounted controller is provided by both the first and second vehicle-mounted devices. The received vehicle information is validated.

  According to the present invention, in a place where there is no infrastructure facility, vehicle information can be received by general vehicle-to-vehicle communication to receive a collision prevention service, and at an intersection where there are many vehicles, the first in-vehicle installed in the vehicle. Useful vehicle information received by the second vehicle-mounted device only when both the vehicle (vehicle-vehicle communication vehicle-mounted device) and the second vehicle-mounted device (road-vehicle communication vehicle-mounted device) receive vehicle information of other vehicles. Since it is vehicle information of vehicles having a collision probability in the roadside controller, it is not necessary to calculate the collision probability with all vehicles existing at the intersection, and the processing load on the vehicle-mounted device side can be reduced.

Embodiment 1 FIG.
Embodiment 1 of the present invention will be described below with reference to the drawings.
FIG. 1 is a plan view showing a wireless communication system according to Embodiment 1 of the present invention, and schematically shows the situation of an intersection to which the wireless communication system is applied.
In FIG. 1, it is assumed that a plurality (here, five) of vehicles 1a, 1b, 1c, 1d, and 1e are traveling toward an intersection as indicated by arrows.

Roadside vehicle-to-vehicle wireless devices (hereinafter referred to as “first wireless devices”) 2a and 2b are installed on the roads of the intersection so that they can communicate with the vehicles 1a to 1e heading for the intersection. The vehicle information transmitted by each of the vehicles 1a to 1e is received in the inter-vehicle communication in which the vehicles communicate with each other.
As will be described later, the first wireless devices 2a and 2b receive vehicle information for vehicle-to-vehicle communication from the vehicles 1a to 1e.

Roadside vehicle-to-vehicle wireless devices (hereinafter referred to as “second wireless devices”) 3a and 3b are installed on the roads at the intersections in the same manner as the first wireless devices 2a and 2b, and the vehicles 1a to 1e Communication is performed between the vehicles 1a to 1e using road-to-vehicle communication with the road.
As will be described later, the second radio apparatuses 3a and 3b transmit only useful vehicle information related to the possibility of collision to the vehicles 1a to 1e.

The first and second radio apparatuses 2a and 3a are related to communication with the vehicles 1a to 1c, and the first and second radio apparatuses 2b and 3b are related to communication with the vehicles 1d and 1e. To do.
In FIG. 1, in order to avoid complexity, typically, between the vehicle 1a and another vehicle 1b, and between the vehicle 1a and the first and second radio apparatuses 2a and 3a. Although only the communication line is shown, it goes without saying that communication is performed between the vehicles 1a to 1e and between the vehicles 1a to 1e and the wireless devices 2a, 2b, 3a, and 3b.

  The roadside controller 5 installed at the intersection is connected to the first wireless devices 2a, 2b and the second wireless devices 3a, 3b, and the first and second wireless devices 2a, 2b, 3a, 3b. , The vehicle information received by the first wireless devices 2a, 2b is processed, and the processed vehicle information is transferred to the second wireless devices 3a, 3b.

FIG. 2 is a block diagram schematically showing a functional configuration of the vehicle device of the wireless communication system according to the first embodiment of the present invention.
Here, the inside of the vehicle 1a is shown as a representative, but the other vehicles 1b to 1e are configured in the same manner.
In FIG. 2, the vehicle-mounted controller 10 installed in the vehicle 1a includes a vehicle-to-vehicle communication vehicle-mounted device (hereinafter referred to as “first vehicle-mounted device”) 11 and a road-vehicle communication vehicle-mounted device (hereinafter referred to as “second”). 12) and communicates with the first and second vehicle-mounted devices 11 and 12.
Moreover, the vehicle-mounted controller 10 is provided with a warning determination processing unit 13 for collision avoidance.

The first vehicle-mounted device 11 is used for inter-vehicle communication with other vehicles (such as the vehicle 1b), and communicates vehicle information including the ID code, position, speed, traveling direction, etc. Do.
The second vehicle-mounted device 12 is used for road-to-vehicle communication between the vehicle 1a and the road device, and performs communication between the vehicle 1a and the second wireless device 3a installed on the road.

  The warning determination processing unit 13 in the in-vehicle controller 10 has the same collision probability calculation function as the road-side controller 5, and other data is received from the first on-vehicle device 11 or the second on-vehicle device 12. The collision probability (possibility of collision) with the vehicle is determined, and when the collision probability with another vehicle is higher than a predetermined value (determination criterion value of collision possibility) (the possibility of collision is high), Alert the driver.

For example, when the warning determination processing unit 13 determines that there is a possibility of collision between the vehicle 1a and another vehicle 1b following the vehicle (the collision probability is high), the warning determination processing unit 13 issues an alarm to the subsequent vehicle 1b. To emit.
The warning determination processing unit 13 has a plurality of types of alarms, and selects the type of alarms to be issued to the subsequent other vehicle 1b according to the possibility of collision.

FIG. 3 is a block diagram specifically showing a functional configuration of the radio communication system according to Embodiment 1 of the present invention.
Here, communication is typically performed between the internal configuration of the first and second radio apparatuses 2a and 3a that communicate with the roadside controller 5, and between the first and second radio apparatuses 2a and 3a. Although the 1st and 2nd vehicle equipment 11 and 12 of the vehicle 1a to perform are shown, the other radio equipment and the vehicle equipment of another vehicle shall be comprised similarly.

  In FIG. 3, the first wireless device 2 a is received by the first roadside receiving means 21 that receives the vehicle information transmitted from the first vehicle-mounted device 11 in the vehicle 1 a and the first roadside receiving means 21. 1st roadside transfer means 22 which transfers vehicle information to roadside controller 5 is provided.

  The roadside controller 5 includes a second roadside receiving unit 51 that receives vehicle information transferred from the first roadside transfer unit 22 in the first wireless device 2a, and a vehicle that is received by the second roadside receiving unit 51. The vehicle includes second roadside transfer means 52 that extracts useful vehicle information from the information and transfers the useful vehicle information to the second radio apparatus.

  The second radio apparatus 3 a receives the useful vehicle information received by the third roadside receiving means 31 and the third roadside receiving means 31 that receives the useful vehicle information transferred from the second roadside transferring means 52. Roadside transmission means 32 for transmitting to the second vehicle-mounted device 12 is provided.

  On the vehicle 1a side, the first vehicle-mounted device 11 includes a vehicle-mounted transmission unit 111 that transmits vehicle information of the vehicle 1a and a first vehicle-mounted reception unit that receives vehicle information transmitted by another vehicle (such as the vehicle 1b). 112 and first in-vehicle transfer means 113 for transferring the vehicle information received by the first in-vehicle receiving means 112 to the in-vehicle controller 10.

The second vehicle-mounted device 12 receives the vehicle information received by the second vehicle-mounted receiving means 121 and the second vehicle-mounted receiving means 121 that receives the vehicle information transmitted by the roadside transmitting means 32 in the second wireless device 3a. And a second in-vehicle transfer means 122 for transferring to the in-vehicle controller 10.
Thereby, the vehicle-mounted controller 10 validates the vehicle information received from both the first and second vehicle-mounted devices 11 and 12.

  Note that in the roadside controller 5, the second roadside transfer means 52 is provided between the vehicle and the other vehicle based on the vehicle information received by the second roadside reception means 51 and the vehicle information transmitted from the roadside transmission means 52. The collision probability is calculated, and only vehicle information from a vehicle with a possibility of collision is extracted as useful vehicle information.

Next, the flow of vehicle information in the first embodiment of the present invention shown in FIGS. 1 to 3 will be described with reference to FIG.
FIG. 4 is an explanatory diagram showing an example of a communication procedure according to the first embodiment of the present invention. Components similar to those described above (see FIG. 1) are denoted by the same reference numerals as those described above.
In FIG. 4, paying attention to the vehicle 1d in FIG. 1, there is a possibility that the vehicle 1d may collide with the vehicle 1d because the vehicle 1d may collide with the vehicle 1b when entering the intersection. The communication procedure in the case of notifying the vehicle 1d of performing is shown.

  In FIG. 4, first, when vehicle information of the vehicle 1a is transmitted from the in-vehicle transmission means 111 in the vehicle 1a (step S11), the transmitted vehicle information of the vehicle 1a is the vehicle 1b that is traveling around the vehicle 1a. 1c and the first roadside receiving means 21 in the first radio apparatus 2a.

Then, the 1st roadside transfer means 22 in the 1st radio | wireless apparatus 2a transfers the received vehicle information of the vehicle 1a to the 1st roadside receiving means 51 in the roadside controller 5 (step S12).
Hereinafter, similarly, in steps S13 to S20, the vehicle information of the vehicles 1b to 1e is transmitted to the other vehicles traveling around the vehicle and via the first and second wireless devices 2a and 2b. It is transferred to the roadside controller 5.

Next, the second roadside transfer means 52 in the roadside controller 5 calculates the collision probability between the vehicles from the vehicle information of the vehicles 1a to 1e, and the vehicle 1b having a higher collision probability than the vehicle 1d. Only the vehicle information is transferred to the third roadside receiving means 31 in the second wireless device 3b (step S21).
Thereby, the 2nd radio | wireless apparatus 3b transmits the vehicle information of the vehicle 1b with a high collision probability to the vehicle 1d (step S22).

That is, when the roadside controller 5 determines that there is a possibility that the vehicle 1b and the vehicle 1d collide (the collision probability is high), the roadside controller 5 obtains vehicle information of the vehicle 1b that may collide with the vehicle 1d. The second wireless device 3b transmits the vehicle information of the transferred vehicle 1b to the vehicle 1d.
As described above, it is possible to notify the vehicle 1d that has entered the intersection that there is a vehicle 1b that may collide with the vehicle 1d when entering the intersection.

Next, calculation processing of the collision probability between vehicles by the second roadside transfer means 52 in the roadside controller 5 will be described with reference to the flowchart of FIG. 5 together with FIGS.
In FIG. 5, first, the second roadside receiving means 51 in the roadside controller 5 determines whether or not vehicle information has been received from the first roadside transfer means 22 in the first radio apparatus 2a (step S31) If it is determined that it has not been received (that is, NO), it continues to wait for reception of vehicle information.

On the other hand, if it is determined in step S31 that the vehicle information has been received (that is, YES), the second roadside transfer means 52 calculates the collision probability between the vehicles based on the received vehicle information (step S32). Then, it is determined whether or not there is a vehicle having a collision probability higher than a predetermined value (judgment possibility determination reference value) (step S33).
If it is determined in step S33 that there is no vehicle having a high collision probability (there is a possibility of a collision) (that is, NO), the process returns to step S31 and the above process is repeated.

On the other hand, if it is determined in step S33 that there is a vehicle having a high collision probability (possible collision) (that is, YES), the collision probability is high for the corresponding vehicle (possible collision). In order to notify the vehicle information, the second roadside transfer means 52 transmits to the third roadside reception means 31 in the second wireless device 3 (step S34).
This is the end of the collision probability calculation process (processing routine in FIG. 5) by the second roadside transfer means 52 in the roadside controller 5.

Next, warning determination processing by the warning determination processing unit 13 in the in-vehicle controller 10 will be described with reference to the flowchart of FIG. 6 together with FIGS.
In FIG. 6, first, the warning determination processing unit 13 determines whether or not the vehicle information of the other vehicle transmitted from the first or second vehicle-mounted device 11 or 12 has been received (step S41), and is received. If it is determined that there is no (that is, NO), the vehicle continues to wait for reception of vehicle information.

On the other hand, if it is determined in step S41 that the vehicle information is received from the first or second vehicle-mounted device 11 or 12 (that is, YES), the warning determination processing unit 13 is based on the received vehicle information. Is calculated (step S42), and it is determined whether the collision probability of the other vehicle is higher than a predetermined value (step S43).
If it is determined in step S43 that the collision probability is equal to or lower than the predetermined value (that is, NO), the process returns to step S41 and the above process is repeatedly executed.

On the other hand, if it is determined in step S43 that the collision probability is higher than the predetermined value and there is a possibility of collision (that is, YES), the driver is notified that there is a possibility of collision (step S44).
Above, the warning determination process (processing routine of FIG. 6) by the warning determination process part 13 in the vehicle-mounted controller 10 is complete | finished.

When it is determined that there is a possibility of a collision with another vehicle and the driver is notified in step S44, specifically, a brake lamp or a hazard lamp of the vehicle may be turned on.
Further, a brake lamp or a hazard lamp may be turned on in any combination according to the possibility of collision.

  As described above, according to the first embodiment of the present invention, at the intersection where the number of vehicles is large, among the on-road units, the first wireless devices 2a and 2b are transmitted from each vehicle to the vehicle for inter-vehicle communication. The second radio apparatus 3a, 3b for road-to-vehicle communication is caused to function as a dedicated device for transmitting vehicle information to each vehicle.

  Further, the roadside controller 5 connected to the first wireless devices 2a and 2b and the second wireless devices 3a and 3b calculates the collision probability of each vehicle using the vehicle information received by each road device, When the probability is high (there is a possibility of a collision), only vehicle information useful for each vehicle is transmitted via the second wireless devices 3a and 3b.

Therefore, when the second vehicle-mounted device 12 installed in each vehicle receives the vehicle information of the other vehicle from the second wireless devices 3a and 3b, the first vehicle-mounted device 11 receives the vehicle information of the other vehicle. Regardless of whether or not it has been received, the driver is notified of the possibility of a collision.
Thereby, since it is not necessary to calculate the collision probability with many vehicles existing at the intersection on the vehicle-mounted device side, the processing load on the vehicle-mounted device side can be reduced.

  That is, the roadside controller 5 calculates the collision probability between the vehicles 1a to 1e traveling in the vicinity of the first and second wireless devices 2a, 2b, 3a, and 3b, and the possibility of a collision is calculated. By transmitting only certain vehicle information to the corresponding vehicle, vehicle information received by each of the vehicles 1a to 1e can be reduced.

  Accordingly, since it is not necessary for each of the vehicles 1a to 1e to calculate the collision probability with all other vehicles at an intersection where a large number of vehicles 1a to 1e communicate with each other, each vehicle-mounted device in each vehicle 1a to 1e and The processing load on the in-vehicle controller 10 can be reduced.

Further, for example, even on a road without infrastructure equipment and vehicle information from a road machine for road-to-vehicle communication cannot be obtained, based on the vehicle information of other vehicles received by the first vehicle-mounted device 11. The warning determination processing unit 13 in the in-vehicle controller 10 can calculate the collision probability with another vehicle.
Therefore, even in an environment where there is no road equipment, it is possible to notify the driver that there is a possibility of a collision when there is a possibility of a collision with another vehicle.

Further, by turning on a brake lamp or a hazard lamp according to the level of possibility of collision, for example, the vehicle 1b following the vehicle 1a in which the warning is generated is notified in advance that the vehicle 1a applies the brake. be able to.
Therefore, when the driver of the vehicle 1a notified of the possibility of the collision applies the brake, the possibility that the following vehicle 1b collides can be avoided.

It is a top view which shows roughly the condition of the intersection where the radio | wireless communications system which concerns on Embodiment 1 of this invention is applied. It is a block diagram which shows roughly the function structure of the vehicle-mounted apparatus of the radio | wireless communications system which concerns on Embodiment 1 of this invention. It is a block diagram which shows concretely the function structure of the radio | wireless communications system which concerns on Embodiment 1 of this invention. It is explanatory drawing which shows the communication procedure by Embodiment 1 of this invention. It is a flowchart which shows operation | movement of the road controller by Embodiment 1 of this invention. It is a flowchart which shows operation | movement of the warning determination processing part by Embodiment 1 of this invention.

Explanation of symbols

  1a to 1e Vehicle, 2a, 2b Roadside vehicle-to-vehicle wireless device (first wireless device), 3a, 3b Roadside vehicle-to-vehicle wireless device (second wireless device), 5 Roadside controller, 11 Vehicle-to-vehicle communication vehicle-mounted device (first 1 on-vehicle device), 12 road-to-vehicle communication on-vehicle device (second on-vehicle device), 10 on-vehicle controller, 13 warning determination processing unit, 21 first roadside receiving means, 22 first roadside transfer means, 31 3rd Roadside reception means, 32 Roadside transmission means, 51 Second roadside reception means, 52 Second roadside transfer means, 111 Onboard transmission means, 112 First onboard reception means, 113 First onboard transfer means, 121 2nd Vehicle-mounted receiving means, 122 2nd vehicle-mounted transfer means.

Claims (4)

A first in-vehicle device installed in a vehicle and used for inter-vehicle communication between the vehicle and another vehicle;
A second in-vehicle device installed in the vehicle and used for road-to-vehicle communication between the vehicle and the road;
An in-vehicle controller installed in the vehicle and communicating with the first and second in-vehicle devices;
A first wireless device installed on the road and communicating with the first vehicle-mounted device;
A second wireless device installed on the road and performing road-to-vehicle communication between the vehicle and the road;
A roadside controller installed on the road and performing communication with the first and second radio devices,
The first wireless device is:
First roadside receiving means for receiving vehicle information transmitted from the first vehicle-mounted device;
First roadside transfer means for transferring vehicle information received by the first roadside reception means to the roadside controller;
The roadside controller is
Second roadside receiving means for receiving vehicle information transferred from the first wireless device;
Second roadside transfer means for extracting useful vehicle information from the vehicle information received by the second roadside receiving means and transferring the useful vehicle information to the second wireless device;
The second wireless device is
Third roadside receiving means for receiving the useful vehicle information transferred from the second roadside transfer means;
Roadside transmission means for transmitting the useful vehicle information received by the third roadside reception means to the second vehicle-mounted device,
The first vehicle-mounted device is:
Vehicle-mounted transmission means for transmitting vehicle information of the vehicle;
First vehicle-mounted receiving means for receiving vehicle information transmitted by the other vehicle;
First vehicle-mounted transfer means for transferring vehicle information received by the first vehicle-mounted receiving means to the vehicle-mounted controller,
The second vehicle-mounted device is:
Second in-vehicle receiving means for receiving vehicle information transmitted by the second wireless device;
Second vehicle-mounted transfer means for transferring vehicle information received by the second vehicle-mounted reception means to the vehicle-mounted controller,
The wireless communication system, wherein the vehicle-mounted controller validates vehicle information received from both the first and second vehicle-mounted devices.   The second roadside transfer means calculates a collision probability between the vehicle and the other vehicle from vehicle information received by the second roadside reception means and vehicle information transmitted from the roadside transmission means. 2. The wireless communication system according to claim 1, wherein only vehicle information from a vehicle with a possibility of collision is extracted as the useful vehicle information. The in-vehicle controller includes a warning determination processing unit,
The warning determination processing unit issues a warning to the succeeding other vehicle when it is determined that there is a possibility of a collision between the vehicle and another vehicle following the vehicle. The wireless communication system according to claim 2.   The warning determination processing unit includes a plurality of types of warnings, and selects a type of warning to be issued to the subsequent other vehicle according to a possibility of a collision. Wireless communication system.

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