JP2018085133A - Determination device, receiving device, control method, program, and storage medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a determination device capable of accurately determining a danger of a non-communicating body.SOLUTION: A determination device (vehicle-to-vehicle communication device 1) comprises detection means (control unit 10) and determination means (control unit 10). The detection unit includes communication means (communication unit 11), and detects a non-communicating body. The determining means determines whether or not a detected non-communicating body is dangerous based on information of the non-communicating body. The information on the non-communicating body is information including a speed and a traveling direction of the non-communicating body and road information on which the non-communicating body exists.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a technique for exchanging information of a non-communication body.

  Conventionally, techniques related to inter-vehicle communication have been proposed. For example, in Patent Document 1, a vehicle-to-vehicle communication device mounted on a vehicle acquires information on a vehicle that does not have a vehicle-to-vehicle communication device, and the vehicle-to-vehicle communication device is mounted on the other vehicle. A technique for transmitting data is disclosed. In addition, techniques related to the present invention are disclosed in Patent Documents 2 and 3.

JP 2005-301581 A JP 2008-123367 A JP 2007-310457 A

  In communication between communication bodies such as vehicle-to-vehicle communication, the amount of communication is preferably as small as possible. Therefore, when information on non-communication bodies that cannot communicate is shared between the communication bodies, it is necessary to accurately determine the risk of each non-communication body in order to select a non-communication body with high risk.

  The present invention has been made to solve the above-described problems, and provides a determination device capable of accurately determining the risk of a non-communication body and a reception device that communicates with the determination device. Is the main purpose.

  The invention according to claim 1 is a determination device that includes a communication unit and detects a non-communication body, and a determination unit that determines whether the non-communication body detected by the detection unit is dangerous. The determination means determines whether the non-communication body is dangerous based on the information of the non-communication body.

  The invention according to claim 10 is a control method executed by an information processing apparatus having communication means, wherein a detection step of detecting a non-communication body and the non-communication body detected by the detection step are dangerous. A determination step of determining whether or not the non-communication body is dangerous based on information on the non-communication body.

  The invention according to claim 11 is a program executed by an information processing apparatus having communication means, wherein the detection means for detecting a non-communication body and the non-communication body detected by the detection means are dangerous. The information processing apparatus is caused to function as a determination unit for determining whether or not the non-communication body is dangerous based on information on the non-communication body.

It is a schematic block diagram of the vehicle-to-vehicle communication apparatus which concerns on an Example. The data structure of vehicle information is shown. It is a flowchart which shows the procedure of a vehicle information communication process. It is a flowchart which shows the procedure of a transmission information determination process. An overhead view of an intersection where a dangerous area is displayed is shown. It is a figure which shows the outline | summary of the process which gives a priority to a non-mounted vehicle. It is the figure which showed schematically the determination method of the priority which concerns on a modification. (A) shows a dangerous area based on a junction such as an expressway. (B) shows the example which excludes non-mounted vehicle information from the object added to transmission information based on a modification.

  In one preferred embodiment of the present invention, the determination device includes a communication unit and detects a non-communication body, and determines whether the non-communication body detected by the detection unit is dangerous. Determination means, and the determination means determines whether the non-communication body is dangerous based on the information of the non-communication body.

  The determination apparatus includes a detection unit and a determination unit. The detection means includes a communication means and detects a non-communication body. The determination means determines whether the detected non-communication body is dangerous based on the non-communication body information. According to this aspect, the determination apparatus can preferably determine whether the detected non-communication body is dangerous.

  In one aspect of the determination apparatus, the non-communication body information is information including a speed and a traveling direction of the non-communication body and road information on which the non-communication body exists. According to this aspect, the risk of the non-communication body can be suitably determined according to the state of the non-communication body.

  In one aspect of the determination apparatus, the road information where the non-communication body exists includes dangerous area information. Here, the “dangerous area information” is information indicating whether or not the road where the non-communication body exists is in the dangerous area. The dangerous area is, for example, an area within a predetermined distance from the intersection or an accident occurrence point. An area within a predetermined distance is applicable.

  In another aspect of the determination apparatus, the communication unit includes a transmission unit that transmits information of the non-communication body that the determination unit determines to be dangerous to another communication body. According to this aspect, the determination apparatus can efficiently transmit only information on a non-communication body that is highly necessary to another communication body.

  In another aspect of the determination apparatus, the communication unit includes a reception unit that receives information from the other communication body.

  In another aspect of the determination apparatus, the determination device further includes display means for displaying a position of a non-communication body based on information from the other communication body received by the reception means.

  In another aspect of the determination apparatus, the communication unit receives information on the other communication unit from another communication unit, and the determination unit is configured to receive the non-communication unit based on the information on the other communication unit. Determine if is dangerous. In this aspect, the determination device can more accurately determine whether or not the non-communication body is dangerous by taking into consideration the situation of other communication bodies.

  In another aspect of the determination apparatus, the detection unit includes an imaging unit.

  In another embodiment according to the present invention, the receiving device communicates with the determination device described above, and includes a receiving unit that receives information from a non-communication body that the determination device determines to be dangerous. According to this aspect, the receiving device can efficiently receive only the information of the non-communication body determined to be dangerous.

  In still another embodiment according to the present invention, there is provided a control method executed by an information processing apparatus having communication means, wherein a detection step of detecting a non-communication body and the non-communication body detected by the detection step are dangerous. A determination step for determining whether the non-communication body is dangerous based on information on the non-communication body. By using this control method, the information processing apparatus can suitably determine whether the detected non-communication body is dangerous.

  In still another embodiment of the present invention, a program executed by an information processing apparatus having communication means, the detection means for detecting a non-communication body and the non-communication body detected by the detection means are dangerous. The information processing apparatus functions as a determination unit that determines whether or not the non-communication body is dangerous based on the information on the non-communication body. By executing this program, the information processing apparatus can suitably determine whether the detected non-communication body is dangerous. Preferably, the program is stored in a storage medium.

  Note that the “non-communication body” in the present invention does not include the communication means included in the determination device. It does not exclude communication with other existing media other than the determination device, such as communication with a server when updating navigation software.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. Hereinafter, “communication with a vehicle” includes not only communication with the vehicle itself but also communication with a communication device mounted on the vehicle.

[Configuration of inter-vehicle communication device]
FIG. 1 is a schematic configuration diagram of a vehicle-to-vehicle communication device 1 according to the present embodiment. The inter-vehicle communication device 1 is mounted on a vehicle and exchanges information related to the vehicle or road information on which the vehicle is traveling (also referred to as “vehicle information”) with other vehicles. The inter-vehicle communication device 1 mainly includes a control unit 10, a communication unit 11, a display unit 12, a storage unit 13, and a measurement unit 14.

  Hereinafter, the vehicle on which the inter-vehicle communication device 1 is mounted is referred to as “own vehicle Vs”, and the vehicle having the same communication function or communication device as the inter-vehicle communication device 1 capable of exchanging vehicle information with the inter-vehicle communication device 1. A vehicle that does not have “mounted vehicle Vx” and a communication function and a communication device that can exchange vehicle information with the inter-vehicle communication device 1 is also referred to as “non-mounted vehicle Vy”.

  Based on the control of the control unit 10, the communication unit 11 broadcasts vehicle information to an unspecified number of mounted vehicles Vx and receives vehicle information broadcast from the mounted vehicles Vx. The vehicle information transmitted to the mounted vehicle Vx by the communication unit 11 includes measurement of the vehicle information (also referred to as “own vehicle information Is”) of the host vehicle Vs recognized by the control unit 10 based on the output signal of the measurement unit 14. The vehicle information of the non-mounted vehicle Vy recognized by the control unit 10 based on the output signal of the unit 14 (also referred to as “non-mounted vehicle information Iy”) is also included. Similarly, in the vehicle information received by the communication unit 11 from the mounted vehicle Vx, in addition to the vehicle information of the mounted vehicle Vx of the communication partner (also referred to as “mounted vehicle information Ix”), non-mounted measured by the mounted vehicle Vx. Vehicle information Iy is included. The communication unit 11 is an example of the “communication unit”, “transmission unit”, and “reception unit” in the present invention.

  The display unit 12 displays various display data based on the control of the control unit 10. For example, the display unit 12 displays a map around the current position based on the map data stored in the storage unit 13, and the mounted vehicle Vx indicated by the vehicle information generated by the control unit 10 or the vehicle information received by the communication unit 11. And the position of the non-mounted vehicle Vy are displayed together with the position of the host vehicle Vs. Further, when the control unit 10 determines that the host vehicle Vs and another vehicle are approaching, the display unit 12 displays a warning to that effect based on the control of the control unit 10.

  The storage unit 13 stores various data used for generating display data to be output to the display unit 12 such as map data and facility data. The storage unit 13 stores a program necessary for the control unit 10 to execute each process.

  The measurement unit 14 outputs measurement data necessary for generating the own vehicle information Is and the non-mounted vehicle information Iy. The measurement unit 14 mainly includes a camera 41, a radar 42, a GPS receiver 43, and an independent positioning device 44.

  One or a plurality of cameras 41 are provided for the host vehicle Vs, and supply image data obtained by photographing a predetermined direction from the host vehicle Vs to the control unit 10. Similarly, one or a plurality of radars 42 are provided for the host vehicle Vs, and the output signals are supplied to the control unit 10. The GPS receiver 43 receives radio waves carrying downlink data including positioning data from a plurality of GPS satellites. The positioning data is used to detect the absolute position of the vehicle from latitude and longitude information. The autonomous positioning device 44 includes an acceleration sensor, an angular velocity sensor, a distance sensor, and the like. The acceleration sensor is made of, for example, a piezoelectric element, detects the acceleration of the vehicle, and outputs acceleration data. The angular velocity sensor is composed of, for example, a vibrating gyroscope, detects the angular velocity of the vehicle when the direction of the vehicle is changed, and outputs angular velocity data and relative azimuth data. A distance sensor measures the vehicle speed pulse which consists of a pulse signal generated with rotation of the wheel of a vehicle.

  The control unit 10 includes a CPU, a ROM, and a RAM, and controls the inter-vehicle communication device 1 as a whole. For example, the control unit 10 determines the own vehicle information based on the output signal received from the GPS receiver 43 and the self-supporting positioning device 44, the blinker lighting information acquired from the own vehicle Vs by CAN (Controller Area Network), OBD2, or the like. Is is generated. Further, the control unit 10 generates the non-mounted vehicle information Iy based on the output signal received from the camera 41 or the radar 42 directed to the non-mounted vehicle Vy. And the control part 10 broadcast-transmits the produced | generated vehicle information to the mounting vehicle Vx by the communication part 11. FIG. The vehicle information transmission process will be described in detail with reference to FIGS. 3 and 4 to be described later.

  The control unit 10 also displays on the display unit 12 the vehicle position indicated by the vehicle information based on the vehicle information generated based on the output signal of the measurement unit 14 or the vehicle information received by the communication unit 11 from the mounted vehicle Vx. Display a warning or alert you to the approach of another vehicle. Thus, the control unit 10 is an example of the “detection unit” and “determination unit” in the present invention.

[Data structure of vehicle information]
Next, a specific example of the data structure of the vehicle information with which the inter-vehicle communication device 1 communicates with the mounted vehicle Vx will be described.

  FIG. 2A shows an example of the data structure of the host vehicle information Is generated by the control unit 10. In the example of FIG. 2A, the host vehicle information Is includes latitude / longitude information indicating the position of the host vehicle Vs, vehicle speed information indicating the traveling speed of the host vehicle Vs, and traveling direction information indicating the traveling direction of the host vehicle Vs. And traveling road information indicating the road number of the road on which the host vehicle Vs is traveling, and blinker information indicating the lighting state of the blinker.

  Here, an example of a method for generating the own vehicle information Is shown in FIG. In the example of FIG. 2A, the control unit 10 sets the latitude / longitude information to “139 degrees 42 minutes east longitude 35 degrees 32 minutes north latitude” based on the output signal of the GPS receiver 43, and Based on the output signal, the vehicle information is set to “55 km / h”. Furthermore, the control unit 10 recognizes that the host vehicle Vs is traveling west based on the output signal of the autonomous positioning device 10 and sets the traveling direction information to “west”. Further, the control unit 10 recognizes a road number (for example, a link ID in the map data) indicating the road on which the host vehicle Vs is traveling based on the map data and the output signal of the GPS receiver 43, and sets the traveling road information as “road”. No. ABCD ”. Further, the control unit 10 recognizes that the winker is not lit based on the information indicating the turn-on state of the winker acquired from the host vehicle Vs, and sets the winker information to “no instruction”.

  FIG. 2B shows an example of the data structure of the mounted vehicle information Ix received by the communication unit 11 from the mounted vehicle Vx. As shown in FIG. 2B, the mounted vehicle information Ix is similar to the host vehicle information Is, with latitude / longitude information indicating the position of the mounted vehicle Vx, vehicle speed information indicating the traveling speed of the mounted vehicle Vx, and mounted vehicle. It includes travel direction information indicating the travel direction of Vx, travel road information indicating the road number of the road on which the mounted vehicle Vx is traveling, and winker information indicating the lighting state of the winker.

  FIG. 2C shows an example of the data structure of the non-mounted vehicle information Iy generated by the control unit 10. In the example of FIG. 2C, the non-mounted vehicle information Iy includes relative position information indicating the relative position of the non-mounted vehicle Vy with respect to the host vehicle Vs, vehicle speed information indicating the vehicle speed of the non-mounted vehicle Vy, and the non-mounted vehicle Vy. Traveling direction information indicating the traveling direction of the vehicle, traveling road information indicating the road number of the road on which the non-mounted vehicle Vy is traveling, and blinker information indicating the lighting state of the blinker of the non-mounted vehicle Vy.

  When generating the non-mounted vehicle information Iy shown in FIG. 2C, first, the control unit 10 recognizes the presence of the non-mounted vehicle Vy based on the outputs of the camera 41 and the radar 42. For example, when the control unit 10 detects a vehicle from the image supplied from the camera 41, the absolute value of the detected vehicle is determined based on the orientation and position of the camera 41, the position and range in the detected vehicle image, and the like. Recognize position. Then, the control unit 10 recognizes that the recognized vehicle is the non-mounted vehicle Vy when the position of the recognized vehicle is different from the position indicated by the latitude / longitude information of each mounted vehicle information Ix received by the communication unit 11. To do.

  In the example of FIG. 2C, the control unit 10 sets the relative position information of the recognized non-mounted vehicle Vy to “10 m to the west”. Further, the control unit 10 determines the non-mounted vehicle Vy based on the vehicle speed and traveling direction of the host vehicle Vs and the relative speed and relative traveling direction of the non-mounted vehicle Vy recognized based on the output of the camera 41 and the radar 42. The vehicle speed information is set to “60 km / h”, and the direction information is set to “west”. Further, the control unit 10 refers to the map data, recognizes the road at the position of the recognized non-mounted vehicle Vy, and sets the traveling road information to “road number IJKLM”. Further, the control unit 10 recognizes the presence or absence of a blinker that is lit and the position of the blinker in the non-mounted vehicle Vy based on a time-series image obtained by capturing the non-mounted vehicle Vy acquired from the camera 41, and the blinker information Is set to “Right” to indicate that the right turn indicator is lit.

[Processing flow]
Next, a processing procedure executed by the control unit 10 will be described with reference to FIGS.

(1) Vehicle Information Communication Processing FIG. 3 is a flowchart showing the procedure of vehicle information communication processing executed by the control unit 10. The control unit 10 repeatedly executes the process of the flowchart shown in FIG. 3 according to a predetermined cycle.

  First, the control part 10 acquires the own vehicle information Is (step S101). Specifically, as described in the description of FIG. 2A, the control unit 10 generates the own vehicle information Is based on the output of the GPS receiver 43, the autonomous positioning device 44, and the like.

  Next, the control unit 10 acquires the onboard vehicle information Ix (step S102). Specifically, the control unit 10 receives the mounted vehicle information Ix (see FIG. 2B) broadcast-transmitted from the mounted vehicle Vx within the communication range by the communication unit 11.

  Next, the control part 10 determines whether the non-mounted vehicle Vy exists (step S103). Specifically, as described in the description of FIG. 2C, the control unit 10 detects the non-mounted vehicle Vy based on the output of the camera 41 and the radar 42, the mounted vehicle information Ix, and the like. And when the non-mounted vehicle Vy exists (step S103; Yes), the control part 10 acquires the non-mounted vehicle information Iy with respect to each detected non-mounted vehicle Vy (step S104). In this case, the control unit 10 generates non-mounted vehicle information Iy shown in FIG. 2C based on the output of the camera 41 and the radar 42 and the like.

  And the control part 10 performs the transmission information determination process which is a process which selects the non-mounted vehicle information Iy which should be transmitted based on the presence or absence of the danger of the non-mounted vehicle Vy (step S105). The transmission information determination process will be described in detail with reference to FIG. And the control part 10 broadcast-transmits the own vehicle information Is and the non-mounted vehicle information Iy selected by the transmission information determination process of step S105 (step S106).

(2) Transmission Information Determination Process FIG. 4 is a flowchart showing the procedure of the transmission information determination process executed by the control unit 10 in step S105 of FIG. By the transmission information determination process, the control unit 10 determines vehicle information (also simply referred to as “transmission information”) to be transmitted in step S106.

  First, the control unit 10 determines whether or not there is a vehicle traveling in a relatively high risk area (also referred to as “dangerous area Td”) (step S201). Here, the dangerous area Td is an area that requires attention so that the vehicles do not contact each other. Hereinafter, as an example, the control unit 10 determines an area within a predetermined distance from each intersection stored in the map data as the dangerous area Td. In this case, the control unit 10 recognizes the nearest intersection and the dangerous area Td determined by the position of the intersection based on the map data, and the position indicated by the relative position information included in the non-mounted vehicle information Iy acquired in step S104 is It is determined whether or not it exists in the dangerous area Td.

  When there is a non-mounted vehicle Vy that travels through the dangerous area Td (step S201; Yes), the control unit 10 extracts the non-mounted vehicle Vy that travels through the dangerous area Td (step S202). On the other hand, when there is no non-mounted vehicle Vy that travels through the dangerous area Td (step S201; No), the control unit 10 does not include the non-mounted vehicle information Iy in the transmission information (step S209). That is, in this case, the control unit 10 determines only the own vehicle information Is as vehicle information to be transmitted in step S106.

  Next, the control unit 10 determines whether or not there is a non-mounted vehicle Vy that enters the intersection serving as a base point that defines the dangerous area Td among the non-mounted vehicles Vy extracted in step S202 (step S203). That is, the control unit 10 determines whether or not there is a non-mounted vehicle Vy that passes through the central portion of the intersection by turning right or going straight at the intersection. In this case, for example, the control unit 10 recognizes the direction in which each non-mounted vehicle Vy travels at the intersection based on the blinker information and the traveling direction information indicated by the vehicle information of the non-mounted vehicle Vy extracted in step S202. Recognize the non-mounted vehicle Vy entering the intersection.

  If there is a non-mounted vehicle Vy that enters the intersection among the non-mounted vehicles Vy extracted in step S202 (step S203; Yes), the control unit 10 extracts the non-mounted vehicle Vy (step S204). Then, the control unit 10 determines that the non-mounted vehicle Vy extracted in step S204 is a dangerous (that is, attention required) non-mounted vehicle Vy.

  On the other hand, when there is no non-mounted vehicle Vy that enters the intersection among the non-mounted vehicles Vy extracted in step S202 (step S203; No), the non-mounted vehicle information Iy is not included in the transmission information (step S209). That is, in this case, the control unit 10 determines only the own vehicle information Is as vehicle information to be transmitted in step S106.

  Next, the control unit 10 determines whether or not there are a plurality of non-mounted vehicles among the non-mounted vehicles Vy extracted in Step S204 (Step S205). When determining that there are a plurality of non-mounted vehicles Vy (step S205; Yes), the control unit 10 determines the priority order to be notified to the mounted vehicles Vx for each non-mounted vehicle Vy (step S206). Here, the control unit 10 determines the above-mentioned priority order so that the higher the need for attention (that is, the higher the risk) the higher the non-mounted vehicle Vy. For example, the control unit 10 gives higher priority to the non-mounted vehicle Vy that has a shorter distance to the intersection serving as a base point that defines the danger region Td. And the control part 10 adds the non-mounted vehicle information Iy corresponding to the highest priority to transmission information (step S207). That is, the control unit 10 determines the non-mounted vehicle information Iy having the first priority in addition to the own vehicle information Is as transmission information.

  On the other hand, when there are not a plurality of non-mounted vehicles Vy (step S205; No), that is, when there is only one non-mounted vehicle Vy, the control unit 10 transmits the non-mounted vehicle information Iy of the non-mounted vehicle Vy. It adds to information (step S208). That is, the control unit 10 determines the non-mounted vehicle information Iy as transmission information in addition to the own vehicle information Is.

[Concrete example]
Next, a specific example of the transmission information determination process described in FIG. 4 will be described with reference to FIGS.

  FIG. 5 shows an overhead view of the intersection where the dangerous area Td is displayed. In the vicinity of the intersection shown in FIG. 5, in addition to the host vehicle Vs, there are mounted vehicles Vx1 to Vx2 and non-mounted vehicles Vy1 to Vy5. In this case, the control unit 10 recognizes an area within a predetermined distance (100 m in FIG. 5) from the intersection as the dangerous area Td in Step S201 and Step S202 in FIG. 4, and the non-mounted vehicles Vy2 to Vy5 in the dangerous area Td. Are extracted as candidates for the dangerous non-mounted vehicle Vy. Then, the control unit 10 excludes the non-equipped vehicle Vy1 from subsequent processing targets.

  Next, the control unit 10 further extracts non-mounted vehicles Vy that enter the intersection (that is, go straight or turn right) based on Steps S203 and S204 of FIG. 4 from the non-mounted vehicles Vy2 to Vy5 extracted in FIG. FIG. 6A shows an overhead view of the intersection after extracting the non-mounted vehicle Vy entering the intersection. In this case, as shown in FIG. 6A, the control unit 10 moves straight or turns right from the non-mounted vehicles Vy2 to Vy5 in the dangerous area Td extracted in step S201 and step S202 of FIG. And the non-mounted vehicle Vy5 is extracted as a dangerous non-mounted vehicle Vy. As a result, the control unit 10 excludes the non-mounted vehicle Vy4 that turns left at the intersection and the non-mounted vehicle Vy2 that has already passed the intersection from the subsequent processing targets. In FIG. 6A, the non-mounted vehicles Vy1 to Vy2 and the non-mounted vehicle Vy4 that are excluded from the processing target are displayed by broken lines.

  Next, since there are a plurality of extracted non-mounted vehicles Vy, the control unit 10 determines the priority order to be notified to the mounted vehicle Vx for each non-mounted vehicle Vy3 and non-mounted vehicle Vy5 in step S206. . FIG. 6B is a diagram showing an outline of the priority order determination method. As shown in FIG. 6B, in this case, the control unit 10 determines, for each extracted non-mounted vehicle Vy3 and non-mounted vehicle Vy5, a straight line distance “L3” to the intersection serving as a base point that defines the dangerous area Td. , “L5” are calculated respectively. And the control part 10 makes the above-mentioned priority order high as the non-mounted vehicle Vy corresponding to a short linear distance. In the example of FIG. 6B, the control unit 10 sets the priority order of the non-mounted vehicle Vy5 corresponding to the straight line distance L5 shorter than the straight line distance L3 to the first place. By doing in this way, the control part 10 can determine the priority attached | subjected to each non-mounting vehicle Vy so that the non-mounting vehicle Vy which needs the attention should be high.

<Modification>
Hereinafter, modified examples suitable for the above-described embodiments will be described. The following modifications may be applied in any combination to the above-described embodiments.

(Modification 1)
The priority determination method for the non-mounted vehicle Vy described with reference to FIG. 6B is an example, and the priority determination method to which the present invention is applicable is not limited to this.

  For example, when it is assumed that the mounted vehicle Vx closest to the intersection and each non-mounted vehicle Vy to which priority is to be given have traveled straight, the control unit 10 estimates the estimated time (“contact grace period”) until they come into contact with each other. Time Tt ”) is calculated, and the priority is set higher in the non-mounted vehicle Vy with a shorter contact grace time Tt.

  FIG. 7A is a diagram schematically showing a method for determining the priority order based on the contact grace time Tt. As shown in FIG. 7A, in this case, the control unit 10 determines that the contact grace time Tt between the mounted vehicle Vx1, which is the mounted vehicle Vx closest to the intersection, and the non-mounted vehicles Vy3, Vy5 to which priority is to be given. Is calculated. In the example of FIG. 7A, the control unit 10 refers to the vehicle speed information acquired in step S102 and step S104 of FIG. 3, and positions of the mounted vehicle Vx1 and the non-mounted vehicle Vy3, and the mounted vehicle Vx1 and the non-mounted vehicle. Based on the vehicle speed of Vy3, the contact grace time Tt corresponding to the non-mounted vehicle Vy3 is calculated as 2 seconds. Similarly, the control unit 10 sets the contact grace time Tt corresponding to the non-mounted vehicle Vy5 to 1.5 seconds based on the positions of the mounted vehicle Vx1 and the non-mounted vehicle Vy5 and the vehicle speeds of the mounted vehicle Vx1 and the non-mounted vehicle Vy5. And calculate. As a result, the control unit 10 sets the priority order of the non-mounted vehicle Vy5 corresponding to the short contact grace time Tt to the first place. Also according to this aspect, the control unit 10 can set the priority order so that the non-mounted vehicle Vy having a high necessity to be noted becomes higher.

  In another example, the control unit 10 calculates, for each non-mounted vehicle Vy to be given priority, a total value of the contact grace time Tt corresponding to each mounted vehicle Vx in the danger region Td, and the total value is The smaller the non-mounted vehicle Vy, the higher the priority.

  FIG. 7B is a diagram schematically showing a method for determining a priority order based on the sum of the contact grace time Tt for each non-mounted vehicle Vy. In the example of FIG. 7B, the control unit 10 is in the danger area Td, and each mounted vehicle Vx1 and mounted vehicle Vx2 entering the intersection, and each non-mounted vehicle Vy3, Vy5 to be given priority. The contact grace time Tt is calculated for all the combinations. Thereafter, the control unit 10 calculates the sum of the contact allowance time Tt for each of the non-mounted vehicles Vy3 and Vy5. In the example of FIG. 7B, the control unit 10 determines that the total value (2.5 seconds) of the contact delay time Tt of the non-mounted vehicle Vy5 is the total value (5 seconds) of the contact delay time Tt of the non-mounted vehicle Vy3. ) Is set to the first priority for the non-mounted vehicle Vy5. Also according to this aspect, the control unit 10 can set the priority order so that the non-mounted vehicle Vy having a high necessity to be noted becomes higher.

(Modification 2)
In the description of step S201 in FIG. 4, the control unit 10 determines the dangerous area Td with the intersection of the crossroads as a base point. However, the method of setting the dangerous area Td to which the present invention can be applied is not limited to this, and the control unit 10 generally sets the dangerous area Td based on a point that requires attention to contact between vehicles. Also good.

  FIG. 8A shows a dangerous area Td based on a junction such as an expressway. As shown in FIG. 8A, in this case, the control unit 10 sets a point within a predetermined distance (300 m in FIG. 8A) from the joining point as the dangerous area Td. In the example of FIG. 8A, the control unit 10 determines in step S201 of FIG. 4 that the non-mounted vehicle Vy6 exists in the dangerous area Td, and extracts the non-mounted vehicle Vy6 in step S202. . In this way, the control unit 10 can suitably determine the dangerous region Td with the junction point such as an expressway as a base point.

  In another example, the control unit 10 may determine an area within a predetermined distance from the accident frequent occurrence point as the dangerous area Td. In this case, the memory | storage part 10 memorize | stores the information of an accident frequent occurrence point as map data previously. Similarly, the control unit 10 may determine an area within a predetermined distance from the installation point of the level crossing as a dangerous area Td. In yet another example, the control unit 10 may set the site of the parking lot as the dangerous area Td.

(Modification 3)
After execution of step S204 in FIG. 4, when the control unit 10 determines that there is no possibility that the non-mounted vehicle Vy comes into contact with the mounted vehicle Vx based on the mounted vehicle information Ix, the non-mounted vehicle Vy is not dangerous. It is not necessary to recognize and add the corresponding non-mounted vehicle information Iy to the transmission information.

  FIG. 8B shows an example of determining the risk of the non-mounted vehicle Vy based on the mounted vehicle information Ix. In the example of FIG. 8B, the control unit 10 recognizes that the mounted vehicle Vx3 turns left at the intersection based on the winker information included in the received mounted vehicle information Ix. Further, the control unit 10 recognizes that the non-mounted vehicle Vy7 in the danger area Td goes straight based on the generated turn signal information of the non-mounted vehicle information Iy. Therefore, in this case, the control unit 10 determines that there is no possibility that the non-mounted vehicle Vy7 in the dangerous area Td contacts with all the mounted vehicles Vx (mounted vehicle Vx3 in FIG. 8B) in the dangerous area Td. Judgment is made and the non-mounted vehicle Vy7 is regarded as not dangerous. That is, in this case, the control unit 10 does not include the non-mounted vehicle information Iy of the non-mounted vehicle Vy7 in the transmission information. Thereby, the control part 10 can suppress transmission of the unnecessary non-mounted vehicle information Iy, and can reduce the information amount of transmission information suitably.

  In another example, based on the mounted vehicle information Ix, when there is no mounted vehicle Vx in the dangerous area Td that enters the intersection, the control unit 10 does not mount the vehicle in the dangerous area Td that enters the intersection. Even if Vy exists, the non-mounted vehicle information Iy may not be transmitted.

(Modification 4)
In the description of step S207 in FIG. 4, the control unit 10 includes only the non-mounted vehicle information Iy having the highest priority in the transmission information. However, the method for selecting the non-mounted vehicle information Iy to which the present invention is applicable is not limited to this.

  Instead, in step S207, in addition to the non-mounted vehicle information Iy corresponding to the first priority, the control unit 10 includes a part of the non-mounted vehicle information Iy whose priority is the second or higher in the transmission information. May be. For example, in this case, the control unit 10 includes the relative position information of the non-mounted vehicle information Iy having the second or higher priority in the transmission information. Thereby, the control part 10 can make other mounted vehicle Vx recognize suitably the presence of the non-mounted vehicle Vy, reducing transmission information.

  In another example, the control unit 10 may include non-mounted vehicle information Iy corresponding to a priority within a predetermined order of 2 or more in the transmission information.

DESCRIPTION OF SYMBOLS 1 Inter-vehicle communication apparatus 10 Control part 11 Communication part 12 Display part 13 Memory | storage part 14 Measuring part 41 Camera 42 Radar 43 GPS receiver 44 Self-supporting positioning apparatus

Claims (1)

Detecting means including a communication means for detecting a non-communication body;
Determination means for determining whether the non-communication body detected by the detection means is dangerous;
With
The determination means determines whether the non-communication body is dangerous based on the information of the non-communication body.

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