JP2020087015A - Roadside device, server device, communication system, first roadside device, second roadside device, first electronic apparatus, second electronic apparatus, and vehicle - Google Patents

Abstract

To provide a technique capable of improving convenience of a communication device.SOLUTION: A roadside device includes a communication unit and a processing unit. The communication unit notifies an outside of the roadside device of first vehicle information relating to a stop vehicle on a vehicle road. The processing unit changes a notification destination of the first vehicle information according to a stop position in a width direction of the vehicle road of the stop vehicle.SELECTED DRAWING: Figure 5

Description

The present disclosure relates to communications.

Patent Document 1 describes a technique related to a roadside machine.

JP, 2016-38880, A

It is desired to improve the convenience of communication devices such as roadside devices.

Therefore, the present invention has been made in view of the above points, and an object thereof is to provide a technique capable of improving the convenience of a communication device.

A roadside device, a server device, a communication system, a first roadside device, a second roadside device, a first electronic device, a second electronic device, and a vehicle are disclosed. In one embodiment, the roadside device includes a communication unit and a processing unit. The communication unit notifies the outside of the roadside device of the first vehicle information regarding the stopped vehicle that stops on the roadway. The processing unit changes the notification destination of the first vehicle information according to the stop position of the stopped vehicle in the width direction of the road.

Further, in one embodiment, the server device is a server device that communicates with a roadside device. When the server device receives the first vehicle information notified from the roadside device, the server device identifies the stopped vehicle or the display device behind the roadside device, and, with respect to the identified display device, the second vehicle information regarding the stopped vehicle. To notify.

In addition, in one embodiment, the communication system includes a roadside device and a server device.

In addition, in one embodiment, the first roadside device is notified of the first vehicle information from the roadside device. The 1st roadside machine performs the 1st processing according to reception of the 1st vehicle information, when the 1st roadside machine is located behind a stopped vehicle or a roadside machine. The 1st roadside machine does not perform the 1st processing, when the 1st roadside machine is located ahead of a stopped vehicle or a roadside machine.

Also, in one embodiment, the second roadside machine communicates with the first roadside machine. When the second roadside device receives the fourth vehicle information, the second roadside device notifies the other roadside device of the fifth vehicle information regarding the stopped vehicle based on the stopped vehicle of the second roadside device or the degree of separation from the roadside device. Decide whether or not.

Further, in one embodiment, the communication system includes a roadside device and a first roadside device.

Further, in one embodiment, the communication system includes a roadside machine, a first roadside machine, and a second roadside machine.

Further, in one embodiment, the first electronic device is mounted on the first vehicle when the roadside unit notifies the first vehicle information. The first electronic device executes the first process according to the reception of the first vehicle information when the first vehicle is located behind the stopped vehicle or the roadside unit. The first electronic device does not execute the first process when the first vehicle is located ahead of the stopped vehicle or the roadside unit.

Further, in one embodiment, the second electronic device communicates with the first electronic device and is mounted on the second vehicle. When the second electronic device receives the second vehicle information, whether or not to notify the other vehicle of the third vehicle information regarding the stopped vehicle based on the degree of departure of the second vehicle from the stopped vehicle or the roadside unit. To decide.

In addition, in one embodiment, the vehicle includes the first electronic device.

Further, in one embodiment, the vehicle includes the second electronic device.

In addition, in one embodiment, the communication system includes a roadside device and a first electronic device.

Further, in one embodiment, the communication system includes a roadside device, a first electronic device, and a second electronic device.

The convenience of the communication device is improved.

It is a figure which shows an example of a structure of a communication system. It is a figure which shows the example of arrangement|positioning of a roadside machine. It is a figure which shows the example of arrangement|positioning of a roadside machine. It is a figure which shows an example of a structure of a roadside machine. It is a figure which shows an example of a structure of a roadside machine. It is a figure which shows an example of a structure of a server apparatus. It is a figure which shows an example of a structure of a display. It is a figure which shows an example of a structure of an electronic device. It is a flow chart which shows an example of operation of a roadside machine. It is a figure which shows an example of a mode of a stopped vehicle. It is a figure which shows an example of a mode of a stopped vehicle. It is a figure which shows an example of a mode of a stopped vehicle. It is a flow chart which shows an example of operation of a server apparatus. It is a figure which shows an example of communication in a communication system. It is a flow chart which shows an example of operation of a roadside machine. It is a figure which shows an example of communication in a communication system. It is a figure which shows an example of communication in a communication system. It is a flow chart which shows an example of operation of electronic equipment. It is a figure which shows an example of communication in a communication system.

FIG. 1 is a diagram showing an example of the configuration of the communication system 1. 2 and 3 are diagrams showing an arrangement example of the roadside unit 5 and the display unit 4 included in the communication system 1. The communication system 1 is, for example, a system used in an intelligent transport system (ITS). Specifically, the communication system 1 is a safe driving support communication system of ITS. The safe driving support communication system is called a safe driving support system or a safe driving support wireless system.

The communication system 1 includes a server device 3, a plurality of display devices 4, a plurality of roadside devices 5, and a plurality of vehicles 6. An electronic device 60 is mounted on each vehicle 6. Hereinafter, the electronic device 60 may be referred to as an in-vehicle device 60. It can be said that the vehicle-mounted device 60 is an electronic device in the vehicle 6.

The server device 3, the plurality of display devices 4, the plurality of roadside devices 5, and the electronic devices 60 of the plurality of vehicles 6 are connected to the network 2. The network 2 includes at least one of a wireless network and a wired network. The network 2 includes, for example, a relay device and the Internet. The server device 3 can communicate with the display device 4, the roadside device 5, and the vehicle-mounted device 60 through the network 2. The server device 3 is, for example, a management server that manages roads. The server device 3 can control the display of the display device 4.

In the communication system 1, the roadside device 5 and the vehicle 6 can perform wireless communication with each other. Further, the plurality of vehicles 6 can wirelessly communicate with each other. In addition, each of the roadside device 5 and the vehicle 6 can perform wireless communication with an electronic device carried by a pedestrian. The electronic device carried by the pedestrian may be, for example, a mobile phone such as a smartphone, a tablet terminal, or a wearable device. The communication between the roadside device 5 and the vehicle 6, the communication between the vehicles 6, the communication between the roadside device 5 and the pedestrian electronic device, and the communication between the pedestrian electronic device and the vehicle 6 are respectively performed on the road. It is called inter-vehicle communication, inter-vehicle communication, road-pedestrian communication, or pedestrian-vehicle communication.

The roadside machine 5 is arranged on the road. 2 and 3 show how the roadside unit 5 is arranged on a highway. On the highway, as shown in FIGS. 2 and 3, a plurality of roadside units 5 are arranged at regular intervals along the traveling direction DR1 in each of the up lane and the down lane. 2 and 3 show the roadway 100 in one of the up direction and the down direction. The roadway 100 includes, for example, a shoulder 101, a traveling lane 102, and an overtaking lane 103. The shoulder 101 and the driving lane 102 are separated by a solid line 110, and the driving lane 102 and the overtaking lane 103 are separated by a broken line 111. The roadway 100 has a first end 121 and a second end 122 that face each other in the width direction DR2. Each of the first end 121 and the second end 122 extends along the traveling direction DR1. The first end 121 is an end on the side of the road shoulder 101, and the second end 122 is an end on the side opposite to the first end 121. It can be said that the second end 122 is an end on the opposite lane side or an end on the overtaking lane 103 side. The plurality of roadside units 5 are arranged along the first end 121 on the road shoulder 101 side of the road 100. Hereinafter, the width direction DR2 may be referred to as the road width direction DR2. Further, the first end 121 may be referred to as a roadside end 121. Further, the second end 122 may be referred to as an end 122 on the overtaking lane side.

The roadside device 5 can notify other roadside devices 5, the vehicle 6, the server device 3, and the display device 4 to the information. The roadside device 5 can notify the roadside device 5 and the vehicle 6 of the road information received from the server device 3, for example. The road information includes, for example, traffic jam information, accident information, road surface information, and the like. Further, the roadside device 5 can detect the vehicle 6 around it. Then, the roadside device 5 can notify the detected vehicle information regarding the vehicle 6 to the other roadside device 5, the other vehicle 6, the server device 3, and the display device 4. Further, the roadside device 5 can notify the information notified from the other roadside device 5, the vehicle 6 and the server device 3 to another roadside device 5, another vehicle 6 and the display device 4.

The communication system 1 includes a roadside device 5 having no display function and a roadside device 5 having a display function. Hereinafter, the former roadside machine 5 may be referred to as a roadside machine 5A, and the latter roadside machine 5 may be referred to as a roadside machine 5B. In addition, the roadside device 5B may be referred to as a roadside device 5B with a display function. As shown in FIG. 2, the roadside device 5B includes a display unit 540 capable of displaying characters, symbols, figures and the like.

The plurality of display devices 4 are arranged along the first end 121 of the road 100, for example, similarly to the roadside device 5. In FIG. 3, one of the plurality of display devices 4 is shown. The display device 4 can display characters, symbols, figures, and the like. The display device 4 can display, for example, road information transmitted from the server device 3. Further, the display device 4 can display the information transmitted from the roadside device 5. The display 4 is sometimes called a road information board.

The vehicle 6 can notify the vehicle information about the vehicle 6 from the vehicle-mounted device 60 mounted on the vehicle 6 to the other vehicle 6, the roadside device 5, and the server device 3. The vehicle 6 transmits vehicle information periodically, for example. The vehicle information includes, for example, identification information of the vehicle 6, position information of the vehicle 6, speed information of the vehicle 6, and the like. Further, the vehicle 6 can receive various kinds of information notified from the roadside unit 5 or the like by the in-vehicle device 60 mounted on the vehicle 6. Further, the vehicle 6 can support the driver's safe driving by issuing various notifications such as warnings to the driver based on the vehicle information of the vehicle 6 and the information notified from the roadside device 5 and the like. is there. The vehicle 6 can give various notifications to the driver by means of the in-vehicle device 60 mounted on the vehicle 6.

2 and 3 show a traveling vehicle 6A traveling on the road 100 and a stopped vehicle 6B stopping on the road 100. In the example of FIGS. 2 and 3, the triangular display plate 150 is arranged behind the stopped vehicle 6B.

As described above, in the communication system 1, road-vehicle communication, road-road communication, inter-vehicle communication, and the like are performed to support the safe driving of the driver of the vehicle 6.

Note that in the example of FIG. 1, an automobile vehicle is shown as the vehicle 6, but the vehicle 6 may be a vehicle other than an automobile. For example, the vehicle 6 may be a motorcycle vehicle, a bus vehicle, or a truck vehicle.

Hereinafter, the communication system 1 will be described as an example in which the roadside device 5 and the display device 4 are arranged on a highway, but the roadside device 5 and the display device 4 may be arranged on a place other than the highway.

<Structure example of roadside machine>
4 and 5 are diagrams showing an example of the configurations of the roadside units 5A and 5B, respectively. As shown in FIGS. 4 and 5, each of the roadside units 5A and 5B includes, for example, a control unit 500, a communication unit 510, a camera 520, and a sensor 530. The roadside device 5B also includes a display unit 540.

The control unit 500 can control the operation of the roadside device 5 by controlling other components of the roadside device 5. The control unit 500 can also be called a control device or a control circuit. The controller 500 includes at least one processor to provide control and processing power to perform various functions, as described in further detail below.

According to various embodiments, at least one processor may be implemented as a single integrated circuit (IC), or as multiple communicatively connected integrated circuits ICs and/or discrete circuits. Good. The at least one processor can be implemented according to various known techniques.

In one embodiment, a processor includes one or more circuits or units configured to perform one or more data calculation procedures or processes, such as by executing instructions stored in associated memory. In other embodiments, the processor may be firmware (eg, discrete logic component) configured to perform one or more data calculation procedures or processes.

According to various embodiments, the processor is one or more processors, controllers, microprocessors, microcontrollers, application specific integrated circuits (ASICs), digital signal processors, programmable logic devices, field programmable gate arrays, or the like. Any combination of devices or configurations, or combinations of other known devices and configurations, may be included to perform the functions described below.

In this example, the control unit 500 includes a CPU (Central Processing Unit) 501, a DSP (Digital Signal Processor) 502, and a storage unit 503. The storage unit 503 includes a non-transitory recording medium such as a ROM (Read Only Memory) and a RAM (Random Access Memory) that can be read by the CPU 501 and the DSP 502. The ROM included in the storage unit 503 is, for example, a flash ROM (flash memory) that is a non-volatile memory. The storage unit 503 stores a plurality of control programs 503a for controlling the roadside machine 5, position information of the roadside machine 5, and the like. Various functions of the control unit 500 are realized by the CPU 501 and the DSP 502 executing various control programs 503a in the storage unit 503.

The control unit 500 may include a plurality of CPUs 501. The control unit 500 may not include the DSP 502 or may include a plurality of DSPs 502. Further, all the functions of the control unit 500 or a part of the functions of the control unit 500 may be realized by a hardware circuit that does not require software for realizing the function.

The storage unit 503 may include a computer-readable non-transitory recording medium other than the ROM and the RAM. The storage unit 503 may include, for example, a small hard disk drive and an SSD (Solid State Drive). At least one control program 503a in the storage unit 503 may be stored in advance in the storage unit 503. Further, at least one control program 503a in the storage unit 503 may be downloaded by the roadside device 5 from another device and stored in the storage unit 503.

The communication unit 510 is connected to the network 2 by wire or wirelessly. The communication unit 510 can communicate with the server device 3 via the network 2. Further, the communication unit 510 of the roadside device 5 can directly wirelessly communicate with the other roadside devices 5, the in-vehicle device 60 of the vehicle 6 and the display device 4 without using the network 2. The communication unit 510 can perform wireless communication with other roadside devices 5, the vehicle-mounted device 60 of the vehicle 6 and the display device 4 by using, for example, the 700 MHz band allocated to the ITS. Communication unit 510 outputs information received from another device to control unit 500. The communication unit 510 transmits the information from the control unit 500 to another device. The communication unit 510 can also be called a communication circuit.

The communication unit 510 may be capable of wirelessly communicating with the base station of the mobile phone system. In this case, the communication unit 510 can communicate with a device (for example, a mobile phone, a web server, etc.) connected to the Internet through the base station. The communication unit 510 may be capable of performing near field communication. For example, the communication unit 510 may be capable of wireless communication based on Bluetooth (registered trademark). The communication unit 510 may be capable of performing wireless communication using a wireless LAN (Local Area Network) such as WiFi. Further, the communication unit 510 may be capable of performing wireless communication based on another wireless communication system.

The camera 520 can take a picture of the roadway 100 around the roadside unit 5. Specifically, the camera 520 can photograph the road shoulder 101, the traveling lane 102, and the overtaking lane 103 around the roadside unit 5. The image generated by the camera 520 is input to the control unit 500. The camera 520 can capture a moving image and a still image.

The sensor 530 can detect the condition of the road 100 around the roadside unit 5. The sensor 530 includes, for example, a radar sensor and an infrared sensor. The sensor 530 can detect the vehicle 6 on the road shoulder 101, the vehicle 6 on the traveling lane 102, and the vehicle 6 on the overtaking lane 103, for example. The sensor 530 outputs the detection result to the control unit 500. The control unit 500 generates information to be transmitted to the vehicle 6 or the like based on the detection result from the sensor 530 or the like. The configuration of the sensor 530 is not limited to the above.

The display unit 540 included in the roadside device 5B with a display function can display various information such as characters, symbols, and figures by being controlled by the control unit 500. The display unit 540 is arranged above the road 100, as shown in FIG. 2. Thus, the driver of the vehicle 6 on the road 100 can visually recognize the information displayed on the display unit 540. The display unit 540 includes, for example, a light emitting diode as a light emitting body. The display unit 540 may include a light emitting body other than the light emitting diode. For example, the display unit 540 may be a liquid crystal display or an organic EL display.

<Configuration example of server device>
FIG. 6 is a diagram showing an example of the configuration of the server device 3. As shown in FIG. 6, the server device 3 includes, for example, a control unit 300 and a communication unit 310. The control unit 300 can collectively manage the operation of the server device 3 by controlling other components of the server device 3. The control unit 300 can be said to be a control device or a control circuit. The controller 300 includes at least one processor to provide control and processing power to perform various functions, as described in further detail below. The configuration of the at least one processor included in the control unit 300 is the same as the above-described configuration of the at least one processor included in the control unit 500 of the roadside device 5, and thus the description thereof is omitted.

In this example, the control unit 300 includes a CPU 301, a DSP 302, and a storage unit 303. The storage unit 303 includes a non-transitory recording medium such as a ROM and a RAM that can be read by the CPU 301 and the DSP 302. The storage unit 303 stores a plurality of control programs 303a for controlling the server device 3, road information, and the like. Various functions of the control unit 300 are realized by the CPU 301 and the DSP 302 executing various control programs 303a in the storage unit 303.

Note that, like the control unit 500 of the roadside device 5, the control unit 300 may include a plurality of CPUs 301, may not include a DSP 302, or may include a plurality of DSPs 302. Further, all the functions of the control unit 300 or a part of the functions of the control unit 600 may be realized by a hardware circuit that does not require software for realizing the function. Further, similar to the storage unit 503 of the roadside device 5, the storage unit 303 may include a computer-readable non-transitory recording medium other than the ROM and the RAM. Further, at least one control program 303a in the storage unit 303 may be stored in advance in the storage unit 303. Further, at least one control program 303a in the storage unit 303 may be downloaded by the server device 3 from another device and stored in the storage unit 303.

The communication unit 310 is connected to the network 2 by wire or wirelessly. The communication unit 310 can communicate with the display device 4, the roadside device 5, and the vehicle 6 via the network 2. The communication unit 310 outputs information received from another device to the control unit 300. The communication unit 310 transmits the information from the control unit 300 to another device. The communication unit 310 can also be called a communication circuit.

Like the communication unit 510 of the roadside device 5, the communication unit 310 may be capable of wirelessly communicating with the base station of the mobile phone system. The communication unit 310 may be capable of short-range wireless communication. The communication unit 310 may be capable of performing wireless communication using a wireless LAN. The communication unit 310 may be capable of performing wireless communication based on another wireless communication method.

The server device 3 may have a configuration other than the control unit 300 and the communication unit 310. The server device 3 may include a display device such as a liquid crystal display device. Further, the server device 3 may include an input device such as a touch panel for a user to input information to the server device 3.

<Example of display configuration>
FIG. 7 is a diagram showing an example of the configuration of the display device 4. As shown in FIG. 7, the display device 4 includes, for example, a control unit 400, a communication unit 410, and a display unit 420. The control unit 400 can collectively manage the operation of the display device 4 by controlling the other components of the display device 4. The control unit 400 can also be called a control device or a control circuit. Controller 400 includes at least one processor to provide control and processing power to perform various functions, as described in further detail below. Note that the configuration of at least one processor included in the control unit 400 is the same as the above-described configuration of at least one processor included in the control unit 500 of the roadside device 5, and therefore description thereof will be omitted.

In this example, the control unit 400 includes a CPU 401, a DSP 402, and a storage unit 403. The storage unit 403 includes a non-transitory recording medium such as a ROM and a RAM that can be read by the CPU 401 and the DSP 402. The storage unit 403 stores a plurality of control programs 403a for controlling the display device 4. Various functions of the control unit 400 are realized by the CPU 401 and the DSP 402 executing various control programs 403a in the storage unit 403.

The control unit 400 may include a plurality of CPUs 401, may not include a DSP 402, or may include a plurality of DSPs 402. Further, all the functions of the control unit 400 or a part of the functions of the control unit 600 may be realized by a hardware circuit that does not require software for realizing the function. Further, the storage unit 403 may include a computer-readable non-transitory recording medium other than the ROM and the RAM. Further, at least one control program 403a in the storage unit 403 may be stored in advance in the storage unit 403. Further, at least one control program 403 a in the storage unit 403 may be downloaded by the display device 4 from another device and stored in the storage unit 403.

The communication unit 410 is connected to the network 2 by wire or wirelessly. The communication unit 410 can communicate with the server device 3 via the network 2. Further, the communication unit 410 can directly perform wireless communication with the roadside device 5 without going through the network 2. The communication unit 410 can perform wireless communication with the roadside device 5 by using, for example, the 700 MHz band assigned to the ITS. The communication unit 410 outputs information received from another device to the control unit 400. The communication unit 410 transmits the information from the control unit 400 to another device. The communication unit 410 can also be called a communication circuit.

Like the communication unit 510 of the roadside device 5, the communication unit 410 may be capable of wirelessly communicating with the base station of the mobile phone system. Further, the communication unit 410 may be capable of performing near field communication. The communication unit 410 may be capable of performing wireless communication using a wireless LAN. The communication unit 410 may be capable of wireless communication based on another wireless communication method.

The display unit 420 can display various information such as characters, symbols, and graphics under the control of the control unit 400. The display unit 420 is arranged above the road 100, as shown in FIG. Thus, the driver of the vehicle 6 on the road 100 can visually recognize the information displayed on the display unit 420. The display unit 420 includes, for example, a light emitting diode as a light emitting body. The display unit 420 may include a light emitting body other than the light emitting diode. For example, the display unit 420 may be a liquid crystal display or an organic EL display.

<Configuration example of in-vehicle equipment>
FIG. 8 is a diagram showing an example of the configuration of the vehicle-mounted device 60. The in-vehicle device 60 is, for example, an electronic device in which a car navigation device and an audio device such as a radio are integrated. The vehicle-mounted device 60 may be a car navigation device that is separate from the audio device, or may be an audio device that is separate from the car navigation device. Further, the vehicle-mounted device 60 may have a vehicle control function of controlling the lights of the vehicle 6, the direction indicators, and the like.

As shown in FIG. 8, the vehicle-mounted device 60 includes, for example, a control unit 600, a communication unit 610, a display unit 620, a touch panel 630, an operation button group 640, and a satellite signal receiving unit 650. Further, the in-vehicle device 60 includes a speaker 660, a microphone 670, an acceleration sensor 680, a geomagnetic sensor 690, and a gyro sensor 700.

Hereinafter, when describing the operation of the in-vehicle device 60, the vehicle 6 means the vehicle 6 in which the in-vehicle device 60 is mounted, unless otherwise specified. When describing the operation of the in-vehicle device 60, the own vehicle 6 means the vehicle 6 in which the in-vehicle device 60 is installed. Further, when describing the operation of the in-vehicle device 60, the driver means the driver of the vehicle 6 in which the in-vehicle device 60 is mounted, unless otherwise specified.

The control unit 600 can control the operation of the in-vehicle device 60 by controlling other components of the in-vehicle device 60. The control unit 600 can also be called a control device or a control circuit. The controller 600 includes at least one processor to provide control and processing power to perform various functions, as described in further detail below. The configuration of the at least one processor included in the control unit 600 is the same as the above-described configuration of the at least one processor included in the control unit 500 of the roadside device 5, and thus the description thereof is omitted.

In this example, the control unit 600 includes a CPU 601, a DSP 602, and a storage unit 603. The storage unit 603 includes a non-transitory recording medium such as a ROM and a RAM that can be read by the CPU 601 and the DSP 602. The storage unit 603 stores a plurality of control programs 603a and the like for controlling the in-vehicle device 60. Various functions of the control unit 600 are realized by the CPU 601 and the DSP 602 executing various control programs 603a in the storage unit 603.

The control unit 600 may include a plurality of CPUs 601, may not include the DSP 602, and may include a plurality of DSPs 602. Further, all the functions of the control unit 600 or a part of the functions of the control unit 600 may be realized by a hardware circuit that does not require software for realizing the function. The storage unit 603 may include a computer-readable non-transitory recording medium other than the ROM and the RAM. Further, at least one control program 603a in the storage unit 603 may be stored in advance in the storage unit 603. Further, at least one control program 603a in the storage unit 603 may be downloaded by the in-vehicle device 60 from another device and stored in the storage unit 603.

The communication unit 610 is connected to the network 2 by wire or wirelessly. The communication unit 610 can communicate with the server device 3 via the network 2. Further, the communication unit 610 of the vehicle 6 can directly perform wireless communication with the other vehicle 6 and the roadside device 5 without using the network 2. The communication unit 610 can perform wireless communication with another vehicle 6 and the roadside device 5 using, for example, the 700 MHz band assigned to the ITS. Communication unit 610 outputs information received from another device to control unit 600. The communication unit 610 transmits the information from the control unit 600 to another device. The communication unit 610 can also be called a communication circuit.

Like the communication unit 510 of the roadside device 5, the communication unit 610 may be capable of wirelessly communicating with the base station of the mobile phone system. The communication unit 610 may be capable of performing near field communication. The communication unit 510 may be capable of performing wireless communication using a wireless LAN such as Wifi. The communication unit 610 may be capable of performing wireless communication based on another wireless communication method.

The display unit 620 is, for example, a liquid crystal display or an organic EL display. The display unit 620 can display various information such as characters, symbols, and graphics under the control of the control unit 600.

The touch panel 630 can detect an operation by an operator such as a finger on the display screen of the display unit 620. The touch panel 630 is, for example, a projected capacitive touch panel. When the user of the vehicle-mounted device 60 operates the display screen of the display unit 620 with an operator such as a finger, the touch panel 630 can input an electric signal corresponding to the operation to the control unit 600. .. The control unit 600 can specify the content of the operation performed on the display screen based on the electric signal from the touch panel 630. Then, the control unit 600 can perform processing according to the specified operation content.

The operation button group 640 includes a plurality of operation buttons. Each operation button of the operation button group 640 is, for example, a hardware button. When each operation button is operated by the user, it is possible to output an operation signal indicating that the operation button has been operated, to the control unit 600. Accordingly, the control unit 600 can determine, for each operation button, whether or not the operation button has been operated. The control unit 600, to which the operation signal is input, controls the other components, so that the in-vehicle device 60 executes the function assigned to the operated operation button.

The satellite signal receiving unit 650 can receive the satellite signal transmitted by the positioning satellite. Then, the satellite signal receiving unit 650 can acquire the position information indicating the position of the vehicle 6 based on the received satellite signal. It can be said that the position information of the vehicle 6 is the position information of the in-vehicle device 60 mounted on the vehicle 6. The position information acquired by the satellite signal receiving unit 650 includes, for example, latitude and longitude indicating the position of the vehicle 6. Hereinafter, the satellite signal receiving unit 650 may be simply referred to as the receiving unit 650.

The receiving unit 650 is, for example, a GPS receiver, and can receive a radio signal from a GPS positioning satellite. The reception unit 650 calculates the current position of the vehicle 6 based on the received wireless signal, for example, in latitude and longitude, and outputs position information including the calculated latitude and longitude to the control unit 600.

Note that the receiving unit 650 may obtain the position information of the vehicle 6 based on a signal from a positioning satellite of GNSS (Global Navigation Satellite System) other than GPS. For example, the receiving unit 650 is based on a signal from a positioning satellite of a GLONASS (Global Navigation Satellite System), IRNSS (Indian Regional Navigational Satellite System), COMPASS, Galileo, or Quasi-Zenith Satellites System (QZSS). The position information of the vehicle 6 may be obtained.

The speaker 660 is, for example, a dynamic speaker. The speaker 660 can convert an electrical sound signal from the control unit 600 into a sound, and output the sound obtained by the conversion to the outside of the vehicle-mounted device 60.

The microphone 670 can detect sound outside the vehicle-mounted device 60. The microphone 670 can convert the detected sound into an electric sound signal and output the electric sound signal to the control unit 600.

The acceleration sensor 680 can detect the acceleration of the vehicle-mounted device 60. In other words, the acceleration sensor 680 can detect the acceleration of the vehicle 6. The acceleration sensor 680 is, for example, a triaxial acceleration sensor. The geomagnetic sensor 690 is, for example, a triaxial geomagnetic sensor. The geomagnetic sensor 690 can detect magnetic fields in the x-axis direction, the y-axis direction, and the z-axis direction. The gyro sensor 700 is, for example, a 3-axis gyro sensor. The gyro sensor 700 can detect angular velocities around the x-axis, the y-axis, and the z-axis. The control unit 600 can specify the traveling direction of the vehicle 6 based on the detection results of the acceleration sensor 680, the geomagnetic sensor 690, and the gyro sensor 700. Further, the control unit 600 can correct the position information acquired by the receiving unit 650 based on the detection results of the acceleration sensor 680, the geomagnetic sensor 690, and the gyro sensor 700.

The in-vehicle device 60 may not include at least one of the acceleration sensor 680, the geomagnetic sensor 690, and the gyro sensor 700. In this case, the in-vehicle device 60 may be connected to the at least one sensor that is separate from the in-vehicle device 60 wirelessly or by wire. The vehicle-mounted device 60 may include sensors other than the acceleration sensor 680, the geomagnetic sensor 690, and the gyro sensor 700. In this case, the in-vehicle device 60 may be connected to a sensor other than the acceleration sensor 680, the geomagnetic sensor 690, and the gyro sensor 700, which is a separate body, wirelessly or by wire.

In the vehicle-mounted device 60 having the above configuration, the communication unit 610 receives the information transmitted by the communication unit 510 of the roadside device 5. In the vehicle-mounted device 60, the control unit 600 generates vehicle information regarding the host vehicle 6 based on various information obtained by the receiving unit 650, the acceleration sensor 680, the geomagnetic sensor 690, and the gyro sensor 700. The in-vehicle device 60 notifies the driver of the own vehicle 6 such as a warning based on the generated vehicle information, the information from the roadside device 5, and the like. The in-vehicle device 60 can notify the driver of the own vehicle 6 such as a warning using the display unit 620 and the speaker 660.

<Operation example of communication system>
In this example, the roadside device 5 detects the stopped vehicle 6B on the road 100 and notifies the external device of vehicle information regarding the detected stopped vehicle 6B (hereinafter, also referred to as stopped vehicle information). The control unit 500 of the roadside device 5 changes the notification destination of the stopped vehicle information according to the stop position of the stopped vehicle 6B in the road width direction DR2. As a result, the roadside device 5 can make a notification according to the stop position of the stopped vehicle 6B in the road width direction DR2, so that the convenience of the roadside device 5 is improved. The control unit 500 functions as a processing unit that changes the notification destination of the stopped vehicle information according to the stop position of the stopped vehicle 6B in the road width direction DR2. The operation of the roadside device 5 will be described in detail below.

FIG. 9 is a flowchart showing an example of the operation of the roadside device 5. First, an outline of each step shown in FIG. 9 will be described, and thereafter, details of each step will be described.

As shown in FIG. 9, in step s1, the control unit 500 of the roadside device 5 determines whether or not the stopped vehicle 6B exists on the road 100 around the roadside device 5. When it is determined in step s1 that the stopped vehicle 6B exists, in other words, when the stopped vehicle 6B is detected, step s2 is executed. On the other hand, when it is determined in step s1 that the stopped vehicle 6B does not exist, in other words, when the stopped vehicle 6B is not detected, step s1 is executed again. After that, the roadside device 5 operates similarly.

In step s2, the control unit 500 acquires position information in the road width direction DR2 of the stopped vehicle 6B detected in step s1. Hereinafter, the position information in the road width direction DR2 may be referred to as width direction position information.

After step s2, in step s3, the control unit 500 acquires the position information of the stopped vehicle 6B in the traveling direction DR1 detected in step s1. Hereinafter, the position information of the traveling direction DR1 may be referred to as the position information of the traveling direction.

After step s3, in step s4, the control unit 500 determines the notification destination of the stopped vehicle information of the stopped vehicle 6B detected in step s1, based on the position information in the width direction specified in step s2.

After step s4, in step s5, the control unit 500 causes the communication unit 510 to notify the stopped vehicle information to the notification destination determined in step s4. After that, step s1 is executed again, and thereafter, the roadside machine 5 operates similarly.

The execution order of step s2 and step s3 may be exchanged. Hereinafter, the roadside unit 5 that has detected the stopped vehicle 6B may be referred to as a detected roadside unit 5. The stopped vehicle information notified by the detected roadside device 5 to the outside may be referred to as first stopped vehicle information. The first stopped vehicle information includes, for example, the position information in the width direction of the stopped vehicle 6B acquired in step s2 and the position information in the traveling direction of the stopped vehicle 6B acquired in step s3.

<Example of stopped vehicle detection method>
Here, an example of the details of step s1 will be described. Various methods can be considered as a method of detecting the stopped vehicle 6B. In step s1, the control unit 500 can determine whether or not the stopped vehicle 6B exists on the road 100 based on the image captured by the camera 520, for example. In this case, for example, the control unit 500 compares the first captured image captured by the camera 520 with the second captured image captured immediately thereafter, and based on the comparison result, the stopped vehicle 6B. Specify. Regarding the stopped vehicle 6B, the position in the second captured image does not change from the position in the first captured image captured before that. Therefore, the control unit 500 can compare the first and second captured images and specify the stopped vehicle 6B based on the comparison result.

Further, in step s1, the control unit 500 may determine whether or not the stopped vehicle 6B exists on the road 100 based on the detection result of the radar sensor included in the sensor 530. Here, the radar sensor included in the sensor 530 can determine the distance between the roadside unit 5 and the vehicle 6. If the distance between the roadside device 5 and the vehicle 6 acquired by the radar sensor does not change, the control unit 500 determines that the vehicle 6 is the stopped vehicle 6B. Accordingly, the roadside device 5 can detect the stopped vehicle 6B.

When the vehicle information received from the vehicle 6 by the communication unit 510 includes stop information indicating that the vehicle 6 is stopped, the control unit 500 determines that the vehicle 6 is the stopped vehicle 6B. You may judge. Accordingly, the roadside device 5 can detect the stopped vehicle 6B. When the vehicle 6 is stopped, the control unit 600 of the vehicle-mounted device 60 causes the communication unit 610 to periodically transmit the vehicle information including the stop information.

In addition, the control unit 500 may determine whether the vehicle 6 is the stopped vehicle 6B based on the position information of the vehicle 6 included in the vehicle information received by the communication unit 510 from the vehicle 6. .. Since the position information of the stopped vehicle 6 does not change, the control unit 500 can determine whether the vehicle 6 is the stopped vehicle 6B based on the position information of the vehicle 6.

<Example of acquisition direction of widthwise position information of stopped vehicle>
Here, an example of the details of step s2 will be described. In step s2, the control unit 500 acquires, as the position information in the width direction, information indicating which of the first to third places the detected stopped vehicle 6B is stopped, for example.

The second location is located closer to the second end 122 side (in other words, the opposite lane side) than the first location, and the third location is located closer to the second end 122 side than the second location. To do. In this example, the first location is set on the road shoulder 101. The second place is set on the traveling lane 102. The third place is set on the overtaking lane 103.

As shown in FIG. 2 described above, when the entire area of the stopped vehicle 6B is located inside the road shoulder 101, the stopped vehicle 6B is determined to be stopped at the first location (that is, the road shoulder 101). .. Further, as shown in FIG. 3 described above, when the entire area of the stopped vehicle 6B is located within the traveling lane 102, the stopped vehicle 6B is stopped at the second location (that is, the traveling lane 102). Is judged. As shown in FIG. 10, when the entire area of the stopped vehicle 6B is located within the overtaking lane 103, the stopped vehicle 6B is stopped at the third location (that is, the overtaking lane 103). To be judged.

In this example, as shown in FIG. 11, when the stopped vehicle 6B is stopped across the road shoulder 101 and the traveling lane 102, the stopped vehicle 6B is assumed to be stopped at the second location. .. Further, as shown in FIG. 12, when the stopped vehicle 6B is stopped across the traveling lane 102 and the overtaking lane 103, it is assumed that the stopped vehicle 6B is stopped at the third location. .. Therefore, in the present example, when the entire area of the stopped vehicle 6B is located inside the road shoulder 101 and does not extend beyond the traveling lane 102, the stopped vehicle 6B is stopped at the first location. When at least a part of the stopped vehicle 6B is located in the traveling lane 102 and a part of the stopped vehicle 6B is not located in the overtaking lane 103, the stopped vehicle 6B stops at the second location. Will be there. When at least a part of the stopped vehicle 6B is located in the overtaking lane 103, the stopped vehicle 6B is stopped at the third location.

The control unit 500 can acquire the position information of the stopped vehicle 6B in the width direction, for example, based on the image captured by the camera 520. Specifically, the control unit 500 specifies which of the first to third places the stopped vehicle 6B is stopping based on the image captured by the camera 520. Then, the control unit 500 adopts the information indicating the specified place as the position information in the width direction of the stopped vehicle 6B. As shown in FIGS. 2 and 3, the road shoulder 101 and the traveling lane 102 are separated by a solid line 110, and the traveling lane 102 and the overtaking lane 103 are separated by a broken line 111. Therefore, the control unit 500 specifies the positional relationship between the stopped vehicle 6B and the solid line 110 and the broken line 111 based on the image captured by the camera 520, so that the stopped vehicle 6B can be located at any one of the first to third places. It is possible to identify whether the vehicle is stopped.

Further, when the vehicle information received by the communication unit 510 from the vehicle 6 includes information indicating which of the first to the third the vehicle 6 is stopped, the control unit 500 sets the information to the following: It may be used as position information in the width direction. In this case, the control unit 600 of the in-vehicle device 60 specifies which of the first to the third the vehicle 6 is stopped. For example, consider a case where the in-vehicle device 60 includes a camera (for example, a drive recorder) that can capture an image around the vehicle 6. In this case, in the same manner as the case where the roadside device 5 specifies which of the first to third places the stopped vehicle 6B is stopping based on the image captured by the camera 520, the control unit 600, It is possible to specify which of the first to the third the vehicle 6 is stopped based on the image captured by the camera of the in-vehicle device 60.

When the stopped vehicle 6B is stopped across the road shoulder 101 and the traveling lane 102, it is assumed that the stopped vehicle 6B is stopped at the first location, and the stopped vehicle 6B is over the traveling lane 102. When the vehicle stops across the lane 103, the stopped vehicle 6B may stop at the second location.

<Example of acquisition method of position information in traveling direction>
Here, an example of the details of step s3 will be described. Various directions are conceivable as a method of acquiring the position information of the stopped vehicle 6B in the traveling direction. In step s3, the control unit 500 acquires position information of the stopped vehicle 6B in the traveling direction based on, for example, an image captured by the camera 520.

Here, a distance vote (also called a kilometer post) may be arranged on a road such as an expressway. The distance card is a sign board that indicates the distance from the starting point (in other words, the reference point) to the position where it is arranged. If the distance image is included in the captured image of the camera 520, in step s3, the control unit 500 determines the distance between the stopped vehicle 6B based on the positional relationship between the distance tag and the stopped vehicle 6B included in the captured image. Estimate the distance from the starting point. Then, the control unit 500 uses the estimated distance from the starting point as position information in the traveling direction.

In addition, a plurality of inter-vehicle distance confirmation signboards arranged at predetermined intervals may be arranged on the roadway. The inter-vehicle distance confirmation sign board is sometimes called an inter-vehicle distance confirmation display board or an inter-vehicle distance sign. When a plurality of inter-vehicle distance confirmation display boards are shown in the captured image of the camera 520, in step s3, the control unit 500 sets between the plurality of inter-vehicle distance confirmation display boards and the stopped vehicle 6B shown in the captured image. It is possible to acquire the positional information of the stopped vehicle 6B in the traveling direction based on the positional relationship of No. 1 and the positional information of the plurality of inter-vehicle distance confirmation display plates. In this case, the storage unit 503 of the roadside device 5 stores the position information of each inter-vehicle distance confirmation display plate shown in the captured image of the camera 520. The position information of the inter-vehicle distance confirmation display plate may be, for example, information indicating the distance from the starting point to the position where it is arranged.

A plurality of points are arranged at regular intervals on a broken line 111 that separates the traveling lane 102 and the overtaking lane 103. In step s3, the control unit 500, for example, in the image captured by the camera 520, when looking from the reference location to the location where the stopped vehicle 6B is seen in the traveling direction, the control section 500 indicates the broken line 111 existing between the two. Measure the number of points included. Then, the control unit 500 acquires the position information of the stopped vehicle 6B in the traveling direction based on the number of measured points and the position information of the reference place shown in the captured image. In this case, the storage unit 503 of the roadside device 5 stores the position information of the reference place shown in the captured image of the camera 520. This position information may be, for example, information indicating the distance from the starting point to the reference place.

It should be noted that it is possible to provide a dedicated sign on the road 100 that can be photographed by the camera 520 of the roadside device 5 and that identifies the position of the stopped vehicle 6B in the traveling direction.

Moreover, the control part 500 may acquire the positional information on the traveling direction of the stopped vehicle 6B based on the detection result of the radar sensor contained in the sensor 530 in step s3. In this case, the control unit 500, for example, based on the distance between the roadside device 5 and the stopped vehicle 6B acquired by the radar sensor and the position information of the roadside device 5 in the storage unit 503, the stopped vehicle 6B. The position information of the traveling direction of is acquired. The position information of the roadside device 5 in the storage unit 503 may be, for example, information indicating the distance from the starting point to the roadside device 5.

When the vehicle information received from the vehicle 6 by the communication unit 510 includes stop information indicating that the vehicle 6 is stopped, the control unit 500 includes the received vehicle information, and includes the stop information. From the position information of the vehicle 6, the position information of the vehicle 6 that is the stopped vehicle 6B in the traveling direction may be acquired.

<Example of method of deciding notification destination of stopped vehicle information>
Here, an example of the details of step s4 will be described. In step s4, when the control unit 500 determines that the stopped vehicle 6B identified in step s1 is stopped in the first location in step s2, the notification destination of the first stopped vehicle information of the stopped vehicle 6B. To the server device 3. Therefore, as shown in FIG. 2, when the entire area of the stopped vehicle 6B is located inside the road shoulder 101, the first stopped vehicle information of the stopped vehicle 6B is notified to the server device 3.

Further, when it is determined in step s2 that the stopped vehicle 6B is stopped at the second location, the control unit 500 sets the notification destination of the first stopped vehicle information of the stopped vehicle 6B to another roadside device 5 in the vicinity. To decide. Therefore, as shown in FIG. 3, when the entire area of the stopped vehicle 6B is located in the traveling lane 102, the first stopped vehicle information of the stopped vehicle 6B is notified to other roadside devices 5 in the vicinity. .. Further, as shown in FIG. 11, when the stopped vehicle 6B straddles the road shoulder 101 and the traveling lane 102, the first stopped vehicle information of the stopped vehicle 6B is notified to other roadside devices 5 in the vicinity.

Further, when it is determined in step s2 that the stopped vehicle 6B is stopped at the third location, the control unit 500 determines the peripheral vehicle 6 as the notification destination of the first stopped vehicle information of the stopped vehicle 6B. .. Therefore, as shown in FIG. 10, when the entire area of the stopped vehicle 6B is located within the overtaking lane 103, the first stopped vehicle information of the stopped vehicle 6B is notified to the surrounding vehicles 6. As shown in FIG. 121, when the stopped vehicle 6B straddles the traveling lane 102 and the overtaking lane 103, the first stopped vehicle information of the stopped vehicle 6B is notified to the surrounding vehicles 6.

<Example of notification method of stopped vehicle information>
Here, an example of the details of step s5 will be described. When determining the server device 3 as the notification destination of the first stopped vehicle information in step s4, the control unit 500 causes the communication unit 510 to transmit the first stopped vehicle information to the server device 3 in step s5. The first stopped vehicle information transmitted by the communication unit 510 is input to the server device 3 via the network 2.

Further, when the control unit 500 determines the notification destination of the first stopped vehicle information to be the other roadside device 5 in the periphery in step s4, the control unit 500 causes the communication unit 510 to transmit the first stopped vehicle information to the other roadside in the periphery in step s5. To machine 5. At this time, the communication unit 510 transmits the first stopped vehicle information to other roadside devices 5 in the vicinity by, for example, broadcasting. Accordingly, in this example, the first stopped vehicle information transmitted from the detected roadside device 5 is received by the roadside device 5 adjacent to the front of the detected roadside device 5 and the roadside device 5 adjacent to the rear of the detected roadside device 5. It Here, the front means the traveling direction of the vehicle 6 on the road 100, and the rear means the opposite direction.

Further, when the control unit 500 determines the notification destination of the first stopped vehicle information to the surrounding vehicle 6 in step s4, the control unit 500 notifies the communication unit 510 of the first stopped vehicle information to the other surrounding vehicles 6 in step s5. To send. At this time, the communication unit 510 transmits the first stopped vehicle information to the surrounding vehicles 6 by broadcasting, for example. As a result, the first stopped vehicle information transmitted from the roadside device 5 is received by all the vehicles 6 existing around the roadside device 5.

When detecting a plurality of stopped vehicles 6B in step s1, the control unit 500 may execute steps s2 to s5 for each of the stopped vehicles 6B.

<Operation example of the server device that receives the stopped vehicle information>
FIG. 13 is a flowchart showing an example of the operation of the server device that receives the first stopped vehicle information from the detected roadside device 5. When the first stopped vehicle information of the stopped vehicle 6B is notified, the server device 3 notifies the outside of the vehicle information regarding the stopped vehicle 6B. Hereinafter, the vehicle information notified to the outside by the server device 3 in response to the reception of the first stopped vehicle information may be referred to as second stopped vehicle information.

As illustrated in FIG. 13, when the communication unit 310 of the server device 3 receives the first stopped vehicle information in step s11, the control unit 300 determines the notification destination of the second stopped vehicle information in step s12. In step s12, the control part 300 specifies the indicator 4 behind the stopped vehicle 6B, for example. Then, the control unit 300 determines the identified rear display device 4 as the notification destination of the second stopped vehicle information. For example, the control unit 300 determines all the display devices 4 existing within 5 km behind the stopped vehicle 6B as notification destinations. The storage unit 303 of the server device 3 stores the position information of each display device 4. The control unit 300 displays a position behind the stopped vehicle 6B based on the position information in the traveling direction of the stopped vehicle 6B included in the first stopped vehicle information and the position information of each display unit 4 in the storage unit 303. The machine 4 can be specified.

After step s12, in step s13, the control unit 300 causes the communication unit 310 to notify the display device 4 of the determined notification destination of the second stopped vehicle information of the stopped vehicle 6B. The display device 4 notified of the second stopped vehicle information from the server device 3 performs a display based on the received second stopped vehicle information. FIG. 14 is a diagram showing an example of how the detected roadside device 5 transmits the first stopped vehicle information 210 to the server device 3 and the server device 3 transmits the second stopped vehicle information 220 to the display device 4.

The second stopped vehicle information may include, for example, distance information indicating the distance from the display device 4 that receives the second stopped vehicle information to the stopped vehicle 6B. In this case, the display device 4 that has received the second stopped vehicle information displays, for example, distance information indicating the distance from the display device 4 to the stopped vehicle 6B. For example, the display device 4 displays a character string such as "There is a stopped vehicle near 5 km away. Please be careful." From the display unit 4 to the stopped vehicle 6B, the control unit 300 is based on the position information of the stopped vehicle 6B in the traveling direction included in the first stopped vehicle information and the position information of the display unit 4 in the storage unit 303. It is possible to generate distance information indicating the distance of.

Further, the second stopped vehicle information may include position information of the stopped vehicle 6B in the width direction, which is included in the first stopped vehicle information. In this case, the display device 4 that has received the second stopped vehicle information displays, for example, position information in the width direction of the stopped vehicle 6B. For example, the display device 4 displays a character string such as "There is a stopped vehicle in front of you on the shoulder. Please be careful."

In addition, the second stopped vehicle information may include distance information indicating a distance from the display device 4 that receives the second stopped vehicle information to the stopped vehicle 6B, and position information of the stopped vehicle 6B in the width direction. .. In this case, the display device 4 that has received the second stopped vehicle information displays a character string such as “There is a stopped vehicle that stops on the shoulder near 5 km ahead. Please be careful.” The information included in the second stopped vehicle information is not limited to the above example. Further, the display example of the display device 4 is not limited to the above.

In this way, the vehicle information regarding the stopped vehicle 6B is notified to the display 4 behind the stopped vehicle 6B, so that the driver of the vehicle 6 behind the stopped vehicle 6B is stopped in front of the stopped vehicle. The presence of 6B can be notified using the display device 4. As a result, the driver of the vehicle 6 can easily recognize the presence of the stopped vehicle 6B in front. As a result, the safety of driving the vehicle is improved.

In addition, the server device 3 identifies the display device 4 behind the stopped vehicle 6B and notifies the identified display device 4 of the vehicle information regarding the stopped vehicle 6B. Therefore, the convenience of the server device 3 is improved. improves.

The notification destination of the second stopped vehicle information is not limited to the above example. For example, in step s12, the control unit 300 may determine the display device 4 behind the detected roadside device 5 as the notification destination. For example, the control unit 300 may determine all display devices 4 existing within 5 km behind the detected roadside device 5 as notification destinations. In this case, the detected roadside device 5 transmits the position information of the own device to the server device together with the first stopped vehicle information in step s5. In step s12, the control unit 300 of the server device 3 is based on the position information of the detected roadside device 5 received together with the first stopped vehicle information in step s11 and the position information of each display device 4 in the storage unit 303. The display device 4 existing within 5 km behind the detected roadside device 5 is specified.

In step s12, the control unit 300 may determine not only the display device 4 but also another device instead of the display device 4 as the notification destination. For example, the control unit 300 may determine a display device, which is installed in a service area or a parking area of an expressway and displays road information, as a notification destination of the second stopped vehicle information. In this case, the second stopped vehicle information may include information indicating whether the stopped vehicle 6B is stopped in the up lane or the down lane. Thus, the display installed in the service area or the parking area can display information indicating whether the stopped vehicle 6B is stopped in the up lane or in the down lane. The detected roadside device 5 transmits the first stopped vehicle information including information indicating whether the stopped vehicle 6B is stopped in the up lane or the down lane to the server device 3. Accordingly, the server device 3 can specify whether the stopped vehicle 6B is stopped in the up lane or the down lane based on the first stopped vehicle information. Since the detected roadside device 5 knows whether it can detect the stopped vehicle 6B in the up lane or the stopped vehicle 6B in the down lane, the detected stopped vehicle 6B detects the stopped vehicle 6B in the up lane. It is possible to generate the first stopped vehicle information including the information indicating whether the vehicle is stopped at or at the down lane.

In addition, the control unit 300 may use a server device managed by a company that provides a service that provides road information as a notification destination of the second stopped vehicle information. In this case, the server device provides road information including the second stopped vehicle information to the vehicle-mounted device 60, the personal computer, the mobile phone, and the like of the vehicle 6. The second stopped vehicle information notified to the server device may include information indicating whether the stopped vehicle 6B is stopped in the up lane or in the down lane.

<Operation example of the roadside unit that received the stopped vehicle information>
FIG. 15 is a flowchart showing an example of the operation of the roadside device 5 that is the reception destination that receives the first stopped vehicle information transmitted by the detected roadside device 5. As illustrated in FIG. 15, in step s21, when the communication unit 510 of the receiving roadside device 5 receives the first stopped vehicle information, the control unit 500 responds to the reception of the first stopped vehicle information in step s22. It is determined whether to execute the processing. The process executed by the roadside device 5 in response to the reception of the first stopped vehicle information may be referred to as a first reception corresponding process.

In step s22, the control unit 500 of the roadside device 5 of the reception destination determines whether the roadside device 5 is located behind or in front of the stopped vehicle 6B. When the control unit 500 determines that the device itself (that is, the roadside device 5 to which the control unit 500 belongs) is located behind the stopped vehicle 6B, the control unit 500 determines to execute the first reception handling process. On the other hand, when the control unit 500 determines that the own device is located ahead of the stopped vehicle 6B, the control unit 500 determines not to execute the first reception handling process. The control unit 500 determines that the own device is located behind the stopped vehicle 6B based on the position information of the stopped vehicle 6B in the traveling direction included in the first stopped vehicle information and the position information of the own device in the storage unit 503. It can be determined whether it is located or in front.

When it is determined in step s22 that the first reception handling process is not executed, in step s23, the control unit 500 discards the first stopped vehicle information received in step s21. On the other hand, when it is determined in step s22 that the first reception handling process is to be executed, the control unit 500 executes the first reception handling process in step s24.

The first reception handling process may include a first handling process of notifying the display device 4 around the receiving roadside device 5 of vehicle information about the stopped vehicle 6B. Hereinafter, the vehicle information notified to the display device 4 in response to the reception of the first stopped vehicle information may be referred to as the third stopped vehicle information.

The control unit 500 causes the communication unit 510 to transmit the third stopped vehicle information to the peripheral display devices 4. At this time, the communication unit 510 transmits, for example, the third stopped vehicle information to the display device 4 in the vicinity by broadcasting. When the display device 4 receives the third stopped vehicle information, the display device 4 displays based on the received third stopped vehicle information. In FIG. 16, the first stopped vehicle information 210 is transmitted from the detected roadside device 5 which is the transmission source to the roadside device 5, and the third stopped vehicle information 230 is transmitted from the receiving roadside device 5 to the display device 4. It is a figure which shows an example.

The third stopped vehicle information may include, for example, position information in the width direction of the stopped vehicle 6B, which is included in the first stopped vehicle information. In this case, the control unit 400 of the display device 4 that has received the third stopped vehicle information, the width direction position information of the stopped vehicle 6B included in the third stopped vehicle information, and the own device in the storage unit 403 (that is, Based on the position information of the display device 4) to which the control unit 400 belongs, distance information indicating the distance from the display device 4 to the stopped vehicle 6B is generated, and the control unit 400 displays the generated distance information on the display unit. Displayed at 420. For example, the display unit 420 displays a character string such as "There is a stopped vehicle near 1 km. Please be careful."

Further, the third stopped vehicle information may include position information of the stopped vehicle 6B in the width direction, which is included in the first stopped vehicle information. In this case, the display device 4 that has received the third stopped vehicle information displays the position information of the stopped vehicle 6B in the width direction. For example, the display device 4 displays a character string such as "There is a stopped vehicle that stops in the driving lane ahead. Please be careful."

Further, the third stopped vehicle information includes position information in the width direction of the stopped vehicle 6B included in the first stopped vehicle information and position information in the width direction of the stopped vehicle 6B included in the first stopped vehicle information. May be included. In this case, the display device 4 that has received the third stopped vehicle information displays, for example, a character string such as "There is a stopped vehicle that stops in the driving lane in the vicinity of 1 km. Please be careful." The information included in the third stopped vehicle information is not limited to the above example. Further, the display example of the display device 4 is not limited to the above.

In addition, when the roadside device 5 of the receiving destination is the roadside device 5B with a display function, the first reception handling process includes the second handling process of displaying the vehicle information regarding the stopped vehicle 6B by the roadside device 5 of the receiving destination. May be. Hereinafter, the vehicle information displayed by the receiving roadside device 5 in response to the reception of the second stopped vehicle information may be referred to as the fourth stopped vehicle information. In the example of FIG. 16 described above, the roadside device 5B with the display function at the center displays the fourth stopped vehicle information on the display unit 540.

The fourth stopped vehicle information may include, for example, distance information indicating the distance from the roadside unit 5B with a display function of the receiving destination to the stopped vehicle 6B. Based on the position information of the traveling direction of the stopped vehicle 6B, which is included in the first stopped vehicle information, and the position information of the own device in the storage unit 303, the control unit 500 of the roadside device 5B with the display function of the reception destination, It is possible to generate distance information indicating the distance from the own device to the stopped vehicle 6B. Further, the fourth stopped vehicle information may include position information in the width direction of the stopped vehicle 6B, which is included in the first stopped vehicle information. Further, the fourth stopped vehicle information may include distance information indicating the distance from the roadside device 5B with a display function of the receiving destination to the stopped vehicle 6B and position information of the stopped vehicle 6B in the width direction. The display example of the fourth stopped vehicle information on the roadside device 5 with a display function is the same as the display example based on the third stopped vehicle information on the display device 4.

The first reception handling process may include a third handling process in which the receiving roadside device 5 notifies the other roadside device 5 of vehicle information regarding the stopped vehicle 6B. For example, the first reception handling process may include a process in which the receiving roadside device 5 notifies the other roadside devices 5 of the received first stopped vehicle information. In this case, in step s24, the control unit 500 of the roadside device 5 that is the recipient of the first stopped vehicle information causes the communication unit 510 to transmit the first stopped vehicle information to other roadside devices 5 in the vicinity. At this time, the communication unit 510 transmits the first stopped vehicle information to the other roadside devices 5 in the vicinity by, for example, broadcasting. As a result, the first stopped vehicle information transmitted from the roadside device 5 that is the receiving destination of the first stopped vehicle information is stored in the roadside device 5 that is adjacent to the front side of the roadside device 5 that is the receiving destination and the roadside device 5 that is the receiving destination. It is received by the roadside device 5 adjacent to the rear. The process in which the roadside device 5 that is the receiving destination of the first stopped vehicle information transmits the first stopped vehicle information is that the roadside device 5 that is the receiving destination transfers the first stopped vehicle information to another roadside device 5. I can say.

The operation of the roadside device 5 that has received the first stopped vehicle information transferred from the roadside device 5 that is the recipient of the first stopped vehicle information is similar to the operation shown in FIG. 15. When the roadside device 5 that has received the first stopped vehicle information transferred from the other roadside device 5 executes the third handling process in step s24 and transfers the received first stopped vehicle information to the other roadside device , The other roadside devices operate in the same manner as in FIG. Thereby, as shown in FIG. 17, the first stopped vehicle information 210 is sequentially transferred to the plurality of roadside devices 5 behind the stopped vehicle 6B. The roadside device 5, which has received the first stopped vehicle information 210 transferred from the other roadside device 5, executes not only the third handling process but also the first handling process in step s24. Further, the roadside device 5B with a display function that has received the first stopped vehicle information 210 transferred from another roadside device 5 may execute the second handling process in step s24.

When the detected roadside device 5 that has detected the stopped vehicle 6B receives the first stopped vehicle information from the other roadside devices 5, step s23 is executed without executing steps s22 and s24. When the roadside machine 5 that has already received the first stopped vehicle information receives the first stopped vehicle information from another roadside machine 5, step s23 is executed without executing steps s22 and s24. ..

In this way, when the stopped vehicle 6B is stopped at the second location, the detected roadside device 5 that specifies the stopped vehicle 6B directly notifies the other roadside device 5 of the vehicle information regarding the stopped vehicle 6B. As compared with the case where the vehicle information is notified backward via the server device 3, the driver of the vehicle 6 behind the stopped vehicle 6B is immediately notified of the existence of the stopped vehicle 6B. Is possible. Since the second location is located closer to the end 122 side on the overtaking lane side than the first location, the situation in which the stopped vehicle 6B is present in the second location is that the stopped vehicle 6B is in the first location. It can be said that the driver of the vehicle 6 is more dangerous than the situation in which the vehicle exists. Therefore, when the stopped vehicle 6B is stopped at the second location, the driver of the vehicle 6 behind the stopped vehicle 6B is immediately notified of the presence of the stopped vehicle 6B in front of the stopped vehicle 6B. Safety is further improved.

Further, as shown in FIG. 16, when the roadside device 5 behind the stopped vehicle 6B notifies the peripheral display device 4 of the vehicle information regarding the stopped vehicle 6B, the vehicle behind the stopped vehicle 6B is displayed. It is possible to notify the driver of No. 6 of the presence of the stopped vehicle 6B ahead by using the display device 4. As a result, the driver of the vehicle 6 can easily recognize that the stopped vehicle 6B exists ahead.

Further, when the roadside device 5 behind the stopped vehicle 6B displays the vehicle information on the stopped vehicle 6B, it is easy for the driver of the vehicle 6 behind the stopped vehicle 6B to have the stopped vehicle 6B in front. It becomes possible to inform.

Further, as shown in FIG. 17, when the vehicle information regarding the stopped vehicle 6B is directly notified from the roadside machine 5 behind the stopped vehicle 6B to the roadside machine 5 further behind, the vehicle in the rear area over a wide range. The driver of No. 6 can immediately be notified of the presence of the stopped vehicle 6B in front. As a result, the safety of driving the vehicle is further improved.

Further, the roadside device 5 that has received the first stopped vehicle information of the stopped vehicle 6B executes the first reception handling process depending on whether the own device is located behind or in front of the stopped vehicle 6B. Since it is determined whether or not the convenience of the roadside device 5 is improved.

Note that the control unit 500 of the roadside device 5 that has received the first stopped vehicle information may determine whether the own device is located behind or in front of the detected roadside device 5 in step s22 described above. .. In this case, in step s5, the detected roadside device 5 transmits not only the first stopped vehicle information but also the position information of the own device to other roadside devices in the vicinity. In step s22, the control unit 500 of the roadside device 5 that has received the first stopped vehicle information is based on the position information of the detected roadside device 5 received together with the first stopped vehicle information in step s21, and the position information of its own device. Then, it is determined whether the own device is located behind or in front of the detected roadside unit 5. When the control unit 500 determines that the own device is located behind the detected roadside device 5, the control unit 500 determines to execute the first reception handling process. On the other hand, when the control unit 500 determines that the own device is located in front of the detected roadside device 5, the control unit 500 determines not to execute the first reception handling process. When executing step s24, the roadside device 5 notifies the other roadside devices 5 in the vicinity of the received first stopped vehicle information and the received position information of the detected roadside device 5. The other roadside devices 5 operate similarly.

In addition, in the control unit 500 of the roadside machine 5 that has received the first stopped vehicle information, in step s22 described above, the own device is located behind the roadside machine 5 adjacent to the transmission source of the first stopped vehicle information. It may be determined whether or not the vehicle is located in front. In this case, the roadside device 5 that is the transmission source of the first stopped vehicle information transmits not only the first stopped vehicle information but also the position information of the own device to other roadside devices in the vicinity. In step s22, the control unit 500 determines that the own device is based on the position information (that is, the position information of the roadside machine that is the transmission source) received together with the first stopped vehicle information in step s21, and the position information of the own device. , It is determined whether it is located behind or in front of the roadside unit 5 that is the transmission source of the first stopped vehicle information. When the control unit 500 determines that the own device is located behind the roadside device 5 that is the transmission source, the control unit 500 determines to execute the first reception handling process. On the other hand, when the control unit 500 determines that the own device is located ahead of the roadside device 5 that is the transmission source, the control unit 500 determines not to execute the first reception handling process. The roadside device 5, which has received the first stopped vehicle information from the other roadside instrument 5, transmits the position information of the own device to the other roadside devices 5 in the vicinity together with the received first stopped vehicle information.

As described above, when the first reception handling process includes the third handling process, the first stopped vehicle information is sequentially transferred between the plurality of roadside devices 5 behind the stopped vehicle 6B. In this case, the driver of the vehicle 6 in the vicinity of the roadside unit 5 that is considerably behind the stopped vehicle 6B may not need much vehicle information about the stopped vehicle 6B.

Therefore, the first stopped vehicle information may not be transferred to the roadside unit 5 that is considerably behind the stopped vehicle 6B. That is, the backward transfer distance of the first stopped vehicle information may be limited. Here, whether or not the control unit 500 of the roadside device 5 that has received the first stopped vehicle information notifies the other roadside devices of the first stopped vehicle information based on the degree of departure of the own device from the stopped vehicle 6B. By determining whether or not, the backward transfer distance of the first stopped vehicle information is limited. The operation of the roadside device 5 will be described in detail below.

When the control unit 500 of the roadside device 5 that has received the first stopped vehicle information determines that the own device is located behind the stopped vehicle 6B in step s22 described above, for example, if the own device is located behind the stopped vehicle 6B. First separation degree information indicating the separation degree is generated. The control unit 500 obtains, for example, the distance from the own device to the stopped vehicle 6B as the first separation degree information. The control unit 500 can obtain the distance from the own device to the stopped vehicle 6B based on the position information of the stopped vehicle 6B in the traveling direction included in the first stopped vehicle information and the position information of the own device. The control unit 500 determines to execute the first reception handling process when the calculated distance is equal to or less than the first threshold value. That is, the control unit 500 determines to notify other roadside devices of the first stopped vehicle information when determining that the degree of departure of the own device from the stopped vehicle 6B is not large. On the other hand, when the calculated distance is larger than the first threshold value, the control unit 500 determines not to execute the first reception handling process. That is, the control unit 500 determines not to notify the other roadside devices of the first stopped vehicle information when determining that the degree of departure of the own device from the stopped vehicle 6B is large. As a result, the rearward transfer distance of the first stopped vehicle information is limited, and the first stopped vehicle information indicates that the roadside unit 5 located behind the roadside unit 5 determined to have its own device positioned considerably behind the stopped vehicle 6B. Will not be transferred to. The first threshold value is set, for example, between several kilometers and ten and several kilometers.

The control unit 500 of the roadside device 5 that has received the first stopped vehicle information does not perform the first stop based on the degree of separation of the own device from the detected roadside device 5 rather than the degree of separation of the own device from the stopped vehicle 6B. It may be determined whether or not to notify the vehicle information to other roadside devices. In this case, the detected roadside device 5 that has detected the stopped vehicle 6B notifies the other roadside device 5 not only of the first stopped vehicle information but also the position information of the own device in step s5. Then, the first stopped vehicle information and the position information of the detected roadside device 5 are sequentially transferred between the plurality of roadside devices 5 behind the stopped vehicle 6B. In step s22, when the control unit 500 determines that the own device is located behind the stopped vehicle 6B, for example, the control unit 500 generates second separation degree information indicating a separation degree from the detected roadside device 5 for the own device. The control unit 500 obtains the distance from the own device to the detected roadside device 5 as the second separation degree information, for example. The control unit 500 detects from its own device based on the position information of the stopped vehicle 6B in the traveling direction included in the first stopped vehicle information and the position information of the detected roadside unit 5 transferred together with the first stopped vehicle information. The distance to the roadside device 5 can be obtained. The control unit 500 determines to execute the first reception handling process when the calculated distance is equal to or less than the second threshold value. That is, when the control unit 500 determines that the degree of departure of the own device from the detected roadside device 5 is not large, the control unit 500 determines to notify other roadside devices of the first stopped vehicle information. On the other hand, the control unit 500 determines not to perform the first reception handling process when the calculated distance is larger than the second threshold value. That is, the control unit 500 determines not to notify the other roadside devices of the first stopped vehicle information when determining that the degree of separation of the own device from the detected roadside device 5 is large. As a result, the rearward transfer distance of the first stopped vehicle information is limited, and the first stopped vehicle information indicates that the roadside device behind the roadside device 5 that the device determines is located considerably behind the detected roadside device 5. 5 will not be transferred. The second threshold value is set, for example, between several kilometers and ten and several kilometers, similarly to the first threshold value.

Further, the transfer distance to the rear of the first stopped vehicle information may be limited by limiting the number of times the first stopped vehicle information is transferred. For example, the upper limit of the number of times the first stopped vehicle information is transferred is set to M times (M≧2). M is set to, for example, several tens to 100 times. In step s5, the detected roadside device 5 notifies the other roadside devices of the number of transferable times indicating M together with the first stopped vehicle information. The control unit 500 of the roadside device 5 that has received the first stopped vehicle information and the transferable count determines whether the received transferable count is zero before executing step s22. When the transferable number is zero, the control unit 500 executes step s23 and does not execute the first reception handling process. On the other hand, if the transferable count is not zero, the control unit 500 executes step s23. Then, in step s24, when executing the first reception handling process, the control unit 500 reduces the transferable number by one and then sets the first stopped vehicle information and the transferable number to other roadside devices. The communication unit 510 is notified. The other roadside devices that have received the first stopped vehicle information and the transferable count operate in the same manner. As a result, when the first stopped vehicle information is transferred M times backward between the plurality of roadside machines 5 behind the detected roadside machine 5, the first stopped vehicle information is not transferred further backward than that.

As can be understood from the above description, when a certain roadside device 5 receives from the roadside device 5 located in front of the roadside device 5 for a large number of transferable times, the roadside device 5 from the stopped vehicle 6</b>B or the detected roadside device 5 is transferred. It can be said that the degree of separation is small. On the other hand, when a certain roadside device 5 receives a smaller number of transferable times from the roadside device 5 ahead of it, it can be said that the roadside device 5 has a large degree of separation from the stopped vehicle 6B or the detected roadside device 5. .. Therefore, it can be said that the transferable number of times that a certain roadside device 5 receives from the roadside device 5 in front of it is information indicating the degree of separation of the certain roadside device 5 from the stopped vehicle 6B or the detected roadside device 5. ..

Further, when each roadside device 5 knows in advance that the upper limit of the number of transfers is M times, the detected roadside device 5 transfers 0 indicating the first stopped vehicle information together with the first stopped vehicle information in step s5. The forwarding may be notified to another roadside device 5. In this case, the control unit 500 of the roadside device 5 that has received the first stopped vehicle information and the transfer count determines whether the received transfer count is M before execution of step s22. When the number of transfers is M, the control unit 500 executes step s23 and does not execute the first reception handling process. On the other hand, when the transfer count is not M, the control unit 500 executes step s23. Then, in step s24, when executing the first reception handling process, the control unit 500 increments the transfer count by one and then transfers the first stopped vehicle information and the transfer count to the other roadside devices. Notify 510. The other roadside devices that have received the first stopped vehicle information and the transfer count operate in the same manner. Even in such a case, when the first stopped vehicle information is transferred M times backward between the plurality of roadside machines 5 behind the detected roadside machine 5, the first stopped vehicle information is transferred further back than that. Disappear.

In this way, the roadside unit 5 that has received the first stopped vehicle information determines whether or not to notify other roadside units of the first stopped vehicle information based on the degree of departure of the self-device from the stopped vehicle 6B. By doing so, it is possible to reduce the possibility that the driver of the vehicle 6 that is considerably behind the stopped vehicle 6B is notified of the information regarding the stopped vehicle 6B. Therefore, it is possible to reduce the possibility that the driver of the vehicle 6 is notified of information that is not necessary for the driver. As a result, the convenience of the roadside device 5 and the communication system 1 is improved.

In the above example, the roadside device 5 that has received the first stopped vehicle information notifies the other roadside devices of the received first stopped vehicle information as it is, but is different from the received first stopped vehicle information. You may notify the vehicle information regarding the stopped vehicle 6B to other roadside machines.

<Example of operation of the vehicle that receives the stopped vehicle information>
FIG. 18 is a flowchart showing an example of the operation of the vehicle 6 (specifically, the in-vehicle device 60) that receives the first stopped vehicle information transmitted by the detected roadside device 5. As shown in FIG. 18, when the communication unit 610 of the in-vehicle device 60 receives the first stopped vehicle information in step s31, the control unit 600 causes the in-vehicle device 60 to receive the first stopped vehicle information in step s32. It is determined whether or not the corresponding process is executed. The process executed by the in-vehicle device 60 according to the reception of the first stopped vehicle information may be referred to as a second reception-compatible process.

In step s32, the control unit 600 determines whether the own device (that is, the in-vehicle device 60 to which the control unit 600 belongs) is located behind or in front of the stopped vehicle 6B. In other words, the control unit 600 determines whether the host vehicle 6 is located behind or in front of the stopped vehicle 6B. When the control unit 600 determines that the host vehicle 6 is located behind the stopped vehicle 6B, the control unit 600 determines that the host device executes the second reception handling process. On the other hand, when the control unit 600 determines that the host vehicle 6 is positioned ahead of the stopped vehicle 6B, the control unit 600 determines that the host device does not execute the second reception handling process. The control unit 600 determines that the own vehicle 6 is the stopped vehicle 6B based on the position information of the stopped vehicle 6B in the traveling direction included in the first stopped vehicle information and the position information of the own vehicle 6 acquired by the reception unit 650. It is possible to determine whether it is located rearward or forward.

When it is determined in step s32 that the second reception corresponding process is not executed, in step s33, the control unit 600 discards the first stopped vehicle information received in step s31. On the other hand, when it is determined in step s32 that the first reception handling process is to be executed, the second reception handling process is executed in step s34.

The second reception handling process may include, for example, a fourth handling process in which the in-vehicle device 60 of the vehicle 6 notifies the driver of the own vehicle 6 that the stopped vehicle 6B is present. In this case, the in-vehicle device 60 may notify the driver of the presence of the stopped vehicle 6B using, for example, at least one of the display unit 620 and the speaker 660.

When the in-vehicle device 60 uses the display unit 620 to notify the driver of the presence of the stopped vehicle 6B, the control unit 600 causes the display unit 620 to display vehicle information regarding the stopped vehicle 6B. Hereinafter, this vehicle information may be referred to as fifth stopped vehicle information.

The fifth stopped vehicle information may include, for example, distance information indicating the distance from the vehicle 6 that has received the first stopped vehicle information to the stopped vehicle 6B. It can be said that this distance information is information indicating the distance from the vehicle-mounted device 60 that has received the first stopped vehicle information to the stopped vehicle 6B. In this case, the display unit 620 displays, for example, a character string such as "There is a stopped vehicle near 300 m. Please be careful." The control unit 600 indicates the distance from the own vehicle to the stopped vehicle 6B based on the position information in the traveling direction of the stopped vehicle 6B included in the first stopped vehicle information and the position information acquired by the reception unit 650. Distance information can be generated.

Further, the fifth stopped vehicle information may include position information of the stopped vehicle 6B in the width direction, which is included in the first stopped vehicle information. In this case, the display unit 620 displays, for example, a character string such as "There is a stopped vehicle in the overtaking lane ahead. Please be careful."

Further, the fifth stopped vehicle information may include distance information indicating a distance from the vehicle 6 that has received the first stopped vehicle information to the stopped vehicle 6B, and position information of the stopped vehicle 6B in the width direction. In this case, the display unit 620 displays, for example, a character string such as "There is a stopped vehicle that stops in the overtaking lane near 300 m. Please be careful."

When the in-vehicle device 60 notifies the driver of the presence of the stopped vehicle 6B using the speaker 660, the control unit 600 causes the speaker 660 to output a sound based on the fifth stopped vehicle information, for example. In this case, the speaker 660 may output, for example, a voice saying “There is a stopped vehicle near 300 m. Please be careful.”. In addition, the speaker 660 may output a sound that means “there is a stopped vehicle in front of the overtaking lane. Please be careful.”. Further, the speaker 660 may output a voice saying "There is a stopped vehicle that stops in the overtaking lane near 300 m. Please be careful." Further, the in-vehicle device 60 may notify the driver of the presence of the stopped vehicle 6B by outputting sound other than voice from the speaker 660.

In this way, the vehicle 6 that has received the first stopped vehicle information notifies the driver of the existence of the stopped vehicle 6B, so that the safety of vehicle driving is improved.

The second reception handling process may include a fifth handling process in which the vehicle-mounted device 60 notifies other vehicles 6 around the host vehicle 6 of vehicle information regarding the stopped vehicle 6B. In the fifth handling process, for example, the in-vehicle device 60 notifies the received first stopped vehicle information to the other vehicles 6 around the own vehicle. In this case, in step s34, the control unit 600 of the vehicle-mounted device 60 causes the communication unit 610 to transmit the first stopped vehicle information to the vehicles 6 around the host vehicle. At this time, the communication unit 510 transmits the first stopped vehicle information to the surrounding vehicles 6 by broadcasting, for example. It can be said that the process in which the vehicle 6 that receives the first stopped vehicle information transmits the first stopped vehicle information is a process in which the vehicle 6 transfers the first stopped vehicle information to another vehicle 6.

The operation of the vehicle-mounted device 60 of the vehicle 6 that has received the first stopped vehicle information transferred from the other vehicle 6 is similar to the operation shown in FIG. 18. The in-vehicle device 60 of the vehicle 6 that has received the first stopped vehicle information transferred from the other vehicle 6 executes the fifth handling process in step s34 and transfers the received first stopped vehicle information to the other vehicle 6. Then, the other vehicle 6 operates in the same manner as in FIG. As a result, as shown in FIG. 19, the first stopped vehicle information 210 is sequentially transferred to the plurality of vehicles 6 behind the stopped vehicle 6B. The in-vehicle device 60 of the vehicle 6 which has received the first stopped vehicle information transferred from the other vehicle 6 executes not only the fifth handling process but also the fourth handling process in step s34.

When the stopped vehicle 6B receives the first stopped vehicle information, it executes step s33 without executing steps s32 and s34. In addition, when the vehicle-mounted device 60 of the vehicle 6 that has already received the first stopped vehicle information does not execute steps s32 and s34 when it receives the first stopped vehicle information from another vehicle 6, it executes step s33. Run. Alternatively, when the vehicle-mounted device 60 of the vehicle 6 that has already received the first stopped vehicle information receives the first stopped vehicle information from another vehicle 6, the own vehicle 6 replaces steps s32 and s34. It may be determined whether it is located in front of or behind the stopped vehicle 6B. In this case, when the vehicle-mounted device 60 determines that the vehicle 6 is located behind the stopped vehicle 6B, the vehicle-mounted device 60 executes step s33. On the other hand, when the in-vehicle device 60 determines that the host vehicle 6 is located ahead of the stopped vehicle 6B, the on-vehicle device 60 causes the display unit 620 to erase the fifth stopped vehicle information displayed on the display unit 620. As a result, it is possible to reduce the possibility that the driver of the vehicle 6 is notified of the fifth stopped vehicle information that is no longer needed by the driver. After that, the in-vehicle device 60 executes step s33.

In this way, when the stopped vehicle 6B is stopped at the third location, the roadside unit 5 that has detected the stopped vehicle 6B directly notifies the vehicle 6 of the vehicle information regarding the stopped vehicle 6B, so that the vehicle Compared with the case where information is notified backward via the server device 3, it becomes possible to immediately notify the driver of the vehicle 6 behind the stopped vehicle 6B of the presence of the stopped vehicle 6B in front. .. Since the third place is located closer to the end 122 side on the overtaking lane side than the first place, the situation in which the stopped vehicle 6B is present in the third place is that the stopped vehicle 6B is in the first place. It can be said that the driver of the vehicle 6 is more dangerous than the situation in which the vehicle exists. Therefore, when the stopped vehicle 6B is stopped at the third location, the driver of the vehicle 6 behind the stopped vehicle 6B is immediately notified of the presence of the stopped vehicle 6B in front of the stopped vehicle 6B. Safety is further improved.

Further, in this example, when the stopped vehicle 6B is stopped at the third location, the detected roadside device 5 directly notifies the surrounding vehicle 6 of the vehicle information regarding the stopped vehicle 6B. As compared with the case where the detected roadside device 5 notifies the other roadside device 5, it is possible to more reliably notify the driver of the vehicle 6 behind the stopped vehicle 6B of the presence of the stopped vehicle 6B in front. It will be possible. Since the third place is located closer to the end 122 side on the overtaking lane side than the second place, the situation in which the stopped vehicle 6B is present in the third place is that the stopped vehicle 6B is in the second place. It can be said that the driver of the vehicle 6 is more dangerous than the situation in which the vehicle exists. Therefore, when the stopped vehicle 6B is stopped at the third location, the driver of the vehicle 6 behind the stopped vehicle 6B is more surely notified of the presence of the stopped vehicle 6B in front of the stopped vehicle 6B. The safety of is further improved.

Further, as shown in FIG. 19, when the vehicle information regarding the stopped vehicle 6B is directly notified from the vehicle 6 behind the stopped vehicle 6B to the vehicle 6 further behind, the vehicle information of the rear vehicle 6 over a wide range is obtained. It becomes possible to notify the driver of the presence of the stopped vehicle 6B ahead in a reliable and immediate manner. As a result, the safety of driving the vehicle is further improved.

Further, the in-vehicle device 60 that has received the first stopped vehicle information of the stopped vehicle 6B executes the second reception handling process depending on whether the host vehicle 6 is located behind or in front of the stopped vehicle 6B. By determining whether or not to do so, the convenience of the vehicle-mounted device 60 is improved.

Note that the control unit 600 of the in-vehicle device 60 that has received the first stopped vehicle information may determine in step s32 described above whether the host vehicle is located behind or in front of the detected roadside unit 5. .. In this case, in step s5, the detected roadside device 5 transmits not only the first stopped vehicle information but also the position information of the own device to other vehicles 6 in the vicinity. In step s32, the control unit 600 of the vehicle-mounted device 60 that has received the first stopped vehicle information, the position information of the detected roadside device 5 received together with the first stopped vehicle information in step s31, and the position acquired by the receiving unit 650. Based on the information, it is determined whether the host vehicle is located behind or in front of the detected roadside unit 5. When the control unit 600 determines that the host vehicle is located behind the detected roadside device 5, the control unit 600 determines to execute the second reception handling process. On the other hand, when the control unit 600 determines that the host vehicle is located ahead of the detected roadside device 5, the control unit 600 determines not to execute the second reception handling process. When executing step s34, the in-vehicle device 60 notifies the other vehicles 6 in the vicinity of the received first stopped vehicle information and the received position information of the detected roadside device 5. The vehicle-mounted device 60 of the other vehicle 6 operates in the same manner.

In addition, the control unit 600 of the vehicle-mounted device 60 that has received the first stopped vehicle information, in step s32 described above, the own vehicle is located behind or ahead of the vehicle 6 that is the transmission source of the first stopped vehicle information. You may judge whether it is located. In this case, the in-vehicle device 60 of the vehicle 6 that is the transmission source of the first stopped vehicle information uses not only the first stopped vehicle information but also, for example, the position information of the own vehicle acquired by the reception unit 650, to detect other vehicle in the vicinity. Send to 6. In step s32, the control unit 600 receives the position information (that is, the position information of the transmission source vehicle 6) received together with the first stopped vehicle information in step s31, and the position information of the own vehicle 6 acquired by the reception unit 650. Based on the above, it is determined whether the host vehicle 6 is located behind or in front of the vehicle 6 that is the transmission source of the first stopped vehicle information. When the control unit 600 determines that the host vehicle 6 is located behind the transmission source vehicle 6, the control unit 600 determines to execute the second reception handling process. On the other hand, when the control unit 600 determines that the host vehicle 6 is located ahead of the transmission source vehicle 6, the control unit 600 determines not to execute the second reception handling process. The vehicle 6 that has received the first stopped vehicle information from the other vehicle 6 transmits the received first stopped vehicle information and the position information of the own vehicle acquired by the reception unit 650 to other surrounding vehicles 6.

As described above, when the fifth reception processing is included in the second reception processing, the second stopped vehicle information is sequentially transferred between the plurality of vehicles 6 behind the stopped vehicle 6B. In this case, the driver of the vehicle 6 considerably behind the stopped vehicle 6B may not need much vehicle information about the stopped vehicle 6B.

Therefore, the first stopped vehicle information may not be transferred to the vehicle 6 that is considerably behind the stopped vehicle 6B. That is, the backward transfer distance of the first stopped vehicle information may be limited. Here, whether or not the control unit 600 of the vehicle-mounted device 60 that has received the first stopped vehicle information notifies the other vehicles 6 of the first stopped vehicle information based on the degree of departure of the own vehicle from the stopped vehicle 6B. By determining whether or not, the backward transfer distance of the first stopped vehicle information is limited. The operation of the vehicle-mounted device 60 will be described in detail below.

When the control unit 600 of the vehicle-mounted device 60 that has received the first stopped vehicle information determines that the host vehicle is located behind the stopped vehicle 6B in step s32 described above, for example, the control unit 600 determines that Third separation degree information indicating the separation degree is generated. The control unit 600 obtains, for example, the distance from the own vehicle to the stopped vehicle 6B as the third degree-of-separation information. The control unit 600 determines, from the own vehicle to the stopped vehicle 6B, based on the position information of the stopped vehicle 6B in the traveling direction included in the first stopped vehicle information and the position information of the own vehicle acquired by the reception unit 650. The distance can be calculated. The control unit 600 determines to execute the second reception handling process when the calculated distance is equal to or less than the third threshold value. That is, when the control unit 500 determines that the degree of departure of the host vehicle from the stopped vehicle 6B is not large, the control unit 500 determines to notify the other vehicle 6 of the first stopped vehicle information. On the other hand, when the calculated distance is larger than the third threshold value, control unit 600 determines not to perform the second reception handling process. That is, when the control unit 600 determines that the degree of departure of the host vehicle from the stopped vehicle 6B is large, the control unit 600 determines not to notify other vehicles 6 of the first stopped vehicle information. As a result, the rearward transfer distance of the first stopped vehicle information is limited, and the first stopped vehicle information is transferred to the vehicle 6 behind the vehicle 6 that is determined that the own vehicle is positioned considerably behind the stopped vehicle 6B. It will not be done. The third threshold value is set, for example, between several kilometers and ten and several kilometers.

The control unit 600 of the in-vehicle device 60 that has received the first stopped vehicle information does not determine the degree of departure of the host vehicle from the stopped vehicle 6B but the degree of departure of the host vehicle from the detected roadside unit 5 based on the first stop. It may be determined whether or not to notify the other vehicle 6 of the vehicle information. In this case, the detected roadside device 5 that has detected the stopped vehicle 6B notifies the surrounding vehicles 6 of not only the first stopped vehicle information but also the position information of its own device in step s5. Then, the first stopped vehicle information and the position information of the detected roadside unit 5 are sequentially transferred between the plurality of vehicles 6 behind the stopped vehicle 6B. In step s32, for example, when the control unit 600 determines that the own vehicle is located behind the stopped vehicle 6B, the control unit 600 generates fourth departure degree information indicating the degree of departure from the detected roadside device 5 for the own vehicle. The control unit 600 obtains, for example, the distance from the own vehicle to the detected roadside device 5 as the fourth degree of separation information. The control unit 600 obtains the distance from the own vehicle to the detected roadside device 5 based on the position information acquired by the reception unit 650 and the position information of the detected roadside device 5 transferred together with the first stopped vehicle information. You can The control unit 500 determines to execute the second reception handling process when the obtained distance is less than or equal to the fourth threshold value. On the other hand, when the calculated distance is larger than the fourth threshold value, the control unit 600 determines not to execute the second reception handling process. As a result, the transfer distance of the first stopped vehicle information to the rear is limited, and the first stopped vehicle information indicates that the vehicle 6 is located behind the vehicle 6 that is determined to be located significantly behind the detected roadside unit 5. It will not be transferred. The fourth threshold value is set, for example, between several km and ten and several km.

Further, the transfer distance of the first stopped vehicle information to the rear side may be restricted by limiting the number of times the first stopped vehicle information is transferred between the plurality of vehicles 6. For example, the upper limit of the number of times the first stopped vehicle information is transferred is set to N times (N≧2). N is set to, for example, several tens to 100 times. In step s5, the detected roadside device 5 notifies the neighboring vehicles 6 of the number of transferable times indicating N together with the first stopped vehicle information. The control unit 600 of the vehicle-mounted device 60, which has received the first stopped vehicle information and the transferable number of times, determines whether the received transferable number of times is zero before the execution of step s32. When the transferable count is zero, the control unit 600 executes step s33 and does not execute the second reception handling process. On the other hand, if the transferable count is not zero, the control unit 600 executes step s33. Then, in step s34, when executing the second reception handling process, the control unit 600 reduces the transferable number by 1, and then sets the first stopped vehicle information and the transferable number to other vehicles 6. Notify the communication unit 610. The in-vehicle device 60 of the other vehicle 6 that has received the first stopped vehicle information and the transferable number of times operates similarly. As a result, when the first stopped vehicle information is transferred N times backward between the plurality of vehicles 6 behind the detected roadside unit 5, the first stopped vehicle information is not transferred further backward.

Further, when the in-vehicle device 60 of each vehicle 6 knows in advance that the upper limit of the number of transfers is N times, the detected roadside device 5 outputs 0 together with the first stopped vehicle information in step s5. Other vehicles 6 may be notified of the transfer forwarding shown. In this case, the control unit 600 of the vehicle-mounted device 60 that has received the first stopped vehicle information and the transfer count determines whether the received transfer count is N before execution of step s32. When the transfer count is N, the control unit 600 executes step s33 and does not execute the second reception handling process. On the other hand, if the transfer count is not N, the control unit 600 executes step s33. Then, when executing the second reception handling process in step s34, the control unit 600 increments the transfer count by one, and then sets the first stopped vehicle information and the transfer count to the communication unit for the other vehicles 6. Notify 610. The in-vehicle device 60 of the other vehicle 6 that has received the first stopped vehicle information and the transfer count operates in the same manner. Even in such a case, when the first stopped vehicle information is transferred M times backward between the plurality of vehicles 6 behind the detected roadside unit 5, it is not transferred further backward. ..

In this way, whether the in-vehicle device 60 of the vehicle 6 that has received the first stopped vehicle information notifies the other vehicles 6 of the first stopped vehicle information based on the degree of departure of the host vehicle 6 from the stopped vehicle 6B. By determining whether or not the information regarding the stopped vehicle 6B can be notified to the driver of the vehicle 6 that is considerably behind the stopped vehicle 6B. Therefore, it is possible to reduce the possibility that the driver of the vehicle 6 is notified of information that is not necessary for the driver. As a result, the convenience of the vehicle-mounted device 60 and the communication system 1 is improved.

In the above example, the vehicle 6 that has received the first stopped vehicle information notifies the other vehicle 6 of the received first stopped vehicle information as it is, but it is different from the received first stopped vehicle information. The vehicle information regarding the vehicle 6B may be notified to the other vehicle 6.

In addition, when the stopped vehicle 6B is stopped at the third location, the detected roadside device 5 notifies the surrounding vehicles 6 of vehicle information regarding the stopped vehicle 6B, and the stopped vehicle 6B is at the second location. As with the case where the vehicle is stopped at, the other roadside device 5 may be notified. As a result, the driver of the vehicle 6 behind the stopped vehicle 6B can receive the notification from the vehicle 6 and the notification from the roadside device 5 or the display device 4. Therefore, the safety of driving the vehicle is further improved.

In the above example, the case where the roadside device 5 is arranged on the highway has been described, but the roadside device 5 may be arranged on a road other than the highway.

Further, the detected roadside device 5 does not have to specify in step s2 whether or not the stopped vehicle 6B is stopped at the first location. In this case, when the stopped vehicle 6B is stopped at the second location in step s4, the detected roadside machine 5 determines another nearby roadside machine 5 as the notification destination, and the stopped vehicle 6B is at the third location. When the vehicle is stopped at, the surrounding vehicles 6 are determined as the notification destinations. In step s4, when the stopped vehicle 6B is stopped at the second location, the detected roadside device 5 determines the server device 3 as the notification destination, and when the stopped vehicle 6B is stopped at the third location, The surrounding vehicles 6 may be determined as the notification destination. Further, in step s4, when the stopped vehicle 6B is stopped at the second location, the detected roadside device 5 determines the server device 3 as the notification destination, and the stopped vehicle 6B is stopped at the third location. In this case, another roadside device 5 in the vicinity may be determined as the notification destination.

In addition, in the above example, the plurality of roadside units 5 are arranged along the road 100 including the overtaking lane 103, but the plurality of roadside units 5 are arranged along the road 100 not including the overtaking lane 103. May be. In this case, the detected roadside device 5 identifies in which of the first and second locations the stopped vehicle 6B is stopped, for example, in step s2. Then, in step s4, when the stopped vehicle 6B is stopped at the first location, the detected roadside device 5 determines the server device 3 as the notification destination, and the stopped vehicle 6B is stopped at the second location. In this case, another roadside device 5 in the vicinity is determined as the notification destination. In step s4, when the stopped vehicle 6B is stopped at the first location, the detected roadside device 5 determines the server device 3 as the notification destination, and when the stopped vehicle 6B is stopped at the second location, The surrounding vehicles 6 may be determined as the notification destination. Further, in step s4, when the stopped vehicle 6B is stopped at the first place, the detected roadside device 5 determines another nearby roadside device 5 as the notification destination, and the stopped vehicle 6B is set at the second place. When the vehicle is stopped, the surrounding vehicles 6 may be determined as the notification destination.

In addition, even when a plurality of roadside units 5 are arranged along the road 100 not including the overtaking lane 103, that is, the one-lane road 100, the detected roadside unit 5 determines that the stopped vehicle 6B is in step s2. You may specify in which of the first to third places the vehicle is stopped. In this case, for example, the lane included in the road 100 is divided into the first and second regions in the width direction DR2. It is assumed that the first region is located closer to the first end 121 side than the second region. In step s2, if the entire area of the stopped vehicle 6B is located inside the road shoulder 101 and does not extend beyond the first area, it is determined that the stopped vehicle 6B is stopped at the first location. Further, when at least a part of the stopped vehicle 6B is located in the first area and a part of the stopped vehicle 6B is not located in the second area, the stopped vehicle 6B is stopped at the second location. Is determined. Moreover, when at least a part of the stopped vehicle 6B is located in the second region, it is determined that the stopped vehicle 6B is stopped at the third location.

Further, in the above example, the first stopped vehicle information includes both the position information of the stopped vehicle 6B in the width direction and the position information of the stopped vehicle 6B in the traveling direction. Only one of the widthwise position information of the stopped vehicle 6B and the traveling direction position information of the stopped vehicle 6B may be included.

The communication between the roadside devices 5 may be wired communication. Further, the communication between the roadside device 5 and the display device 4 may be wired communication.

As described above, the communication system 1 has been described in detail, but the above description is an example in all aspects, and the present disclosure is not limited thereto. Further, the various examples described above can be applied in combination unless they contradict each other. It is understood that innumerable examples that are not illustrated can be assumed without departing from the scope of this disclosure.

1 Communication System 4 Display Device 5, 5A, 5B Roadside Device 3 Server Device 6, 6A, 6B Vehicle 60 Electronic Device 500 Control Unit 510 Communication Unit

Claims (22)

It’s a roadside machine,
A communication unit that notifies the outside of the roadside device of first vehicle information regarding a stopped vehicle that stops on a roadway;
A roadside unit, comprising: a processing unit that changes a notification destination of the first vehicle information according to a stop position of the stopped vehicle in the width direction of the road. The roadside device according to claim 1,
The roadway has a first end on the road shoulder side and a second end opposite to the first end, which face each other in the width direction.
The processing unit is
When the stopped vehicle is stopped at the first location, the server device that transmits information to the display device is the notification destination,
A roadside machine that makes another roadside machine the notification destination when the stopped vehicle is stopped at a second location that is closer to the second end than the first location. The roadside machine according to claim 2,
The processing unit, when the stopped vehicle is stopped at a third place closer to the second end than the second place, sets a vehicle around the roadside machine as the notification destination, .. The roadside device according to claim 1,
The roadway has a first end on the road shoulder side and a second end opposite to the first end, which face each other in the width direction.
The processing unit is
When the stopped vehicle is stopped at the first location, the server device that transmits information to the display device is the notification destination,
A roadside device, wherein when the stopped vehicle is stopped at a second place closer to the second end than the first place, a vehicle around the roadside device is the notification destination. The roadside device according to claim 1,
The roadway has a first end on the road shoulder side and a second end opposite to the first end, which face each other in the width direction.
The processing unit is
When the stopped vehicle is stopped at the first location, another roadside device is set as the notification destination,
A roadside device, wherein when the stopped vehicle is stopped at a second place closer to the second end than the first place, a vehicle around the roadside device is the notification destination. The roadside machine according to claim 5,
The roadside unit, wherein the processing unit sets the other roadside unit and the vehicle as the notification destination when the stopped vehicle is stopped at the second location. The roadside machine according to any one of claims 1 to 6,
The first vehicle information is a roadside device that includes at least one of first position information indicating a stop position in the width direction and second position information indicating a stop position in a traveling direction of the road about the stop vehicle. A server device that communicates with the roadside device according to any one of claims 2 to 4,
When the first vehicle information notified from the roadside device is received, the stopped vehicle or the display device behind the roadside device is specified, and the second vehicle related to the stopped vehicle is specified with respect to the specified display device. A server device that notifies information. The server device according to claim 8,
The second vehicle information is a server device including at least one of distance information indicating a distance from the display device to the stopped vehicle and position information indicating a stop position in the width direction of the stopped vehicle. A roadside machine according to any one of claims 2 to 4,
A communication system comprising: the server device according to claim 8. A first roadside device to which the first vehicle information is notified from the roadside device according to any one of claims 2, 3, 5, and 6,
When the first roadside machine is located behind the stopped vehicle or the roadside machine, a first process is executed according to the reception of the first vehicle information,
The 1st roadside machine which does not perform the 1st processing, when the 1st roadside machine is located ahead of the stopped vehicle or the roadside machine. The first roadside machine according to claim 11,
The first process is
Second processing for notifying the display device of second vehicle information regarding the stopped vehicle;
A third process of displaying third vehicle information about the stopped vehicle,
A first roadside machine, comprising at least one of a fourth process of notifying other roadside machines of fourth vehicle information regarding the stopped vehicle. A second roadside device communicating with the first roadside device according to claim 12,
The first process includes the fourth process of notifying the second roadside device of the fourth vehicle information,
When the fourth vehicle information is received, whether or not to notify other roadside units of the fifth vehicle information regarding the stopped vehicle based on the degree of separation of the second roadside unit from the stopped vehicle or the roadside unit. The second roadside machine that decides whether. A roadside machine according to any one of claims 2, 3, 5, and 6,
A communication system comprising the first roadside device according to claim 11. A roadside machine according to any one of claims 2, 3, 5, and 6,
A first roadside machine according to claim 12;
A communication system comprising the second roadside device according to claim 13. It is the 1st electronic equipment with which the 1st vehicle information is notified from the roadside machine according to any one of claims 3 to 6, and is installed in the 1st vehicle,
When the first vehicle is located behind the stopped vehicle or the roadside machine, a first process is executed according to the reception of the first vehicle information,
The 1st electronic device which does not perform the 1st processing, when the 1st vehicle is located ahead of the stopped vehicle or the roadside machine. The first electronic device according to claim 16, wherein:
The first process is
A second process of notifying the driver of the first vehicle of the presence of the stopped vehicle;
A first electronic device including at least one of a third process of transmitting second vehicle information about the stopped vehicle to another vehicle. A second electronic device that communicates with the first electronic device according to claim 17 and is mounted on a second vehicle,
The first process includes the third process of transmitting the second vehicle information to the second electronic device,
When the second vehicle information is received, it is determined whether or not to notify other vehicles of the third vehicle information regarding the stopped vehicle based on the degree of separation of the second vehicle from the stopped vehicle or the roadside unit. The second electronic device to be determined. A vehicle comprising the first electronic device according to claim 16. A vehicle comprising the second electronic device according to claim 18. A roadside machine according to any one of claims 3 to 6,
A communication system comprising: the first electronic device according to claim 16. A roadside machine according to any one of claims 3 to 6,
A first electronic device according to claim 17,
A communication system comprising the second electronic device according to claim 18.

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