WO2018021531A1 - Mobile communication equipment, communication method, and communication control program - Google Patents

Abstract

This mobile communication equipment is to be mounted on a mobile body, and is provided with: a first acquisition unit that acquires first information, including the position of the own mobile body; a second acquisition unit that acquires second information, including the positions of other mobile bodies; a determining unit that determines, on the basis of the first information acquired by the first acquisition unit, and the second information acquired by the second acquisition unit, whether other mobile bodies have a predetermined positional relationship with the own mobile body; and a transmission unit that transmits the first information and the second information in the cases where the determining unit determined that other mobile bodies have the positional relationship with the own mobile body.

Description

Mobile communication device, communication method, and communication control program

The present invention relates to a mobile communication device, a communication method, and a communication control program.
This application claims the priority on the basis of Japanese application Japanese Patent Application No. 2016-149589 for which it applied on July 29, 2016, and takes in those the indications of all here.

Patent Document 1 (Japanese Patent Laid-Open No. 2001-358641) discloses the following technique. That is, the inter-vehicle communication system performs wireless communication between vehicles provided with means for autonomously forming a vehicle group. In a vehicle-to-vehicle communication system, a relay vehicle station that performs packet relay between other vehicle groups is provided at the head and tail of the formed vehicle group, and the relay vehicle station constantly updates vehicle group information related to the own vehicle group. Hold and perform packet transfer route control within the vehicle group based on the vehicle group information.

Patent Document 2 (Japanese Patent Laid-Open No. 2005-141324) discloses the following technique. That is, the inter-vehicle communication device performs communication between a plurality of vehicles, acquires current position acquisition means for acquiring the current position of the own vehicle, map information acquisition means for acquiring map information around the acquired current position, and the own vehicle Speed detection means for detecting the traveling direction / speed of the vehicle, communication means for sending / receiving / relaying information including current position / traveling direction / speed information of other vehicle and own vehicle, and map information near the current position of the own vehicle And a positional relationship map between the host vehicle and the other vehicle generated from the current position / traveling direction / speed information of the other vehicle acquired by the communication means, and the position information of the vehicle in the outer area of the generated positional relationship map is required. Requests the transmission of the positional relationship map of the outer area to the other vehicle, and combines the received positional relationship map with the generated positional relationship map to generate an enlarged positional relationship map And a forming means.

JP 2001-358541 A JP 2005-141324 A

(1) A mobile communication device according to the present disclosure is a mobile communication device mounted on a mobile body, and includes a first acquisition unit that acquires first information including the position of the mobile body of the mobile communication device, and other mobile bodies Based on a second acquisition unit that acquires second information including a position, the first information acquired by the first acquisition unit, and the second information acquired by the second acquisition unit, When the determination unit determines whether the other moving body is in a predetermined positional relationship with the mobile body of the self, and the determination unit determines that the other moving body is in the positional relationship, the first information and the A transmission unit that transmits the second information.

(8) The mobile communication device according to the present disclosure is a mobile communication device mounted on a mobile body, and includes a first acquisition unit that acquires first information including a position of the mobile body of the present disclosure, and another mobile body The second information including the position of the other moving body is acquired, and the third information including the position of another moving body determined to be in a predetermined positional relationship with the other moving body is And a second acquisition unit that acquires from another moving body.

(13) A communication method according to the present disclosure is a communication method in a mobile communication device mounted on a mobile body, the step of acquiring first information including the position of the mobile body of itself, and the positions of other mobile bodies The second information including: and whether the other moving body is in a predetermined positional relationship with the own moving body based on the acquired first information and the second information And a step of transmitting the first information and the second information when it is determined that they are in the positional relationship.

(14) A communication method of the present disclosure is a communication method in a mobile communication device mounted on a mobile body, the step of obtaining first information including the position of the mobile body of itself, The second information including the position of another moving body is acquired, and the third information including the position of another moving body determined to be in a predetermined positional relationship with the other moving body is obtained as the other information. Obtaining from the moving body.

(15) A communication control program according to the present disclosure is a communication control program used in a mobile communication device mounted on a mobile object, and the computer acquires first information including the position of the mobile object of the first computer. An acquisition unit, a second acquisition unit that acquires second information including the position of another moving body, the first information acquired by the first acquisition unit, and the second acquisition unit Based on the second information, the determination unit determines whether or not the other moving body has a predetermined positional relationship with the own moving body, and the determination unit determines that the other moving body has the positional relationship. A program for causing the first information and the second information to function as a transmission unit.

(16) A communication control program according to the present disclosure is a communication control program used in a mobile communication device mounted on a mobile body, and the computer acquires first information including the position of the mobile body of the computer. The acquisition unit and second information including the position of the other moving body from another moving body, and another moving body that is determined to be in a predetermined positional relationship with the other moving body It is a program for functioning as a second acquisition unit that acquires third information including a position from the other moving body.

One aspect of the present disclosure can be realized not only as a mobile communication device including such a characteristic processing unit but also as a communication system including a mobile communication device. Further, one embodiment of the present disclosure can be realized as a semiconductor integrated circuit that realizes part or all of a mobile communication device.

FIG. 1 is a diagram showing a configuration of a driving support system according to the first embodiment of the present invention. FIG. 2 is a diagram showing the configuration of the mobile communication device in the travel support system according to the first embodiment of the present invention. FIG. 3 is a diagram showing an example of a message format used in the driving support system according to the embodiment of the present invention. FIG. 4 is a diagram showing an example of the positional relationship recognized by the mobile communication device in the travel support system according to the embodiment of the present invention. FIG. 5 is a diagram showing an example of a dangerous terminal list held by the mobile communication device in the driving support system according to the embodiment of the present invention. FIG. 6 is a diagram illustrating an example of a positional relationship recognized by the mobile communication device in the travel support system according to the embodiment of the present invention. FIG. 7 is a diagram showing an example of a dangerous terminal list held by the mobile communication device in the driving support system according to the embodiment of the present invention. FIG. 8 is a flowchart defining an operation procedure when the mobile communication device according to the embodiment of the present invention transmits an inter-vehicle communication message. FIG. 9 is a flowchart defining an operation procedure when the mobile communication device according to the embodiment of the present invention receives the inter-vehicle communication message. FIG. 10 is a flowchart defining an operation procedure when the mobile communication device according to the embodiment of the present invention updates the dangerous terminal list. FIG. 11 is a flowchart defining a modified example of the operation procedure when the mobile communication device according to the embodiment of the present invention transmits an inter-vehicle communication message. FIG. 12 is a flowchart defining an operation procedure when the mobile communication device according to the embodiment of the present invention transmits warning information.

Conventionally, a system that supports driving of each vehicle by performing vehicle-to-vehicle communication between communication devices mounted on a running vehicle has been developed.

[Problems to be solved by the present disclosure]
In the inter-vehicle communication system described in Patent Document 1 or 2, in order to determine a communication device that performs a relay process, and to reconfigure a vehicle group and update a map in accordance with a change in the traveling state of the vehicle, The control packet is transmitted and received. This increases communication traffic in the inter-vehicle communication system. Also, since it takes time to reconfigure the vehicle group and update the map, for example, when recognizing a situation where an encounter collision may occur, the time from recognition to issuing a warning may be longer. .

The present disclosure has been made to solve the above-described problem, and an object thereof is a mobile communication device capable of suppressing information transmission delay and increase in communication traffic in a communication system in which vehicle-to-vehicle communication is performed. A communication method and a communication control program are provided.

[Effects of the present disclosure]
According to the present disclosure, in a communication system in which vehicle-to-vehicle communication is performed, an increase in information transmission delay and communication traffic can be suppressed.

[Description of Embodiment of Present Invention]
First, the contents of the embodiment of the present invention will be listed and described.

(1) A mobile communication device according to an embodiment of the present invention is a mobile communication device mounted on a mobile body, and includes a first acquisition unit that acquires first information including the position of the mobile body, A second acquisition unit that acquires second information including the position of another moving body; the first information acquired by the first acquisition unit; and the second information acquired by the second acquisition unit. When the determination unit determines whether the other moving body is in a predetermined positional relationship with the own moving body based on the information, and the determination unit determines that the other moving body is in the predetermined positional relationship, And a transmitter that transmits the first information and the second information.

Thus, for example, when it is determined that there is a positional relationship in which another moving body and its own moving body can meet and collide, the vehicle group is configured to transmit the first information and the second information as a warning. Since the warning can be transmitted without reconstructing and updating the map, it is possible to shorten the time from the recognition of the situation where the encounter collision may occur until the warning is transmitted. Therefore, in a communication system in which inter-vehicle communication is performed, information transmission delay can be suppressed. In addition, an increase in communication traffic can be suppressed by a configuration in which the first information and the second information are transmitted without transmitting / receiving control packets to / from another apparatus.

(2) Preferably, the transmission unit transmits information capable of recognizing a determination result when the determination unit determines that the positional relationship is not present.

With such a configuration, in the device that receives the information, whether the mobile communication device has not acquired the second information, or has acquired the second information but determined that it is not in the positional relationship. It can be clearly recognized.

(3) Preferably, when the determination unit determines that the transmission unit is in the positional relationship, the transmission unit further transmits information capable of recognizing the acquisition route of the second information.

With such a configuration, the device that receives the information can recognize that the other moving object that is difficult to directly acquire the second information exists. Further, in the apparatus, it is possible to predict that a mobile body on which the mobile communication device is mounted takes an action that is difficult to predict without the second information such as sudden braking.

(4) Preferably, the mobile communication device further includes a registration unit that registers, in a list, the second information of the other mobile body determined by the determination unit as being in the positional relationship.

With such a configuration, it is possible to store the second information of other moving bodies determined to be in the above positional relationship, and thus it is possible to manage a plurality of acquired second information.

(5) More preferably, the transmission unit further transmits the second information registered in the list.

As described above, the second information registered in the list is further transmitted. For example, when the first information and the second information are repeatedly transmitted, the first information and the second information are received. In the device, the history regarding the positional relationship can be recognized.

(6) More preferably, the registration unit deletes, from the list, the second information satisfying a predetermined condition among the second information registered in the list.

With such a configuration, for example, it is possible to prevent a state in which old second information remains in the list, so that useful second information suitable for the current traffic situation can be transmitted.

(7) Preferably, the positional relationship is a positional relationship in which the other moving body and the own moving body approach each other.

With such a configuration, it is possible to appropriately determine whether or not another moving body is present at a position that poses a danger to its own moving body.

(8) The mobile communication device according to the embodiment of the present invention is a mobile communication device mounted on a mobile body, and includes a first acquisition unit that acquires first information including a position of the mobile body of the mobile communication device, The second information including the position of the other moving body is acquired from the other moving body, and the second information including the position of another moving body determined to be in a predetermined positional relationship with the other moving body is obtained. And a second acquisition unit that acquires the information of 3 from the other moving body.

In this way, for example, the position of another moving body that is determined to be in a positional relationship that can meet and collide with another moving body is transmitted without reconfiguration of the vehicle group and update of the map. In addition, with the configuration in which the third information is acquired from another moving body as a warning, it is possible to further shorten the time until the warning is acquired after the situation where the encounter collision may occur is recognized. Therefore, in a communication system in which inter-vehicle communication is performed, information transmission delay can be suppressed. In addition, an increase in communication traffic can be suppressed by the configuration in which the second information and the third information are acquired without performing transmission / reception of a control packet to / from the device that transmitted the warning.

(9) Preferably, the mobile communication device further includes a processing unit that performs a driving support process of the own mobile body, and the processing unit is configured such that the other mobile body and the mobile body have a predetermined position. If there is a relationship, the third information is used for the driving support process.

With such a configuration, for example, it is difficult for the other moving body determined to be in a positional relationship that can encounter and collide with another other moving body without the third information such as sudden braking. Can be predicted. Thereby, for example, in the positional relationship where the other moving body is positioned in front of the own moving body, it is possible to avoid the rear end of the own moving body colliding with the other moving body. Can support well.

(10) Preferably, the mobile communication device further includes the other information based on the first information acquired by the first acquisition unit and the second information acquired by the second acquisition unit. The first information obtained by the first obtaining unit, and the second information obtained by performing the first determination as to whether or not the moving body is in a predetermined positional relationship with the own moving body, and the second information Based on the third information acquired by the acquisition unit, a determination unit that performs a second determination that is a determination as to whether or not the other moving body is in a predetermined positional relationship with the own moving body. Is provided.

Thus, for example, based on the first information and the second information, it is determined whether or not the own mobile body has a positional relationship that can collide with another mobile body, and the first information and the first information Based on the information of (3), it is determined whether or not another moving body and its own moving body are in a positional relationship that can meet and collide with each other. It is possible to appropriately determine whether or not is a moving body that may directly or indirectly cause a risk to the own moving body.

(11) More preferably, the second acquisition unit further acquires fourth information capable of recognizing the acquisition path of the third information, and the determination unit is acquired by the first acquisition unit. The second determination is performed based on the first information and the third information and the fourth information acquired by the second acquisition unit.

With such a configuration, it is possible to recognize that there is another moving body in which it is difficult to directly acquire information, so that another other moving body is directly or indirectly connected to its own moving body. It is possible to more appropriately determine whether or not the mobile object has a possibility of causing danger to the user.

(12) More preferably, the second acquisition unit further acquires fifth information indicating a time when the other moving body acquires information including a position of the other moving body, and the determination unit Performs the second determination based on the first information acquired by the first acquisition unit and the third information and the fifth information acquired by the second acquisition unit.

With such a configuration, it is possible to predict a position where another moving body has moved from the time indicated by the fifth information to the time when the second acquisition unit acquires the fifth information. The determination can be made more accurately. Thus, based on the result of the first determination and the result of the second determination, is another mobile body that may directly or indirectly pose a risk to its own mobile body? It is possible to more appropriately determine whether or not.

(13) A communication method according to an embodiment of the present invention is a communication method in a mobile communication device mounted on a mobile body, and includes a step of acquiring first information including the position of the mobile body, Acquiring the second information including the position of the moving body, and based on the acquired first information and the second information, the other moving body has a predetermined positional relationship with the own moving body. And a step of transmitting the first information and the second information when it is determined that the relationship is in the positional relationship.

Thus, for example, when it is determined that there is a positional relationship in which another moving body and its own moving body can meet and collide, the vehicle group is configured to transmit the first information and the second information as a warning. Since the warning can be transmitted without reconstructing and updating the map, it is possible to shorten the time from the recognition of the situation where the encounter collision may occur until the warning is transmitted. Therefore, in a communication system in which inter-vehicle communication is performed, information transmission delay can be suppressed. In addition, an increase in communication traffic can be suppressed by a configuration in which the first information and the second information are transmitted without transmitting / receiving control packets to / from another apparatus.

(14) A communication method according to an embodiment of the present invention is a communication method in a mobile communication device mounted on a mobile body, the first information including the position of its own mobile body being acquired, and others The second information including the position of the other moving body is obtained from the moving body of the second and includes the position of another moving body determined to have a predetermined positional relationship with the other moving body. Obtaining the information from the other moving body.

In this way, for example, the position of another moving body that is determined to be in a positional relationship that can meet and collide with another moving body is transmitted without reconfiguration of the vehicle group and update of the map. In addition, with the configuration in which the third information is acquired from another moving body as a warning, it is possible to further shorten the time until the warning is acquired after the situation where the encounter collision may occur is recognized. Therefore, in a communication system in which inter-vehicle communication is performed, information transmission delay can be suppressed. In addition, an increase in communication traffic can be suppressed by the configuration in which the second information and the third information are acquired without performing transmission / reception of a control packet to / from the device that transmitted the warning.

(15) A communication control program according to an embodiment of the present invention is a communication control program used in a mobile communication device mounted on a mobile object, and the computer includes first information including the position of the mobile object. The first acquisition unit for acquiring the second information, the second acquisition unit for acquiring the second information including the position of the other moving body, the first information acquired by the first acquisition unit, and the second acquisition A determination unit that determines whether or not the other moving body is in a predetermined positional relationship with the own moving body based on the second information acquired by a unit; and the determination that the positional relationship is in the positional relationship A program for causing the first information and the second information to function as a transmission unit when determined by the unit.

Thus, for example, when it is determined that there is a positional relationship in which another moving body and its own moving body can meet and collide, the vehicle group is configured to transmit the first information and the second information as a warning. Since the warning can be transmitted without reconstructing and updating the map, it is possible to shorten the time from the recognition of the situation where the encounter collision may occur until the warning is transmitted. Therefore, in a communication system in which inter-vehicle communication is performed, information transmission delay can be suppressed. In addition, an increase in communication traffic can be suppressed by a configuration in which the first information and the second information are transmitted without transmitting / receiving control packets to / from another apparatus.

(16) A communication control program according to an embodiment of the present invention is a communication control program used in a mobile communication device mounted on a mobile body, and includes a first information including a position of the mobile body of the computer. And a second acquisition unit that acquires second information including a position of the other moving body from another moving body, and is determined to be in a predetermined positional relationship with the other moving body. It is a program for functioning as a second acquisition unit that acquires third information including the position of another moving body from the other moving body.

In this way, for example, the position of another moving body that is determined to be in a positional relationship that can meet and collide with another moving body is transmitted without reconfiguration of the vehicle group and update of the map. In addition, with the configuration in which the third information is acquired from another moving body as a warning, it is possible to further shorten the time until the warning is acquired after the situation where the encounter collision may occur is recognized. Therefore, in a communication system in which inter-vehicle communication is performed, information transmission delay can be suppressed. In addition, an increase in communication traffic can be suppressed by the configuration in which the second information and the third information are acquired without performing transmission / reception of a control packet to / from the device that transmitted the warning.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals and description thereof will not be repeated. Moreover, you may combine arbitrarily at least one part of embodiment described below.

[Configuration and basic operation]
FIG. 1 is a diagram showing a configuration of a driving support system according to the first embodiment of the present invention.

Referring to FIG. 1, a travel support system 301 that is an example of a communication system includes three mobile communication devices 101.

In FIG. 1, three mobile communication devices 101 are representatively shown, but two or less or four or more mobile communication devices 101 may be provided.

The mobile communication device 101 is an in-vehicle device such as a navigation device. The mobile communication device 101 may be a wireless terminal device that can be carried by a person such as a tablet terminal or a smart phone.

The mobile communication device 101 is mounted on a vehicle 30 that is an example of a moving body. More specifically, the three mobile communication devices 101 are mounted on vehicles 30A, 30B, and 30C, which are vehicles 30, respectively. The vehicle 30 is, for example, an automobile. More specifically, vehicle 30A is, for example, a truck. Vehicles 30B and 30C are, for example, passenger cars. The vehicle 30 may be a moving body other than an automobile such as a motorcycle.

The roadside communication device 151 is an optical beacon, a radio beacon, an ITS (Intelligent Transport Systems) spot, or the like.

The mobile communication device 101 acquires traffic information, for example, information relating to driving assistance, by performing road-to-vehicle communication with a roadside communication device 151 installed on the roadside. The traffic information includes, for example, intersection position information indicating the position of the intersection 1, installation information indicating whether or not a traffic light is installed at the intersection 1, timing information indicating the timing of changing the color of the traffic light at the intersection 1, and the like.

The mobile communication device 101 can perform inter-vehicle communication with other mobile communication devices 101. The mobile communication device 101 transmits, for example, traffic information to other mobile communication devices 101.

The obstacle 161 is a structure such as a building. In this example, vehicle-to-vehicle communication between the mobile communication device 101 mounted on the vehicle 30B and the mobile communication device 101 mounted on the vehicle 30C is impossible due to the influence of shadowing or the like by the obstacle 161 and the vehicle 30A. Assume the situation.

[Configuration of mobile communication device]
FIG. 2 is a diagram showing the configuration of the mobile communication device in the travel support system according to the first embodiment of the present invention.

Referring to FIG. 2, mobile communication device 101 includes communication unit (second acquisition unit and transmission unit) 21, processing unit (registration unit) 22, traffic information acquisition unit (second acquisition unit) 23, and determination. Unit 24, own vehicle position information acquisition unit (first acquisition unit) 25, storage unit 26, and counter 27.

[Vehicle communication message transmission processing]
Hereinafter, each process performed in the mobile communication device 101 mounted on the vehicle 30C will be described, but the same processing is performed also in the mobile communication device 101 mounted on each of the vehicles 30A and 30B.

The own vehicle position information acquisition unit 25 acquires own vehicle position information including the position of the own vehicle 30. In this example, the host vehicle position information acquisition unit 25 acquires host vehicle position information Mc including the position of the vehicle 30C.

More specifically, the host vehicle position information acquisition unit 25 acquires the position of the host vehicle 30C according to a measurement command received from the processing unit 22, for example. Specifically, the own vehicle position information acquisition unit 25 receives, for example, a radio wave from a GPS (Global Positioning System) satellite, and acquires the coordinates of the vehicle 30C of the own vehicle based on the received radio wave.

The own vehicle position information acquisition unit 25 calculates the trajectory of the vehicle 30 based on the output values of the gyro device and the acceleration sensor, for example, and combines the calculated trajectory and the position based on the radio wave from the GPS satellite. As a result, the position of the vehicle 30C is acquired.

The own vehicle position information acquisition unit 25 calculates a more correct position of the vehicle 30C by comparing the positions acquired by the two methods described above. The own vehicle position information acquisition unit 25 creates own vehicle position information Mc indicating the calculated position, and outputs the created own vehicle position information Mc to the processing unit 22 as a response to the measurement command.

In addition, the structure which receives the positional information which shows the position measured in the vehicle 30C which has a GPS receiver, a gyro apparatus, an acceleration sensor, etc. from the vehicle 30C may be sufficient as the own vehicle position information acquisition part 25.

The traffic information acquisition unit 23 can communicate with the roadside communication device 151. The traffic information acquisition unit 23 receives traffic information from the roadside communication device 151 and outputs the received traffic information to the processing unit 22 when the own vehicle 30C moves within the communication range of the roadside communication device 151, for example.

The counter 27 counts clock pulses generated by, for example, an oscillation circuit using a crystal resonator, and holds the counted value. This count value indicates, for example, the current time.

FIG. 3 is a diagram showing an example of a message format used in the driving support system according to the embodiment of the present invention.

Referring to FIG. 3, the communication unit 21 can communicate with another mobile communication device 101 by performing vehicle-to-vehicle communication using, for example, 700 MHz band ITS radio. More specifically, the communication unit 21 is, for example, Non-Patent Document 1 (ITS Information Communication System Promotion Conference, “700 MHz Band Intelligent Transport System, Test Vehicle-to-Vehicle Communication Message Guidelines ITS FORUM RC-013 1.0 Version”, [ online], [searched on June 7, 2016], Internet <URL: www.itsform.gr.jp/Public/J7Database/p48/ITS_FORMUM_RC-013_v10.pdf>) and the message format shown in FIG. The other mobile communication device 101 transmits / receives the inter-vehicle communication message according to the above.

The processing unit 22 transmits an inter-vehicle communication message including the vehicle position information Mc to another mobile communication device 101 at a predetermined processing cycle, for example, every 100 milliseconds.

More specifically, for example, the processing unit 22 monitors the count value in the counter 27, and when the processing timing comes every 100 milliseconds, outputs the measurement command to the own vehicle position information acquisition unit 25 and responds to the measurement command. Is received from the own vehicle position information acquisition unit 25.

Further, the processing unit 22 calculates, for example, the moving direction and speed of the own vehicle 30C based on the temporal transition of the position indicated by the own vehicle position information Mc, and vector information indicating the calculated moving direction and speed. Create Vc.

The processing unit 22 creates an inter-vehicle communication message Dc including the latest own vehicle position information Mc, traffic information received from the traffic information acquisition unit 23, vector information Vc, and IDc which is an ID of the own vehicle 30C.

The processing unit 22 outputs the created inter-vehicle communication message Dc to the communication unit 21. Upon receiving the inter-vehicle communication message Dc from the processing unit 22, the communication unit 21 broadcasts the received inter-vehicle communication message Dc.

[Attached information sender processing]
Hereinafter, each process performed in the mobile communication device 101 mounted on the vehicle 30A will be described, but the same processing is also performed in the mobile communication device 101 mounted on each of the vehicles 30B and 30C.

Similar to the mobile communication device 101 mounted on the vehicle 30C, the processing unit 22 in the mobile communication device 101 mounted on the vehicle 30A acquires the own vehicle position information Ma from the own vehicle position information acquisition unit 25 at each processing timing. . Further, the processing unit 22 calculates the moving direction and speed of the own vehicle 30A based on the temporal transition of the position indicated by the own vehicle position information Ma, and obtains vector information Va indicating the calculated moving direction and speed. create.

The communication unit 21 acquires other vehicle position information including the position of the other vehicle 30 from the other vehicle 30. In this example, the communication unit 21 acquires other vehicle position information Yc including the position of the vehicle 30C from the vehicle 30C.

Specifically, when receiving the inter-vehicle communication message Dc broadcast by the mobile communication device 101 mounted on the vehicle 30C, the communication unit 21 outputs the received inter-vehicle communication message Dc to the processing unit 22.

When receiving the inter-vehicle communication message Dc from the communication unit 21, the processing unit 22 acquires the own vehicle position information Mc, that is, the other vehicle position information Yc, the traffic information, the vector information Vc, and IDc, from the received inter-vehicle communication message Dc. The count value is acquired from the counter 27, and reception time information indicating the acquired count value is created.

The processing unit 22 outputs the acquired information and IDc, the latest vehicle position information Ma received from the vehicle position information acquisition unit 25, the vector information Va, and the traffic information received from the traffic information acquisition unit 23 to the determination unit 24. To do.

FIG. 4 is a diagram showing an example of a positional relationship recognized by the mobile communication device in the travel support system according to the embodiment of the present invention. In FIG. 4, true orientations of 0 °, 90 °, 180 °, and 270 ° indicate the north, east, south, and west orientations, respectively. Further, the positions of the vehicle 30A, the vehicle 30C, and the intersection 1 are indicated by white circles, black circles, and x marks, respectively.

Referring to FIG. 4, determination unit 24 determines other vehicle 30 based on own vehicle position information acquired by own vehicle position information acquisition unit 25 and other vehicle position information acquired by communication unit 21. Specifically, it is determined whether or not the vehicle 30 that is the transmission source of the other vehicle position information is in a predetermined positional relationship R1 with the own vehicle 30.

In this example, the determination unit 24 determines whether the vehicle 30C is in a predetermined positional relationship R1 with the own vehicle 30A based on the own vehicle position information Ma and the other vehicle position information Yc.

Here, the positional relationship R1 is, for example, a positional relationship in which the vehicle 30C and its own vehicle 30A approach each other. Preferably, the positional relationship R1 is a positional relationship where the vehicle 30C and the own vehicle 30A may collide, for example.

The determination unit 24 recognizes the coordinates (Xa, Ya) of the position of the own vehicle 30A, the moving direction of 0 °, and the speed Sa based on the own vehicle position information Ma and the vector information Va. Similarly, the determination unit 24 recognizes the coordinates (Xc, Yc) of the position of the vehicle 30C, the moving direction of 90 °, and the speed Sc based on the other vehicle position information Yc and the vector information Vc.

Further, the determination unit 24 recognizes the coordinates (Xz, Yz) of the position of the intersection 1 and the presence / absence of a traffic light at the intersection 1 based on the traffic information. In this example, the determination unit 24 recognizes that no traffic signal is installed at the intersection 1.

The determination unit 24 determines, for example, whether the vehicle 30C and its own vehicle 30A are approaching based on the recognized position and movement status of each vehicle 30.

For example, if the determination unit 24 determines that the vehicle 30C and its own vehicle 30A are approaching, the position and movement status of each vehicle 30, the positional relationship between each vehicle 30 and the intersection 1, and the traffic light at the intersection 1 Based on the presence or absence, the probability that the vehicle 30C and the own vehicle 30A collide is calculated.

For example, the determination unit 24 calculates a risk level corresponding to the calculated probability value, and notifies the processing unit 22 of the calculated risk level and the target IDc.

FIG. 5 is a diagram showing an example of a dangerous terminal list held by the mobile communication device in the travel support system according to the embodiment of the present invention.

Referring to FIG. 5, the dangerous terminal list Lta is stored in the storage unit 26, for example. For example, an upper limit is set for the number of dangerous terminals that can be registered in the dangerous terminal list Lta. In the dangerous terminal list Lta, the upper limit of the number of dangerous terminals that can be registered may not be provided.

The processing unit 22 registers, for example, the other vehicle position information of the other vehicle 30 determined by the determination unit 24 that the other vehicle 30 is in the positional relationship R1 with the own vehicle 30 in the dangerous terminal list Lta.

More specifically, for example, when the danger level notified from the determination unit 24 is equal to or higher than a predetermined threshold value Thda, the processing unit 22 indicates the vehicle 30 indicated by the notified IDc, that is, the vehicle 30C and the own vehicle 30A. Is determined by the determining unit 24 to be in the positional relationship R1.

Then, the processing unit 22 registers the mobile communication device 101 mounted on the vehicle 30C indicated by IDc, that is, the dangerous terminal in the dangerous terminal list Lta.

Specifically, the processing unit 22 updates the dangerous terminal list Lta based on IDc, other vehicle position information Yc, vector information Vc, and reception time information.

More specifically, the processing unit 22 uses the IDc, the coordinates (Xc, Yc) indicated by the other vehicle position information Yc, and the 90 ° and the speed Sc indicated by the vector information Vc in the dangerous terminal list Lta as “ Write in the items of “vehicle ID”, “position”, “true bearing” and “vehicle speed”, respectively.

Note that when the IDc is already registered in the dangerous terminal list Lta, the processing unit 22 rewrites each corresponding item.

The processing unit 22 writes the elapsed time Ta based on the difference between the count value indicated by the reception time information and the count value indicating the current time in the counter 27 in the item “Elapsed Time” in the dangerous terminal list Lta.

Since the processing unit 22 directly receives information such as the vehicle position information Mc and the vector information Vc from the mobile communication device 101 mounted on the vehicle 30C, the processing unit 22 displays NULL indicating that the information is not relayed information. Write in the item “Provision path” in Lta.

In addition, the processing unit 22 recognizes that the mobile communication device 101 mounted on the vehicle 30C has been found as a new dangerous terminal, and uses the count value indicated by the reception time information as the discovery time td in the “discovery time” in the dangerous terminal list Lta. Write to the item.

The processing unit 22 calculates the priority level pa corresponding to the value of the elapsed time Ta, and writes the calculated level pa in the item of “priority” in the dangerous terminal list Lta. Here, for example, the priority level decreases as the elapsed time Ta increases.

The processing unit 22 calculates the reliability level za according to the number of hops of the provided route, and writes the calculated level za in the item “reliability” in the dangerous terminal list Lta. Here, the level of reliability decreases as the number of hops increases, for example.

The reliability is used as an index when registering a dangerous terminal in the dangerous terminal list Lta, for example. More specifically, for example, when the upper limit number of dangerous terminals is registered in the dangerous terminal list Lta, the processing unit 22 is most reliable among the registered dangerous terminals when trying to register a new dangerous terminal. Identify low-risk terminals.

When the reliability of the identified dangerous terminal is smaller than the reliability of the new dangerous terminal, the processing unit 22 deletes the identified dangerous terminal from the dangerous terminal list Lta and registers the new dangerous terminal in the dangerous terminal list Lta. On the other hand, when the reliability of the identified dangerous terminal is higher than the reliability of the new dangerous terminal, the processing unit 22 does not register the new dangerous terminal in the dangerous terminal list Lta.

Further, for example, the processing unit 22 deletes the other vehicle position information satisfying the predetermined condition C1 from the dangerous terminal list Lta among the other vehicle position information registered in the dangerous terminal list Lta.

Specifically, for example, the processing unit 22 uses other vehicle position information registered in the dangerous terminal list Lta to display the other vehicle position information whose time Tea that has elapsed from the discovery time is greater than a predetermined threshold Th1 as the dangerous terminal. Delete from the list Lta.

More specifically, for example, the processing unit 22 calculates the time Tea based on the discovery time and the count value in the counter 27 at the update timing for each predetermined cycle, and updates the elapsed time value of each dangerous terminal, and Recalculate the priority level.

When the calculated time Tea is greater than the threshold Th1, the processing unit 22 deletes the target dangerous terminal from the dangerous terminal list Lta.

The processing unit 22 may be configured to delete the target dangerous terminal from the dangerous terminal list Lta when the value of the elapsed time after the update is larger than a predetermined threshold value.

Referring to FIG. 2 again, the processing unit 22 performs, for example, a driving support process for the own vehicle 30. More specifically, for example, when the processing timing arrives, the processing unit 22 refers to the dangerous terminal list Lta and uses information on the dangerous terminal registered in the dangerous terminal list Lta for the driving support process.

Specifically, the processing unit 22 warns that there is a possibility of collision with the vehicle 30C in the positional relationship R1 with the vehicle 30A based on the information on the dangerous terminal registered in the dangerous terminal list Lta. Information is created, and the created warning information is transmitted to a processing device (not shown) such as an ECU (Electronic Control Unit) in the own vehicle 30A.

The processing device notifies the driver of the content of the warning information based on the warning information received from the processing unit 22, or controls the vehicle 30A to decelerate.

Further, when the processing timing arrives, the processing unit 22 creates an inter-vehicle communication message Da including the latest own vehicle position information Ma, traffic information, vector information Va, and IDa that is the ID of the own vehicle 30A.

Then, the processing unit 22 refers to the dangerous terminal list Lta, and when the dangerous terminal is registered in the dangerous terminal list Lta, the “vehicle ID”, “position”, “true direction”, The incidental information is created based on the contents of each item of “vehicle speed”, “discovery time”, and “provided route”.

More specifically, in this example, the incidental information includes IDc, other vehicle position information Yc, vector information Vc, discovery time information indicating the discovery time td, and route information capable of recognizing the acquisition route of the other vehicle position information Yc. Is included. Since the mobile communication device 101 mounted on the vehicle 30A transfers the incidental information, the route information includes IDa that is an ID of the vehicle 30A.

The processing unit 22 stores the created incidental information in a free area (see FIG. 3) in the inter-vehicle communication message Da.

Here, for example, an upper limit is set for the number of dangerous terminals that can be stored in the free area. When the number of dangerous terminals registered in the dangerous terminal list Lta is larger than the upper limit of the number of dangerous terminals that can be stored in the free area, the processing unit 22 determines the priority among the dangerous terminals registered in the dangerous terminal list Lta. The incidental information of the upper limit number of dangerous terminals is stored in the free area in descending order.

In the above case, the processing unit 22 creates a plurality of vehicle-to-vehicle communication messages Da, and creates incidental information of all the dangerous terminals registered in the dangerous terminal list Lta. The message Da may be stored separately in a free area.

On the other hand, for example, when the dangerous terminal is not registered in the dangerous terminal list Lta, the processing unit 22 writes in the free area in the inter-vehicle communication message Da that the other vehicle 30 is not in the positional relationship R1 with the own vehicle 30A. .

The processing unit 22 outputs the created inter-vehicle communication message Da to the communication unit 21. When the determination unit 24 determines that the other vehicle 30 is in the positional relationship R <b> 1 with the own vehicle 30, the communication unit 21 transmits the own vehicle position information and the other vehicle position information.

More specifically, for example, when the determination unit 24 determines that the vehicle 30C is in the positional relationship R1 with the own vehicle 30A, the communication unit 21 is registered in the own vehicle position information Ma and the dangerous terminal list Lta. Information capable of recognizing the acquisition position of the vehicle position information Yc and the other vehicle position information Yc, that is, route information is transmitted.

Further, for example, when the determination unit 24 determines that the other vehicle 30 is not in the positional relationship R1 with the own vehicle 30, the communication unit 21 transmits information capable of recognizing the determination result.

Specifically, when the communication unit 21 receives the inter-vehicle communication message Da from the processing unit 22, the communication unit 21 broadcasts the received inter-vehicle communication message Da.

[Receiver side processing of incidental information]
Hereinafter, each process performed in the mobile communication device 101 mounted on the vehicle 30B will be described, but the same processing is also performed in the mobile communication device 101 mounted on each of the vehicles 30A and 30C.

Similar to the mobile communication device 101 mounted on the vehicle 30C, the processing unit 22 in the mobile communication device 101 mounted on the vehicle 30B acquires the own vehicle position information Mb from the own vehicle position information acquisition unit 25 at each processing timing. . Further, the processing unit 22 calculates the moving direction and speed of the own vehicle 30B based on the temporal transition of the position indicated by the own vehicle position information Mb, and obtains vector information Vb indicating the calculated moving direction and speed. create.

The communication unit 21 acquires other vehicle position information including the position of the other vehicle 30 from the other vehicle 30, and the other vehicle 30 determined to be in the positional relationship R1 with the other vehicle 30. Other vehicle position information including the position is acquired from the other vehicle 30.

In this example, the communication unit 21 includes the other vehicle position information Ya including the position of the vehicle 30A to the vehicle 30A, the other vehicle position information Yc including the position of the vehicle 30C determined to be in the positional relationship R1 with the vehicle 30A, and the route. Information is acquired from the vehicle 30A.

Specifically, when the communication unit 21 receives the inter-vehicle communication message Da broadcast by the mobile communication device 101 mounted on the vehicle 30A, the communication unit 21 outputs the received inter-vehicle communication message Da to the processing unit 22.

On the other hand, as described above, the communication unit 21 cannot receive the inter-vehicle communication message Dc broadcast by the mobile communication device 101 mounted on the vehicle 30C.

When the processing unit 22 receives the inter-vehicle communication message Da from the communication unit 21, the processing unit 22 acquires the own vehicle position information Ma, that is, the other vehicle position information Ya, the traffic information, the vector information Va, and IDa, from the received inter-vehicle communication message Da.

In addition, the processing unit 22 acquires incidental information from the free area in the inter-vehicle communication message Da, acquires a count value from the counter 27, and creates reception time information indicating the acquired count value.

The processing unit 22 determines each acquired information and IDa, incidental information, the latest vehicle position information Mb received from the vehicle position information acquisition unit 25, vector information Vb, and traffic information received from the traffic information acquisition unit 23. To 24.

FIG. 6 is a diagram showing an example of the positional relationship recognized by the mobile communication device in the travel support system according to the embodiment of the present invention. The orientation in FIG. 6 is the same as the orientation in FIG. Further, the positions of the vehicle 30A, the vehicle 30B, the vehicle 30C, and the intersection 1 are indicated by white circles, double circles, black circles, and X marks, respectively.

Referring to FIG. 6, the determination unit 24 performs, for example, the following first determination and second determination.

More specifically, the determination unit 24 performs the first determination based on, for example, the own vehicle position information acquired by the own vehicle position information acquisition unit 25 and the other vehicle position information acquired by the communication unit 21. It is determined whether or not the other vehicle 30, more specifically, the vehicle 30 that is the transmission source of the other vehicle position information is in a predetermined positional relationship R2 with the own vehicle 30.

In this example, the determination unit 24 determines whether or not the vehicle 30A is in a positional relationship R2 with the own vehicle 30B based on the own vehicle position information Mb and the other vehicle position information Ya.

Here, the positional relationship R2 is, for example, a relationship in which the vehicle 30A is located in a predetermined area A1 located on the traveling direction side of the own vehicle 30B. The length of the predetermined area A1 in the traveling direction is, for example, 20 m. Further, the width of the predetermined region A1 in the direction perpendicular to the traveling direction is, for example, about the width of the vehicle 30B.

Based on the own vehicle position information Mb and the vector information Vb, the determination unit 24 recognizes the coordinates (Xb, Yb) of the position of the own vehicle 30B and 0 ° which is the movement direction, and based on the recognized coordinates and the movement direction. To set the predetermined area A1. Further, the determination unit 24 recognizes the position coordinates (Xa, Ya) of the vehicle 30A, the moving direction of 0 °, and the speed Sa based on the other vehicle position information Ya and the vector information Vb.

The determination unit 24 determines whether or not the positional relationship R2 is satisfied based on whether or not the set predetermined area A1 includes the coordinates (Xa, Ya) of the position of the vehicle 30A. In this example, the determination unit 24 determines that the vehicle 30A is in the positional relationship R2 with the own vehicle 30B.

In addition, the determination unit 24 performs the second determination based on, for example, the host vehicle position information Mb acquired by the host vehicle position information acquisition unit 25 and the other vehicle position information Yc acquired by the communication unit 21. It is determined whether the other vehicle 30 is in a predetermined positional relationship R3 with the own vehicle 30 or not.

Specifically, the determination unit 24 performs the second determination, for example, the host vehicle position information Mb acquired by the host vehicle position information acquisition unit 25, the other vehicle position information Yc acquired by the communication unit 21, and the route information. Based on the discovery time information, it is determined whether or not another vehicle 30, that is, vehicle 30C, is in a predetermined positional relationship R3 with its own vehicle 30B.

Here, the positional relationship R3 is, for example, a positional relationship in which the vehicle 30C on which another mobile communication device 101 that cannot communicate with the mobile communication device 101 mounted on the own vehicle 30B and the own vehicle 30B approach each other. . Preferably, the positional relationship R3 is a positional relationship where the vehicle 30C and the own vehicle 30B may collide, for example.

The determination unit 24 recognizes that the incidental information is received via the vehicle 30A based on the fact that the incidental information includes IDc and the route information includes IDa. Further, the determination unit 24 confirms the inter-vehicle communication message received by the processing unit 22 via the communication unit 21, and the processing unit 22 does not directly receive the inter-vehicle communication message Dc from the vehicle 30 </ b> C via the communication unit 21. Recognize that.

Then, the determination unit 24 recognizes that there is a vehicle 30C in which the mobile communication device 101 cannot directly receive a message due to the influence of shadowing or the like.

The determination unit 24 obtains the coordinates (Xc, Yc) of the position of the vehicle 30C, the moving direction 90 °, and the speed Sc from the other vehicle position information Yc and the vector information Vc included in the incidental information.

Further, the determination unit 24 acquires the count value from the counter 27, and calculates the time Teb that has elapsed from the discovery time based on the difference between the acquired count value and the discovery time indicated by the discovery time information included in the accompanying information.

Then, the determination unit 24 estimates that the vehicle 30C has moved from the discovery time to the true azimuth of 90 ° from the discovery time by the time Sc at a speed Sc, and determines the coordinates (Xc, Yc) of the position of the vehicle 30C as the coordinates (Xce, Yce).

Further, the determination unit 24 recognizes, for example, the coordinates (Xz, Yz) of the position of the intersection 1 and the presence or absence of a traffic light at the intersection 1 based on traffic information. In this example, the determination unit 24 recognizes that no traffic signal is installed at the intersection 1.

The determination unit 24 determines, for example, whether the vehicle 30C and its own vehicle 30B are approaching based on the recognized position and movement status of the vehicles 30C and 30B.

For example, if the determination unit 24 determines that the vehicle 30C and its own vehicle 30B are approaching, the position and movement status of each vehicle 30, the positional relationship between each vehicle 30 and the intersection 1, and the traffic light at the intersection 1 Based on the presence or absence, the probability that the vehicle 30C and its own vehicle 30B collide is calculated.

For example, the determination unit 24 calculates a risk level corresponding to the calculated probability value, and notifies the processing unit 22 of the calculated risk level, the target IDc, and the determination result of the first determination.

FIG. 7 is a diagram showing an example of a dangerous terminal list held by the mobile communication device in the travel support system according to the embodiment of the present invention.

Referring to FIG. 7, for example, the processing unit 22 displays information indicating the corrected position of the vehicle 30C determined by the determination unit 24 that the vehicle 30C is in the positional relationship R3 with the own vehicle 30B. Register with.

More specifically, for example, when the danger level corresponding to IDc included in the incidental information is equal to or higher than a predetermined threshold value Thdb, the processing unit 22 determines that the vehicle 30 indicated by IDc, that is, the vehicle 30C and the own vehicle 30B. It is determined that the determination unit 24 determines that the positional relationship R3 exists.

Then, the processing unit 22 registers the mobile communication device 101 mounted on the vehicle 30C indicated by IDc, that is, the dangerous terminal in the dangerous terminal list Ltb.

Specifically, the processing unit 22 determines “vehicle ID”, “position”, “true direction” in the dangerous terminal list Ltb based on IDc, corrected coordinates (Xce, Yce), vector information Vc, and reception time information. ”,“ Vehicle speed ”,“ elapsed time ”, and“ priority ”.

Further, the processing unit 22 writes the discovery time td indicated by the discovery time information and the IDa included in the route information in the items “discovery time” and “provided route” in the dangerous terminal list Ltb, respectively.

Further, the processing unit 22 calculates the reliability level zb according to the number of hops of the provided route, in this example, 1 and writes the calculated level zb in the item of “reliability” in the dangerous terminal list Ltb.

Referring to FIG. 2 again, for example, when the processing timing arrives, the processing unit 22 refers to the dangerous terminal list Ltb and uses the information on the dangerous terminal registered in the dangerous terminal list Ltb for the driving support process.

Specifically, the processing unit 22 warns that there is a possibility of collision with the vehicle 30C in the positional relationship R3 with the own vehicle 30B based on the information on the dangerous terminal registered in the dangerous terminal list Ltb. Create information.

Further, for example, when the other vehicle 30 is in the positional relationship R2 with the own vehicle 30, the processing unit 22 uses the other vehicle position information Yc for the driving support process.

More specifically, the processing unit 22 sets the positional relationship R2 with the own vehicle 30B based on the determination result of the first determination from the determination unit 24 and the information on the dangerous terminal registered in the dangerous terminal list Ltb. The warning information further includes the possibility that a certain vehicle 30A may collide with the vehicle 30A due to sudden braking.

The processing unit 22 transmits the created warning information to a processing device (not shown) in the own vehicle 30B. Based on the warning information received from the processing unit 22, the processing device notifies the driver of the content of the warning information, or controls the vehicle 30B to decelerate.

[Operation]
The mobile communication device includes a computer, and an arithmetic processing unit such as a CPU in the computer reads and executes a program including a part or all of each step of the flowchart shown below from a memory (not shown). The program of this apparatus can be installed from the outside. The program of this device is distributed in a state stored in a recording medium.

FIG. 8 is a flowchart defining an operation procedure when the mobile communication device according to the embodiment of the present invention transmits an inter-vehicle communication message.

Referring to FIG. 8, mobile communication device 101 waits until the processing timing arrives (NO in step S102).

Then, when the processing timing arrives (YES in step S102), the mobile communication device 101 acquires the vehicle position information and creates vector information (step S104).

Next, the mobile communication device 101 creates a vehicle-to-vehicle communication message (step S106).

Next, the mobile communication device 101 refers to the dangerous terminal list, and if dangerous terminals are registered in the dangerous terminal list (YES in step S108), creates warning information based on the registered dangerous terminal information Then, the generated warning information is transmitted to the processing device in the own vehicle 30 (step S110).

Next, the mobile communication device 101 stores the incidental information of the dangerous terminal in the free area in the created inter-vehicle communication message (step S112).

Next, when the mobile communication device 101 stores the incidental information in the inter-vehicle communication message (step S112) or confirms that no dangerous terminal is registered in the dangerous terminal list (NO in step S108), the inter-vehicle communication A communication message is broadcast (step S114).

Next, the mobile communication device 101 waits until a new processing timing arrives (NO in step S102).

In the mobile communication device 101, the warning information transmission process and the inter-vehicle communication message transmission process are performed in synchronization. However, the present invention is not limited to this. A configuration in which these two transmission processes are performed at different periods may be employed.

FIG. 9 is a flowchart that defines a modified example of the operation procedure when the mobile communication device according to the embodiment of the present invention transmits an inter-vehicle communication message.

Referring to FIG. 9, mobile communication device 101 waits until the processing timing arrives (NO in step S402).

Then, when the processing timing arrives (YES in step S402), the mobile communication device 101 acquires the vehicle position information and creates vector information (step S404).

Next, the mobile communication device 101 creates a vehicle-to-vehicle communication message (step S406).

Next, the mobile communication device 101 refers to the dangerous terminal list, and when the dangerous terminal is registered in the dangerous terminal list (YES in step S408), the incidental information of the dangerous terminal is freely set in the created inter-vehicle communication message. Store in the area (step S410).

Next, when the mobile communication device 101 stores the accompanying information in the inter-vehicle communication message (step S410) or confirms that no dangerous terminal is registered in the dangerous terminal list (NO in step S408), the inter-vehicle communication A communication message is broadcast (step S412).

Next, the mobile communication device 101 waits until a new processing timing arrives (NO in step S402).

FIG. 10 is a flowchart defining an operation procedure when the mobile communication device according to the embodiment of the present invention transmits warning information.

Referring to FIG. 10, mobile communication device 101 waits until the support processing timing for each predetermined period arrives (NO in step S502).

Then, when the support processing timing comes (YES in step S502), the mobile communication device 101 refers to the dangerous terminal list and confirms whether or not the dangerous terminal is registered in the dangerous terminal list (step S504).

When the mobile communication device 101 confirms that the dangerous terminal is registered in the dangerous terminal list (YES in step S504), the mobile communication device 101 creates warning information based on the registered dangerous terminal information, and creates the warning information. Is transmitted to the processing device in the own vehicle 30 (step S506).

Next, the mobile communication device 101 transmits warning information to the processing device in its own vehicle 30 (step S506), or confirms that no dangerous terminal is registered in the dangerous terminal list (NO in step S504). The process waits until a new support processing timing arrives (NO in step S502).

FIG. 11 is a flowchart that defines an operation procedure when the mobile communication device according to the embodiment of the present invention receives a vehicle-to-vehicle communication message.

Referring to FIG. 11, mobile communication device 101 waits until an inter-vehicle communication message is received from another vehicle 30 (NO in step S202).

When the mobile communication device 101 receives a vehicle-to-vehicle communication message from another vehicle 30 (YES in step S202), the mobile communication device 101 satisfies the positional relationship R1 with its own vehicle 30 based on the content of the received vehicle-to-vehicle communication message. It is determined whether there is another vehicle 30 (step S204).

Next, when the mobile communication device 101 determines that there is another vehicle 30 that satisfies the positional relationship R1 with its own vehicle 30 (YES in step S204), the mobile communication device 101 mounted on the other vehicle 30 It is confirmed whether it is registered in the dangerous terminal list as a dangerous terminal (step S206).

Next, when the mobile communication device 101 confirms that the mobile communication device 101 mounted on the other vehicle 30 is not registered in the dangerous terminal list as a dangerous terminal (NO in step S206), the mobile communication device 101 Is registered as a dangerous terminal in the dangerous terminal list (step S208).

Next, the mobile communication device 101 determines whether there is no other vehicle 30 that satisfies the positional relationship R <b> 1 with its own vehicle 30 (NO in step S <b> 204), or the mobile communication device 101 mounted on the other vehicle 30. Is registered in the dangerous terminal list as a dangerous terminal (YES in step S206) or when the mobile communication device 101 is registered in the dangerous terminal list as a dangerous terminal (step S208), the following processing is performed.

That is, the mobile communication device 101 confirms whether or not incidental information is stored in the free area in the inter-vehicle communication message (step S210).

Next, when the mobile communication device 101 confirms that the supplementary information is stored in the free area in the inter-vehicle communication message (YES in step S210), the vehicle 30 that is the transmission source of the inter-vehicle communication message is in the predetermined area A1. It is confirmed whether or not it exists (step S212).

Next, when the mobile communication device 101 confirms that the vehicle 30 that is the transmission source of the inter-vehicle communication message exists in the predetermined area A1 (YES in step S212), the mobile communication device 101 satisfies the positional relationship R3 with the own vehicle 30. It is determined whether there is another vehicle 30 (step S214).

Next, when the mobile communication device 101 determines that there is another vehicle 30 that satisfies the positional relationship R3 with its own vehicle 30 (YES in step S214), the mobile communication device 101 moves on the other vehicle 30. It is confirmed whether or not the communication device 101 is registered in the dangerous terminal list as a dangerous terminal (step S216).

Next, when the mobile communication device 101 confirms that the mobile communication device 101 mounted on the other vehicle 30 is not registered in the dangerous terminal list as a dangerous terminal (NO in step S216), the mobile communication device 101 The machine 101 is registered as a dangerous terminal in the dangerous terminal list (step S218).

Next, the mobile communication device 101 confirms that no additional information is stored in the free area in the inter-vehicle communication message (NO in step S210), or the vehicle 30 that is the transmission source of the inter-vehicle communication message is the predetermined area A1. (NO in step S212), it is determined that there is no other vehicle 30 that satisfies the positional relationship R3 with its own vehicle 30 (NO in step S214), or another Whether the mobile communication device 101 mounted on the other vehicle 30 is confirmed to be registered in the dangerous terminal list as a dangerous terminal (YES in step S216) or the mobile communication device 101 is registered in the dangerous terminal list as a dangerous terminal Then (step S218), it waits until a new inter-vehicle communication message is received from another vehicle 30 (NO in step S202).

The mobile communication device 101 starts the above process every time it receives an inter-vehicle communication message from another vehicle 30 in the above step S202. However, the present invention is not limited to this. The mobile communication device 101 may start the above process every time it receives traffic information from the roadside communication device 151.

Further, the order of steps S212 to S214 is not limited to the above, and the order may be changed.

FIG. 12 is a flowchart defining an operation procedure when the mobile communication device according to the embodiment of the present invention updates the dangerous terminal list.

Referring to FIG. 12, mobile communication device 101 waits for an update timing to arrive (NO in step S302).

Then, when the update timing comes (YES in step S302), the mobile communication device 101 updates the value of the elapsed time of the dangerous terminal in the dangerous terminal list (step S304).

Next, the mobile communication device 101 recalculates the priority level corresponding to the updated value of elapsed time (step S306).

Next, the mobile communication device 101 confirms whether or not there is a dangerous terminal that has passed a threshold Th1 or more from the discovery time in the dangerous terminal list (step S308).

Next, when the mobile communication device 101 confirms that there is a dangerous terminal for which a time equal to or greater than the threshold Th1 has elapsed from the discovery time in the dangerous terminal list (YES in step S308), the target dangerous terminal is selected as the dangerous terminal list. (Step S310).

Next, the mobile communication device 101 confirms in the dangerous terminal list that there is no dangerous terminal that has passed the threshold Th1 or more from the discovery time (NO in step S308), or the target dangerous terminal is dangerous. When deleted from the terminal list (step S310), the process waits until a new update timing arrives (NO in step S302).

In addition, although the mobile communication device according to the embodiment of the present invention is configured to acquire the other vehicle position information from the inter-vehicle communication message transmitted by the other mobile communication device, the present invention is not limited to this. . The mobile communication device may be configured to acquire vehicle detection information and the like from the roadside communication device 151 as other vehicle position information.

Further, in the mobile communication device according to the embodiment of the present invention, the positional relationship R1 used by the determination unit 24 for the determination is a positional relationship in which the other vehicle 30 and the own vehicle 30 approach each other. It is not limited. The positional relationship R1 may be a relationship in which the distance between the other vehicle 30 and the own vehicle 30 is small.

In the mobile communication device according to the embodiment of the present invention, the processing unit 22 registers the other vehicle position information of the other vehicle 30 determined by the determination unit 24 as being in the positional relationship R1 in the dangerous terminal list Lta. Although it is the configuration, it is not limited to this. The processing unit 22 may be configured not to register the other vehicle position information in the dangerous terminal list Lta. More specifically, the processing unit 22 does not store the dangerous terminal in the dangerous terminal list Lta every processing timing of 100 millisecond cycle, and transmits the inter-vehicle communication message including the information on the dangerous terminal via the communication unit 21. May be.

In addition, in the mobile communication device according to the embodiment of the present invention, the processing unit 22 includes the position of another vehicle including the position of another vehicle 30 when the other vehicle 30 is in the positional relationship R2 with the own vehicle 30. Although the configuration is such that information is used for driving support processing, the present invention is not limited to this. The processing unit 22 may be configured to use the other vehicle position information for processes other than the driving support process.

In the mobile communication device according to the embodiment of the present invention, the communication unit 21 is configured to transmit the inter-vehicle communication message Da including the own vehicle position information Ma and the other vehicle position information Yc. It is not limited. The communication unit 21 may be configured to separately transmit the inter-vehicle communication message including the own vehicle position information Ma and the inter-vehicle communication message including the other vehicle position information Yc.

In the mobile communication device according to the embodiment of the present invention, the communication unit 21 is configured to acquire the inter-vehicle communication message Da including the other vehicle position information Ya and the other vehicle position information Yc. It is not limited. The communication unit 21 may be configured to separately acquire the inter-vehicle communication message including the other vehicle position information Ya and the inter-vehicle communication message including the other vehicle position information Yc.

In the mobile communication device according to the embodiment of the present invention, the communication unit 21 can recognize the determination result when the determination unit 24 determines that the other vehicle 30 is not in the positional relationship R1 with the own vehicle 30. However, the present invention is not limited to this. In the above case, the communication unit 21 may be configured not to transmit information capable of recognizing the determination result. Specifically, in the above case, the communication unit 21 may be configured to transmit the inter-vehicle communication message Da that is not written in the free area that the positional relationship R1 is not present.

In the mobile communication device according to the embodiment of the present invention, the communication unit 21 is configured to broadcast the inter-vehicle communication message, but the present invention is not limited to this. The communication unit 21 may be configured to multicast the inter-vehicle communication message.

In the driving support system according to the embodiment of the present invention, the mobile communication device 101 on the vehicle-to-vehicle communication message transmission side is configured to generate vector information based on the vehicle position information. It is not limited to. The mobile communication device 101 on the reception side of the inter-vehicle communication message may be configured such that the vector information of the other vehicle is created based on the other vehicle position information.

By the way, in the inter-vehicle communication system described in Patent Literature 1 or 2, each communication is performed in order to determine a communication device that performs a relay process, and to reconfigure a vehicle group and update a map according to a change in the traveling state of the vehicle. Control packets are transmitted and received between the machines. This increases communication traffic in the inter-vehicle communication system. Also, since it takes time to reconfigure the vehicle group and update the map, for example, when recognizing a situation where an encounter collision may occur, the time from recognition to issuing a warning may be longer. .

On the other hand, the mobile communication device according to the embodiment of the present invention is mounted on a vehicle 30 which is an example of a moving body. The own vehicle position information acquisition unit 25 acquires own vehicle position information Ma including the position of the own vehicle 30. The communication unit 21 acquires other vehicle position information Yc including the position of the other vehicle 30. Based on the own vehicle position information Ma acquired by the own vehicle position information acquisition unit 25 and the other vehicle position information Yc acquired by the communication unit 21, the determination unit 24 determines that the other vehicle 30 and the own vehicle 30 are predetermined. It is determined whether or not the positional relationship R1. And when the determination part 24 determines with it being in the positional relationship R1, the communication part 21 transmits the own vehicle position information Ma and the other vehicle position information Yc.

Thus, for example, when it is determined that the vehicle 30 and the vehicle 30 are in a positional relationship R1 where the vehicle 30 can meet and collide, the vehicle position information Ma and the vehicle position information Yc are transmitted as a warning. Since the warning can be transmitted without reconfiguring the vehicle group and updating the map, it is possible to shorten the time until the warning is transmitted after recognizing the situation where the encounter collision may occur. Therefore, in a communication system in which inter-vehicle communication is performed, information transmission delay can be suppressed. In addition, an increase in communication traffic can be suppressed by transmitting the host vehicle position information Ma and the other vehicle position information Yc without transmitting / receiving control packets to / from other devices.

Further, in the mobile communication device according to the embodiment of the present invention, the communication unit 21 transmits information capable of recognizing the determination result when it is determined by the determination unit 24 that it is not in the positional relationship R1.

With such a configuration, in the apparatus that receives the information, it is determined that the mobile communication device 101 has not acquired the other vehicle position information Yc, or has acquired the other vehicle position information Yc but is not in the positional relationship R1. You can clearly recognize whether or not

Further, in the mobile communication device according to the embodiment of the present invention, when the determination unit 24 determines that the communication unit 21 is in the positional relationship R1, the communication unit 21 further transmits information capable of recognizing the acquisition route of the other vehicle position information. To do.

With such a configuration, it is possible to recognize that there is another vehicle 30 in which it is difficult to directly acquire the other vehicle position information Yc in the device that receives the information. Further, in the apparatus, it can be predicted that the vehicle 30 on which the mobile communication device 101 is mounted takes an action that is difficult to predict without the other vehicle position information Yc such as sudden braking.

In the mobile communication device according to the embodiment of the present invention, the processing unit 22 registers the other vehicle position information of the other vehicle 30 determined by the determination unit 24 as being in the positional relationship R1 in the dangerous terminal list.

With such a configuration, the other vehicle position information Yc of the other vehicle 30 that is determined to be in the positional relationship R1 can be stored, so that the acquired plurality of other vehicle position information Yc can be managed.

Moreover, in the mobile communication device according to the embodiment of the present invention, the communication unit 21 further transmits other vehicle position information registered in the dangerous terminal list.

In this way, with the configuration in which the other vehicle position information Yc registered in the dangerous terminal list is further transmitted, for example, when the own vehicle position information Ma and the other vehicle position information Yc are repeatedly transmitted, the own vehicle position information Ma and In the device that receives the other vehicle position information Yc, it is possible to recognize the history regarding the positional relationship R1.

Further, in the mobile communication device according to the embodiment of the present invention, the processing unit 22 deletes the other vehicle position information satisfying the predetermined condition from the dangerous terminal list among the other vehicle position information registered in the dangerous terminal list.

With such a configuration, for example, it is possible to prevent a state in which old other vehicle position information Yc continues to remain in the dangerous terminal list, so that useful other vehicle position information Yc suitable for the current traffic situation can be transmitted.

In the mobile communication device according to the embodiment of the present invention, the positional relationship R1 is a positional relationship in which the other vehicle 30 and the own vehicle 30 approach each other.

With such a configuration, it is possible to appropriately determine whether or not the other vehicle 30 exists at a position that poses a danger to the own vehicle 30.

Also, the mobile communication device according to the embodiment of the present invention is mounted on a vehicle 30 that is an example of a mobile object. The own vehicle position information acquisition unit 25 acquires own vehicle position information Mb including the position of the own vehicle 30. And the communication part 21 acquires the other vehicle position information Ya containing the position of the other vehicle 30 from the other vehicle 30, and other other vehicles determined to be in the predetermined positional relationship R1 with the other vehicle 30. Other vehicle position information Yc including the position of the vehicle 30 is acquired from the other vehicle 30.

In this way, for example, the position of another vehicle 30 that is determined to be in the positional relationship R <b> 1 that can encounter and collide with another vehicle 30 is included, and transmission is performed without reconfiguration of the vehicle group and map update. With the configuration in which the other vehicle position information Yc obtained is acquired as a warning from the other vehicle 30, the time from when a situation where an encounter collision may occur to when the warning is acquired can be further shortened. Therefore, in a communication system in which inter-vehicle communication is performed, information transmission delay can be suppressed. Further, the increase in communication traffic can be suppressed by the configuration in which the other vehicle position information Ya and the other vehicle position information Yc are acquired without transmitting / receiving control packets to / from the device that transmitted the warning.

Further, in the mobile communication device according to the embodiment of the present invention, the processing unit 22 performs driving support processing of the own vehicle 30. Then, when the other vehicle 30 is in a predetermined positional relationship R2 with the own vehicle 30, the processing unit 22 uses the other vehicle position information Yc for the driving support process.

With such a configuration, for example, it is difficult to predict the other vehicle 30 that is determined to be in the positional relationship R1 that can encounter and collide with another vehicle 30 without the other vehicle position information Yc such as a sudden brake. Can be predicted. Accordingly, for example, in the positional relationship R2 in which the other vehicle 30 is positioned in front of the own vehicle 30, it is possible to avoid the own vehicle 30 from colliding with the other vehicle 30. Can support well.

In the mobile communication device according to the embodiment of the present invention, the determination unit 24 includes the own vehicle position information Mb acquired by the own vehicle position information acquisition unit 25 and the other vehicle position information Ya acquired by the communication unit 21. Based on the vehicle position, the vehicle position obtained by the vehicle position information acquisition unit 25 and performing a first determination as to whether or not the other vehicle 30 is in a predetermined positional relationship R2 with the vehicle 30 Based on the information Mb and the other vehicle position information Yc acquired by the communication unit 21, the second determination is a determination as to whether another other vehicle 30 is in a predetermined positional relationship R3 with the own vehicle 30. I do.

Thus, for example, based on the own vehicle position information Mb and the other vehicle position information Ya, it is determined whether or not the own vehicle 30 is in a positional relationship R2 that can collide with another vehicle 30, and the own vehicle position is determined. Based on the information Mb and the other vehicle position information Yc, based on each determination result, it is determined whether or not the other vehicle 30 and the own vehicle 30 are in the positional relationship R3 where they can meet and collide. It is possible to appropriately determine whether another other vehicle 30 is a vehicle 30 that may directly or indirectly pose a risk to the own vehicle 30.

Further, in the mobile communication device according to the embodiment of the present invention, the communication unit 21 further acquires route information that can recognize the acquisition route of the other vehicle position information Yc. Then, the determination unit 24 performs the second determination based on the own vehicle position information Mb acquired by the own vehicle position information acquisition unit 25, the other vehicle position information Yc acquired by the communication unit 21, and the route information.

With such a configuration, it can be recognized that there is another vehicle 30 for which it is difficult to obtain information directly, so that the other vehicle 30 is directly or indirectly connected to its own vehicle 30. It is possible to more appropriately determine whether or not the vehicle 30 is likely to be dangerous.

Moreover, in the mobile communication device according to the embodiment of the present invention, the communication unit 21 further acquires discovery time information indicating the time when another vehicle 30 has acquired information including the position of another other vehicle 30. And the determination part 24 performs 2nd determination based on the own vehicle position information Mb acquired by the own vehicle position information acquisition part 25, the other vehicle position information Yc acquired by the communication part 21, and discovery time information. .

With such a configuration, it is possible to predict a position where another vehicle 30 has moved from the time indicated by the discovery time information to the time when the communication unit 21 has acquired the discovery time information. Can be done accurately. Thereby, based on the result of the first determination and the result of the second determination, is another vehicle 30 that may cause a danger to the own vehicle 30 directly or indirectly? It is possible to more appropriately determine whether or not.

It should be considered that the above embodiment is illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

The above description includes the following features.

[Appendix 1]
A mobile communication device mounted on a mobile body,
A first acquisition unit that acquires first information including the position of the mobile unit;
A second acquisition unit that acquires second information including the position of another moving body;
Based on the first information acquired by the first acquisition unit and the second information acquired by the second acquisition unit, the other moving body has a predetermined positional relationship with the own moving body. A determination unit for determining whether or not
A transmission unit that transmits the first information and the second information when the determination unit determines that the positional relationship exists;
The moving body is a vehicle,
The first acquisition unit receives radio waves from a GPS (Global Positioning System) satellite, acquires the position of the mobile body based on the received radio waves,
The second acquisition unit receives a message including the second information broadcast by another mobile communication device mounted on the other mobile body by performing inter-vehicle communication,
The second acquisition unit receives a message including the second information transmitted by the roadside communication device by performing road-to-vehicle communication,
When the determination unit determines that the transmission unit is in the positional relationship, the transmission unit transmits a message including the first information and the second information.

[Appendix 2]
A mobile communication device mounted on a mobile body,
A first acquisition unit that acquires first information including the position of the mobile unit;
The second information including the position of the other moving body is acquired from the other moving body, and the second information including the position of another moving body determined to be in a predetermined positional relationship with the other moving body is obtained. A second acquisition unit that acquires the information of 3 from the other moving body,
The moving body is a vehicle,
The first acquisition unit receives a radio wave from a GPS satellite, acquires the position of the mobile unit based on the received radio wave,
The second acquisition unit is a mobile communication device that receives a message including the second information and the third information broadcast by another mobile communication device mounted on the other mobile body.

DESCRIPTION OF SYMBOLS 1 Intersection 3 Road 21 Communication part 22 Processing part 23 Traffic information acquisition part 24 Judgment part 25 Own vehicle position information acquisition part 26 Memory | storage part 27 Counter 30 Vehicle 101 Mobile communication apparatus 151 Roadside communication apparatus 161 Obstacle 301 Driving support system

Claims (16)

1. A mobile communication device mounted on a mobile body,
   A first acquisition unit that acquires first information including the position of the mobile unit;
   A second acquisition unit that acquires second information including the position of another moving body;
   Based on the first information acquired by the first acquisition unit and the second information acquired by the second acquisition unit, the other moving body has a predetermined positional relationship with the own moving body. A determination unit for determining whether or not
   A mobile communication device comprising: a transmission unit that transmits the first information and the second information when the determination unit determines that the positional relationship exists.
2. The mobile communication device according to claim 1, wherein the transmission unit transmits information capable of recognizing a determination result when the determination unit determines that the positional relationship is not present.
3. 3. The mobile communication according to claim 1, wherein when the determination unit determines that the transmission unit is in the positional relationship, the transmission unit further transmits information capable of recognizing the acquisition route of the second information. Machine.
4. The mobile communication device further includes:
   The movement according to any one of claims 1 to 3, further comprising a registration unit that registers the second information of the other moving body determined by the determination unit as being in the positional relationship in a list. Communication machine.
5. The mobile communication device according to claim 4, wherein the transmission unit further transmits the second information registered in the list.
6. The mobile communication device according to claim 4 or 5, wherein the registration unit deletes the second information satisfying a predetermined condition from the list among the second information registered in the list.
7. The mobile communication device according to any one of claims 1 to 6, wherein the positional relationship is a positional relationship in which the other moving body and the own moving body approach each other.
8. A mobile communication device mounted on a mobile body,
   A first acquisition unit that acquires first information including the position of the mobile unit;
   The second information including the position of the other moving body is acquired from the other moving body, and the second information including the position of another moving body determined to be in a predetermined positional relationship with the other moving body is obtained. And a second acquisition unit that acquires the information of 3 from the other mobile body.
9. The mobile communication device further includes:
   A processing unit for performing driving support processing of the mobile unit;
   The mobile communication device according to claim 8, wherein the processing unit uses the third information for the driving support process when the other moving body is in a predetermined positional relationship with the own moving body.
10. The mobile communication device further includes:
    Based on the first information acquired by the first acquisition unit and the second information acquired by the second acquisition unit, the other moving body has a predetermined positional relationship with the own moving body. Based on the first information acquired by the first acquisition unit and the third information acquired by the second acquisition unit. The movement according to claim 8 or 9, further comprising: a determination unit that performs a second determination as to whether or not the other moving body is in a predetermined positional relationship with the self moving body. Communication machine.
11. The second acquisition unit further acquires fourth information capable of recognizing the acquisition route of the third information,
    The determination unit performs the second determination based on the first information acquired by the first acquisition unit and the third information and the fourth information acquired by the second acquisition unit. The mobile communication device according to claim 10, which is performed.
12. The second acquisition unit further acquires fifth information indicating a time at which the other mobile body acquires information including a position of the other mobile body,
    The determination unit performs the second determination based on the first information acquired by the first acquisition unit, and the third information and the fifth information acquired by the second acquisition unit. The mobile communication device according to claim 10 or 11, which is performed.
13. A communication method in a mobile communication device mounted on a mobile body,
    Obtaining first information including the position of the mobile unit;
    Obtaining second information including the position of another moving body;
    Determining whether the other moving body is in a predetermined positional relationship with the moving body based on the first information and the second information acquired;
    And a step of transmitting the first information and the second information when it is determined that the positional relationship exists.
14. A communication method in a mobile communication device mounted on a mobile body,
    Obtaining first information including the position of the mobile unit;
    The second information including the position of the other moving body is acquired from the other moving body, and the second information including the position of another moving body determined to be in a predetermined positional relationship with the other moving body is obtained. And acquiring the information of 3 from the other mobile unit.
15. A communication control program used in a mobile communication device mounted on a mobile body,
    Computer
    A first acquisition unit that acquires first information including the position of the mobile unit;
    A second acquisition unit that acquires second information including the position of another moving body;
    Based on the first information acquired by the first acquisition unit and the second information acquired by the second acquisition unit, the other moving body has a predetermined positional relationship with the own moving body. A determination unit for determining whether or not
    A transmission unit that transmits the first information and the second information when the determination unit determines that the positional relationship exists;
    Communication control program to function as
16. A communication control program used in a mobile communication device mounted on a mobile body,
    Computer
    A first acquisition unit that acquires first information including the position of the mobile unit;
    The second information including the position of the other moving body is acquired from the other moving body, and the second information including the position of another moving body determined to be in a predetermined positional relationship with the other moving body is obtained. A second acquisition unit that acquires the information of 3 from the other moving body;
    Communication control program to function as

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