WO2020241273A1 - Système de communication de véhicule, dispositif embarqué, procédé de commande et programme informatique - Google Patents

Système de communication de véhicule, dispositif embarqué, procédé de commande et programme informatique Download PDF

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Publication number
WO2020241273A1
WO2020241273A1 PCT/JP2020/019219 JP2020019219W WO2020241273A1 WO 2020241273 A1 WO2020241273 A1 WO 2020241273A1 JP 2020019219 W JP2020019219 W JP 2020019219W WO 2020241273 A1 WO2020241273 A1 WO 2020241273A1
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WIPO (PCT)
Prior art keywords
vehicle
position information
information
moving body
acquired
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PCT/JP2020/019219
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English (en)
Japanese (ja)
Inventor
晃 諏訪
竹嶋　進
絢 早川
Original Assignee
住友電気工業株式会社
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Publication of WO2020241273A1 publication Critical patent/WO2020241273A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present disclosure relates to vehicle communication systems, on-board units, control methods and computer programs.
  • This application claims priority based on Japanese Application No. 2019-103195 filed on May 31, 2019, and incorporates all the contents described in the Japanese application.
  • ADAS Advanced Driver-Assistance Systems
  • various sensors such as a camera and a laser for recognizing the surroundings of the vehicle are provided in the vehicle.
  • Patent Document 1 a vehicle detecting means mounted on a vehicle and detecting a state around the vehicle and state information around the vehicle detected by the vehicle detecting means are collected, and the analysis result of the state information is distributed to another vehicle.
  • An information sharing system equipped with a management system is disclosed.
  • Patent Document 2 discloses a driving support device that distributes driving support information that supports the driving of the vehicle to the vehicle.
  • the vehicle transmits the image obtained from the in-vehicle camera to the driving support device.
  • the driving support device recognizes the landmark included in the received image and identifies the position of the vehicle. Then, the driving support device delivers the driving support information corresponding to the position of the vehicle to the vehicle.
  • the vehicle communication system is a vehicle communication system including a plurality of in-vehicle devices mounted on each of the plurality of vehicles and an information providing device connected to the plurality of in-vehicle devices via a wireless communication network.
  • the first position information indicating the position of the vehicle detected by the position detection device mounted on the vehicle on which the vehicle-mounted device is mounted is acquired by each of the plurality of vehicle-mounted devices.
  • the acquisition unit and the second acquisition unit that acquires the second position information indicating the position of the moving body around the vehicle, which is detected by using the peripheral recognition device mounted on the vehicle on which the in-vehicle device is mounted.
  • the information providing device includes a transmission processing unit that transmits the first position information acquired by the first acquisition unit and the second position information acquired by the second acquisition unit to the information providing device.
  • a receiving unit that receives the first position information and the second position information transmitted from a plurality of in-vehicle devices, the first position information and the second position information related to the plurality of vehicles received by the receiving unit, and the movement.
  • a transmission unit for transmitting map information of a predetermined area representing a position where a body can move is transmitted to at least one in-vehicle device, and the one in-vehicle device has a first position transmitted from the information providing device.
  • the reception processing unit that receives the information, the second position information, and the map information, the first position information acquired by the first acquisition unit of the one in-vehicle device, and the second position acquired by the second acquisition unit. Based on the information, the first position information and the second position information received by the reception processing unit, and the map information, the movement that may collide with the vehicle on which the one in-vehicle device is mounted. It has a specific part that identifies the body.
  • the in-vehicle device is an in-vehicle device connected to an information providing device via a wireless communication network, and the vehicle is detected by using the position detection device mounted on the vehicle on which the own device is mounted.
  • a first acquisition unit that acquires first position information indicating a position
  • a first unit that indicates the position of a moving body around the vehicle, which is detected by using a peripheral recognition device mounted on the vehicle on which the own machine is mounted.
  • a second acquisition unit that acquires position information, and a transmission processing unit that transmits the first position information acquired by the first acquisition unit and the second position information acquired by the second acquisition unit to the information providing device.
  • a reception processing unit that receives map information of a predetermined area representing a movable position, a first position information acquired by the first acquisition unit, and a second position information acquired by the second acquisition unit. Based on the first position information and the second position information received by the reception processing unit and the map information, the specific unit that identifies the moving body that may collide with the vehicle on which the own machine is mounted. To be equipped.
  • the control method is a control method of an in-vehicle device connected to an information providing device via a wireless communication network, and is detected by using a position detection device mounted on a vehicle equipped with the in-vehicle device.
  • the first position information indicating the position of the vehicle is acquired, and the position of the moving body around the vehicle detected by the peripheral recognition device mounted on the vehicle on which the in-vehicle device is mounted is indicated.
  • the first position information and the second position information collected from an in-vehicle machine different from the machine and the map information of a predetermined area representing the position where the moving body can move are received, and the first position information and the first position information acquired. Based on the two position information, the received first position information and the second position information, and the map information, the moving body that may collide with the vehicle on which the in-vehicle device is mounted is specified.
  • the computer program indicates the position of the vehicle detected by the position detection device mounted on the vehicle on which the computer is mounted on the computer connected to the information providing device via the wireless communication network.
  • the first position information and the second position information are transmitted to the information providing device, and the information providing device receives the first position information and the second position information collected from the in-vehicle device mounted on another vehicle, and the said
  • the map information of a predetermined area representing the position where the moving body can move is transmitted, and the first position information and the second position information transmitted from the information providing device and the map information are received and acquired.
  • the moving body that may collide with the vehicle equipped with the computer is specified. To execute the process to be performed.
  • the present disclosure can be realized as a semiconductor integrated circuit that realizes a part or all of a vehicle communication system or an in-vehicle device, or can be realized as another system including a specific part.
  • FIG. 1 is a schematic diagram showing a configuration example of a vehicle communication system according to the first embodiment.
  • FIG. 2 is a block diagram showing a configuration example of a vehicle communication system.
  • FIG. 3 is a block diagram showing a configuration example of an in-vehicle relay device.
  • FIG. 4 is a block diagram showing a configuration example of the information providing device.
  • FIG. 5 is a schematic diagram showing an example of a usage state of the vehicle communication system.
  • FIG. 6 is a flowchart showing the procedure of the position specifying process of the moving body.
  • FIG. 7 is a flowchart showing the procedure of warning processing.
  • FIG. 8 is an explanatory diagram showing an example of warning the presence of a vehicle in the back.
  • FIG. 1 is a schematic diagram showing a configuration example of a vehicle communication system according to the first embodiment.
  • FIG. 2 is a block diagram showing a configuration example of a vehicle communication system.
  • FIG. 3 is a block diagram showing a configuration example of an in
  • FIG. 9 is an explanatory diagram showing an example of warning the presence of a pedestrian.
  • FIG. 10 is an explanatory diagram showing an example in which a pedestrian is detected by using a camera and the presence of the pedestrian is warned.
  • FIG. 11 is a flowchart showing a processing procedure for transmitting warning information to a pedestrian's mobile terminal device.
  • FIG. 12 is an explanatory diagram showing an example of warning a pedestrian of the presence of a vehicle in the back.
  • FIG. 13 is a flowchart showing a procedure for distributing map information and real-time information.
  • FIG. 14 is an explanatory diagram showing a method of distributing map information and real-time information.
  • An object of the present disclosure is to provide a vehicle communication system, an in-vehicle device, a control method, and a computer program capable of effectively recognizing a moving body moving in a predetermined area.
  • a vehicle communication system an in-vehicle device, a control method, and a computer program capable of effectively recognizing a moving body moving in a predetermined area.
  • the vehicle communication system is a vehicle including a plurality of in-vehicle devices mounted on each of the plurality of vehicles and an information providing device connected to the plurality of in-vehicle devices via a wireless communication network.
  • each of the plurality of in-vehicle devices acquires first position information indicating the position of the vehicle detected by using the position detection device mounted on the vehicle in which the in-vehicle device is mounted.
  • the information providing device includes an acquisition unit, a transmission processing unit that transmits the first position information acquired by the first acquisition unit and the second position information acquired by the second acquisition unit to the information providing device.
  • a receiving unit that receives the first position information and the second position information transmitted from the plurality of in-vehicle devices, and the first position information and the second position information related to the plurality of vehicles received by the receiving unit.
  • the vehicle-mounted device includes at least one transmission unit that transmits map information of a predetermined area representing a movable position of the moving body to the vehicle-mounted device, and the vehicle-mounted device is transmitted from the information providing device.
  • the reception processing unit that receives the first position information, the second position information, and the map information, and the first position information acquired by the first acquisition unit of the one in-vehicle device and the second acquisition unit acquired the information. Based on the second position information, the first position information and the second position information received by the reception processing unit, and the map information, there is a possibility of collision with the vehicle on which the one in-vehicle device is mounted. It is provided with a specific unit that identifies the moving body.
  • the vehicle-mounted device mounted on each of the plurality of vehicles acquires the first position information from the position detection device and the second position information from the peripheral recognition device.
  • the first position information is information indicating the position of the vehicle on which the in-vehicle device is mounted.
  • the second position information is information indicating the position of a moving body around the vehicle. Moving objects include, for example, vehicles and people.
  • the in-vehicle device can acquire information on the position of the vehicle on which the in-vehicle device is mounted and the moving body in the vicinity thereof. Then, the in-vehicle devices of the plurality of vehicles transmit the acquired first position information and the second position information to the information providing device.
  • the information providing device collects the first position information and the second position information transmitted from a plurality of in-vehicle devices, and collects the collected first position information and the second position information and the map information of a predetermined area in at least one in-vehicle device. Send to. Therefore, the on-board units of a plurality of vehicles within a predetermined area can share the first position information and the second position information detected and obtained by each vehicle. Therefore, the in-vehicle device can also specify the position of the moving body that has entered the blind spot of the vehicle on which the in-vehicle device is mounted, and the moving body that moves in a predetermined area in a complicated manner. Further, the vehicle-mounted device receives the map information transmitted from the information providing device.
  • the map information is at least information indicating a position where the vehicle can move.
  • the on-board unit identifies a moving object that the vehicle may collide with based on the first and second position information and the map information. That is, the moving body that may collide with the vehicle is specified in consideration of the range in which the vehicle can move.
  • the predetermined area is a parking lot
  • there is no infrastructure to control the traffic of the moving body in the parking lot (predetermined area) so the degree of freedom of movement of the moving body is high, and if there is no map information, many It will be identified as a target that the moving object may collide with.
  • the on-board unit can identify a moving body that may actually collide. As described above, according to this aspect, it is possible to effectively recognize a moving body moving in a predetermined region.
  • each of the plurality of on-board units further transmits and receives the first position information and the second position information to each other by vehicle-to-vehicle communication.
  • the plurality of on-board units share the information by transmitting and receiving the first position information and the second position information by vehicle-to-vehicle communication.
  • the first position information and the second position information acquired by the vehicle-to-vehicle communication are generally newer than the first position information and the second position information received via the information providing device. Therefore, the on-board unit can acquire the first position information and the second position information of the moving body in the predetermined region, which is more excellent in real time. Therefore, it is possible to more accurately recognize a moving body moving in a predetermined area.
  • the specific unit is based on the logical sum of the position of the vehicle indicated by the first position information obtained from the plurality of vehicles and the position of the moving body indicated by the second position information obtained from the plurality of vehicles. , A configuration for specifying the presence or absence of the moving body is preferable.
  • the on-board unit moves by the logical sum of the position of the vehicle indicated by the first position information obtained from the plurality of vehicles and the position of the moving body indicated by the second position information obtained from the plurality of vehicles. Since the configuration is such that the body is specified, it is possible to recognize a moving body in a predetermined area without omission.
  • the specific unit calculates the position of one of the moving bodies based on a plurality of first position information or second position information.
  • the on-board unit when calculating the position of one moving body existing in the vicinity, has the position of the vehicle indicated by the first position information obtained from the other vehicle and the second position obtained from the plurality of vehicles. The position is calculated using the position of the moving body indicated by the position information. Therefore, the on-board unit can calculate the more probable position of the moving body.
  • the position detection device includes a GNSS receiver
  • the peripheral recognition device includes a camera, sonar, or radar
  • the specific unit preferentially uses the first position information over the second position information to move.
  • a configuration that calculates the position of the body is preferable.
  • the first position information based on the information of the GNSS receiver has higher position detection accuracy than the second position information based on the information of the camera, sonar or radar.
  • the on-board unit preferentially uses the first position information to calculate the position of the moving body. Therefore, the on-board unit can more accurately calculate the position of the moving body in the predetermined region.
  • the first position information or the second acquisition unit acquired by the first acquisition unit of the one on-board unit rather than the first position information or the second position information received by the reception processing unit. It is preferable that the position of the moving body is calculated by preferentially using the acquired second position information.
  • the first position information and the second position information acquired from the own vehicle have higher reliability of the position detection accuracy than the first position information and the second position information acquired from the other vehicle.
  • the on-board unit calculates the position of the moving body by preferentially using the first position information and the second position information obtained from the vehicle on which the in-vehicle device is mounted. Therefore, the on-board unit can more accurately calculate the position of the moving body in the predetermined region.
  • the first position information or the second position information includes time information indicating the time of detection, and the specific unit preferentially uses the first position information or the second position information including the latest time information to move.
  • a configuration that calculates the position of the body is preferable.
  • the first position information and the second position information include time information indicating the time of detection.
  • the on-board unit calculates the position of the moving body by preferentially using the first position information and the second position information including the latest time information among the plurality of acquired first position information and second position information. Therefore, the on-board unit can more accurately calculate the position of the moving body in the predetermined region.
  • the plurality of in-vehicle devices further transmit and receive the first position information and the second position information to each other by inter-vehicle communication, and the specific unit is the first position received by the reception processing unit. It is preferable to calculate the position of the moving body by preferentially using the first position information or the second position information received in the inter-vehicle communication rather than the information or the second position information.
  • the first position information and the second position information received by the vehicle-to-vehicle communication are the latest new information as compared with the first position information or the second position information received by the reception processing unit. ..
  • the on-board unit preferentially uses the first position information and the second position information received in the vehicle-to-vehicle communication to calculate the position of the moving body. Therefore, the on-board unit can more accurately calculate the position of the moving body in the predetermined region.
  • the plurality of in-vehicle devices include a third acquisition unit that acquires communication information flowing through an in-vehicle communication line mounted on the vehicle on which the in-vehicle device is mounted, and the third acquisition unit acquires the third acquisition unit.
  • the first position information, the second position information, and the communication information acquired by the third acquisition unit are transmitted to the information providing device by the transmission processing unit, and the information providing device transmits from the plurality of in-vehicle devices.
  • the first position information, the second position information, and the communication information are received by the receiving unit, and the received first position information, the second position information, the communication information, and the map information are transmitted by the transmitting unit.
  • the specific unit of the one in-vehicle device includes the first position information acquired by the first acquisition unit of the one in-vehicle device, the second position information acquired by the second acquisition unit, and the reception process. Based on the first position information and the second position information received by the unit, the communication information, and the map information, the moving body that may collide with the vehicle on which the one in-vehicle device is mounted is specified.
  • the configuration is preferable.
  • the vehicle-mounted device acquires communication information in addition to the first position information, the second position information, and the map information from the information providing device.
  • the communication information is information flowing through the in-vehicle communication line of the vehicle, and is information regarding the behavior of the vehicle.
  • the on-board unit can more accurately identify a moving body that may collide with the vehicle on which the on-board unit is mounted, taking into consideration the behavior of another vehicle.
  • each of the plurality of on-board units further transmits and receives the communication information to and from each other by vehicle-to-vehicle communication.
  • a plurality of on-board units share the information by transmitting and receiving communication information by vehicle-to-vehicle communication.
  • the communication information acquired by vehicle-to-vehicle communication is generally newer than the communication information received via the information providing device. Therefore, the in-vehicle device can acquire the communication information of the moving body in the predetermined area, which is more excellent in real time. Therefore, it is possible to more accurately recognize a moving body moving in a predetermined area.
  • the information providing device receives terminal position information indicating the position of the mobile terminal device moving together with the moving body at the receiving unit, and receives the received terminal position information at at least one of the transmitting units.
  • the reception processing unit of the one in-vehicle device receives the terminal position information transmitted from the information providing device, and the specific unit of the one in-vehicle device is the one in-vehicle device. Based on the first position information acquired by the first acquisition unit, the second position information acquired by the second acquisition unit, the terminal position information received by the reception processing unit, and the map information. , It is preferable to specify the moving body that may collide with the vehicle on which the one in-vehicle device is mounted.
  • the vehicle-mounted device acquires terminal position information in addition to the first position information, the second position information, and the map information from the information providing device.
  • the terminal position information is information indicating the position of a mobile terminal device possessed by a person.
  • the one in-vehicle device receives the terminal position information by wireless communication with the mobile terminal device.
  • the terminal position information received by wireless communication with the terminal device is the latest new information as compared with the terminal position information received by the reception processing unit.
  • the on-board unit can more accurately identify a moving body that may collide with the vehicle by using the terminal position information received by wireless communication with the terminal device.
  • the specific unit excludes the moving body existing outside the predetermined region from the target of the moving body that may collide based on the map information.
  • the vehicle-mounted device more accurately excludes a moving body that may collide with the vehicle by excluding the moving body that exists outside the predetermined region from the target of the moving body that may collide. Can be specified in.
  • the specific unit is from a target of the moving body that may collide with the moving body that exists at a position where the vehicle on which the one on-board unit is mounted cannot move.
  • a configuration to exclude is preferable.
  • the on-board unit further excludes a moving body that may collide with the vehicle by excluding the moving body that is in a position where the vehicle cannot move from the target of the moving body that may collide. It can be accurately identified.
  • the specific unit identifies the moving body existing in the moving path of the vehicle on which the one on-board unit is mounted, based on the map information.
  • the on-board unit can more accurately identify the moving body that may collide with the vehicle by specifying the moving body existing in the moving path of the vehicle.
  • the information providing device transmits the map information to the in-vehicle device mounted on the vehicle within the first predetermined distance from the predetermined area, and has a second predetermined distance shorter than the first predetermined distance. It is preferable to transmit the first position information and the second position information to the in-vehicle device mounted on the vehicle within the range.
  • the information providing device transmits map information to an in-vehicle device near a predetermined area. Further, the information providing device transmits the first position information and the second position information to the vehicle-mounted device when the vehicle-mounted device approaches a predetermined area. Therefore, the information providing device can avoid unnecessary information being transmitted to the in-vehicle device and can efficiently transmit useful information to the in-vehicle device.
  • the predetermined area is a place where there is no facility for controlling the traffic flow of the moving body.
  • the information providing device transmits map information of a place where there is no facility for controlling the traffic flow of a moving body such as a traffic signal to the in-vehicle device.
  • the on-board unit can identify a moving object that may collide with the vehicle by using the map information. Therefore, it is possible to effectively recognize a moving body moving in a place where there is no facility for controlling the traffic flow of the moving body such as a traffic signal.
  • the predetermined area is preferably a parking lot.
  • the information providing device transmits the map information of the parking lot to the in-vehicle device.
  • the on-board unit can identify a moving object that may collide with the vehicle by using the map information. Therefore, it is possible to effectively recognize a moving body moving in the parking lot.
  • the moving body around the vehicle detected by using the peripheral recognition device includes at least one of the vehicle and a person different from the vehicle on which the peripheral recognition device is mounted.
  • the second position information acquired by the second acquisition unit indicates a vehicle other than the vehicle and a small number of people in the vicinity of the vehicle equipped with the peripheral recognition device. Therefore, it is possible to effectively recognize at least one moving body of a vehicle and a person moving in a predetermined area.
  • the in-vehicle device is an in-vehicle device connected to an information providing device via a wireless communication network, and is detected by using a position detection device mounted on a vehicle on which the own device is mounted.
  • the second acquisition unit that acquires the second position information indicating the above, the first position information acquired by the first acquisition unit, and the second position information acquired by the second acquisition unit are transmitted to the information providing device.
  • the transmission processing unit the first position information and the second position information transmitted from the information providing device and collected from the in-vehicle device other than the in-vehicle device mounted on another vehicle by the information providing device, and the above.
  • a reception processing unit that receives map information of a predetermined area representing a position where a moving body can move, a first position information acquired by the first acquisition unit, and a second position acquired by the second acquisition unit. Based on the information, the first position information and the second position information received by the reception processing unit, and the map information, the moving body that may collide with the vehicle on which the own machine is mounted is specified. It has a specific part.
  • the control method according to this aspect is a control method of an in-vehicle device connected to an information providing device via a wireless communication network, and uses a position detection device mounted on a vehicle equipped with the in-vehicle device.
  • the position of a moving body around the vehicle which is detected by acquiring the first position information indicating the position of the vehicle detected by the vehicle and using the peripheral recognition device mounted on the vehicle equipped with the in-vehicle device.
  • the second position information indicating the above is acquired, the acquired first position information and the second position information are transmitted to the information providing device, and the information providing device transmitted from the information providing device mounts the second position information on another vehicle.
  • the first position obtained by receiving the first position information and the second position information collected from the in-vehicle device different from the in-vehicle device and the map information of a predetermined area representing the position where the moving body can move. Based on the information and the second position information, the received first position information and the second position information, and the map information, the moving body that may collide with the vehicle on which the in-vehicle device is mounted is specified. ..
  • the computer program according to the present embodiment is a computer connected to an information providing device via a wireless communication network, and the vehicle is detected by using a position detecting device mounted on the vehicle on which the computer is mounted.
  • the first position information indicating the position is acquired, and the second position information indicating the position of the moving body around the vehicle detected by using the peripheral recognition device mounted on the vehicle equipped with the computer is acquired.
  • the acquired first position information and the second position information are transmitted to the information providing device, and the information providing device uses the first position information and the second position information collected from the in-vehicle device mounted on another vehicle.
  • the map information of a predetermined area representing the movable position of the moving body is transmitted, and the first position information, the second position information, and the map information transmitted from the information providing device are received. Based on the acquired first position information and second position information, the received first position information and second position information, and the map information, the movement that may collide with the vehicle on which the computer is mounted. Perform the process of identifying the body.
  • FIG. 1 is a schematic diagram showing a configuration example of a vehicle communication system according to the first embodiment
  • FIG. 2 is a block diagram showing a configuration example of a vehicle communication system.
  • the in-vehicle communication system includes an in-vehicle relay device (in-vehicle device or computer) 1, an in-vehicle wireless communication device 2, a position detection device 3, a peripheral recognition device 4, a drive control device 5, and an operation mounted on the vehicle C.
  • the support device 6, the information providing device 9, and the mobile terminal device 8 are provided.
  • the in-vehicle relay device 1 is, for example, a central gateway, an in-vehicle computer, or the like. As shown in FIG. 2, an in-vehicle wireless communication device 2, a position detection device 3, a peripheral recognition device 4, a drive control device 5, and a driving support device 6 are connected to the in-vehicle relay device 1.
  • the in-vehicle relay device 1 relays data transmitted and received by each device.
  • the in-vehicle relay device 1 has security functions such as encryption processing when wireless communication is performed with a communication device outside the vehicle using the in-vehicle wireless communication device 2 and monitoring of communication traffic.
  • the in-vehicle wireless communication device 2 includes, for example, a first in-vehicle communication device 21, a second in-vehicle communication device 22, and a third in-vehicle communication device 23.
  • the first vehicle-mounted communication device 21, the second vehicle-mounted communication device 22, and the third vehicle-mounted communication device 23 are connected to the vehicle-mounted relay device 1.
  • the first in-vehicle communication device 21 includes an external communication device of the vehicle C on which the in-vehicle relay device 1 is mounted and an antenna for performing wireless communication via the wireless communication network N.
  • the first in-vehicle communication device 21 is a communication device that performs wireless communication via a mobile communication network such as LTE (Long Term Evolution), 3G, 4G, or 5G.
  • the first in-vehicle communication device 21 is, for example, a telematics control unit (TCU), and transmits / receives data to / from the information providing device 9.
  • the information providing device 9 collects information indicating the position of the moving body in the parking lot A from the in-vehicle device in the parking lot A (see FIG. 5) and in the vicinity of the parking lot A. , Distribute the collected information to another vehicle C.
  • the first vehicle-mounted communication device 21 receives the information transmitted from the information providing device 9. Details of the information distributed by the information providing device 9 will be described later.
  • the second in-vehicle communication device 22 is, for example, a short-range wireless terminal device.
  • the second in-vehicle communication device 22 is a communication device that wirelessly communicates with the mobile terminal device 8 possessed by the pedestrian (person) P in accordance with communication standards such as Wi-Fi (registered trademark) and Bluetooth (registered trademark). Yes, data is transmitted and received to and from the mobile terminal device 8.
  • the mobile terminal device 8 detects the position of its own device and wirelessly transmits the terminal position information obtained by the detection.
  • the terminal position information includes the position of the mobile terminal device 8 and time information indicating a detection time point.
  • the second in-vehicle communication device 22 receives the terminal position information transmitted from the mobile terminal device 8.
  • the third in-vehicle communication device 23 is, for example, an ITS radio.
  • the third vehicle-mounted communication device 23 performs vehicle-to-vehicle communication with the third vehicle-mounted communication device 23 mounted on the other vehicle C.
  • the third vehicle-mounted communication device 23 mounted on the plurality of vehicles C shares information indicating the positions of moving objects around the vehicle C detected by each vehicle C by transmitting and receiving to each other.
  • vehicle-to-vehicle communication will be described in the first embodiment, the third vehicle-mounted communication device 23 can perform road-to-vehicle communication with a communication device provided on the roadside or the like, and is mounted on a plurality of vehicles C.
  • the third vehicle-mounted communication device 23 may transmit and receive information via the communication device on the roadside.
  • the position detection device 3 includes, for example, a navigation ECU 30.
  • a GNSS (Global Navigation Satellite System) receiver 31 is connected to the navigation ECU 30, and constitutes a car navigation system that guides a route to a destination.
  • the GNSS receiver 31 constitutes a positioning system together with an artificial satellite (GNSS satellite), and receives radio waves from the artificial satellite.
  • the navigation ECU 30 detects the position of the vehicle C on which the navigation ECU 30 which is its own device is mounted, based on the information of the radio wave received by the GNSS receiver 31.
  • the position of the own vehicle C is information indicating the coordinate value of the vehicle C in a predetermined world coordinate system.
  • the navigation ECU 30 transmits the position information (hereinafter referred to as the first position information) including the detected coordinate value information of the vehicle C and the time information indicating the detection time point to the vehicle-mounted relay device 1 via the communication line 3a. ..
  • the peripheral recognition device 4 includes, for example, a recognition ECU 40.
  • a camera 41 that images the periphery of the vehicle C, an ultrasonic sonar 42 for detecting an object existing around the vehicle C, a millimeter wave radar 43, and a LiDAR (light detection and ranging) 44 are connected to the recognition ECU 40.
  • the camera 41 either a monocular camera or a stereo camera can be used.
  • the camera 41 may image the vehicle C and the pedestrian P, which are moving bodies, with visible light, or may image the vehicle C and the pedestrian P with infrared rays.
  • the camera 41, the ultrasonic sonar 42, the millimeter wave radar 43, the LiDAR 44, etc. are collectively referred to as sensors as appropriate.
  • the recognition ECU 40 recognizes other vehicles C and pedestrians P existing around the vehicle C based on the detection data of the sensors.
  • the vehicle C and the pedestrian P may be identified by using, for example, a trained model learned by deep learning.
  • Deep learning is a type of machine learning that classifies detection data of sensors into a predetermined class.
  • the recognition ECU 40 includes an object image of a stationary object other than the vehicle C and the pedestrian P existing around the vehicle C, an object image of the vehicle C, an object image of the pedestrian P, and the vehicle C.
  • a large amount of object images of buildings existing in the surrounding area are learned, and a weighting coefficient that associates the features of the vehicle C or the pedestrian P with the class corresponding to each feature is stored as a learning result.
  • the recognition ECU 40 identifies the class to which the detection target belongs by inputting the acquired image data and other detection data into the trained model.
  • the recognition ECU 40 can recognize whether or not the detection target is the vehicle C or the pedestrian P by specifying the class.
  • the recognition ECU 40 calculates the recognized positions of the vehicle C and the pedestrian P. For example, the recognition ECU 40 calculates the positions of the vehicle C and the pedestrian P in the world coordinate system based on the detection data and the map information. Further, the recognition ECU 40 further uses the position information of the vehicle C detected by the position detection device 3, that is, the first position information of the vehicle C on which the peripheral recognition device 4 which is its own device is mounted, and uses other peripheral information. The positions of the vehicle C and the pedestrian P may be calculated.
  • the recognition ECU 40 refers to position information (hereinafter, referred to as second position information) including the coordinate values of the vehicle C and the pedestrian P existing around the vehicle C and the time information indicating the detection time of the vehicle C and the pedestrian P. ) Is transmitted to the vehicle-mounted relay device 1 via the communication line 4a.
  • the in-vehicle relay device 1 receives the second position information transmitted from the recognition ECU 40.
  • the drive control device 5 includes a drive ECU 50.
  • the drive ECU 50 is connected to, for example, an actuator 51 for driving an engine, a brake, a steering device, or the like (not shown), and a drive system sensor 52 for detecting the drive state of the vehicle C.
  • the drive system sensor 52 detects, for example, the accelerator opening degree, the brake operation amount, the steering angle, the vehicle speed, and the like.
  • the drive ECU 50 transmits the detection result of the drive system sensor 52 and information including time information indicating the detection time point (hereinafter referred to as communication information) to the vehicle-mounted relay device 1 via the communication line 5a.
  • FIG. 2 shows an example in which the drive ECU 50 drives the engine, brake, steering device, etc., the engine ECU, brake ECU, etc.
  • control information related to automatic driving or advanced driving support for example, information such as engine opening control, brake operation control, steering control, etc. is used as communication information on the communication line 5a. Is flowing.
  • the in-vehicle relay device 1 can acquire the communication information.
  • FIG. 3 is a block diagram showing a configuration example of the in-vehicle relay device 1.
  • the in-vehicle relay device 1 is a computer, and includes a control unit 10, a storage unit 11, a first in-vehicle communication unit 12, a second in-vehicle communication unit 13, a third in-vehicle communication unit 14, and an input / output I / F 15. To be equipped.
  • the control unit 10 is configured by using an arithmetic processing unit such as a CPU (Central Processing Unit) or an MPU (Micro-Processing Unit), and is executed by reading and executing a computer program 11a or the like stored in the storage unit 11. Performs various arithmetic processes. Further, the control unit 10 has a timer for measuring an arbitrary elapsed time.
  • an arithmetic processing unit such as a CPU (Central Processing Unit) or an MPU (Micro-Processing Unit)
  • MPU Micro-Processing Unit
  • the control unit 10 includes an acquisition unit 10a, a transmission processing unit 10b, a reception processing unit 10c, and a specific unit 10d as functional units.
  • the acquisition unit 10a acquires the first acquisition unit that acquires the first position information from the position detection device 3, the second acquisition unit that acquires the second position information from the peripheral recognition device 4, and the communication information flowing through the communication line 5a. 3
  • This is a functional unit that executes processing related to the acquisition unit.
  • the transmission processing unit 10b is a functional unit that executes a process of transmitting the first position information, the second position information, the communication information, and the like acquired by the income unit to the information providing device 9 by the first vehicle-mounted communication device 21.
  • the reception processing unit 10c is a functional unit that executes a process of receiving the map information transmitted from the information providing device 9 and the real-time position information indicating the position of the moving body via the first in-vehicle communication device 21.
  • the real-time position information is information including first position information, second position information, communication information, terminal position information, etc. obtained from the vehicle-mounted relay device 1, the mobile terminal device 8, and the like of another vehicle C.
  • the reception processing unit 10c is a functional unit that executes a process of receiving the terminal position information transmitted from the mobile terminal device 8 via the second in-vehicle communication device 22.
  • the reception processing unit 10c is a functional unit that executes a process of receiving the first position information, the second position information, and the communication information transmitted from the vehicle-mounted relay device 1 of the other vehicle C via the third vehicle-mounted communication device 23.
  • the specific unit 10d is a vehicle C which is a moving body in a predetermined area based on the first position information, the second position information, the communication information, the real-time position information received by the reception processing unit 10c, etc. acquired by the acquisition unit 10a.
  • a functional unit that executes a process of calculating the position of the pedestrian P.
  • the predetermined area is a place where there is no facility for controlling the traffic flow of the moving body.
  • the equipment that controls the traffic flow of the moving body is, for example, a traffic signal.
  • the predetermined area will be described as the parking lot A.
  • the predetermined area is not limited to the parking lot represented by the parking lot A.
  • the predetermined area may be a place where there is no facility for restricting the movement of the moving body.
  • the equipment that restricts the movement of the moving body is, for example, a display device that notifies the approach of the moving body.
  • the storage unit 11 includes a volatile memory element such as a RAM (Random Access Memory) and a non-volatile memory element such as a flash memory or an EEPROM (Electrically Erasable Programmable Read Only Memory).
  • the storage unit 11 stores the computer program 11a and other various data necessary for the operation of the control unit 10.
  • the control unit 10 By executing the computer program 11a, the control unit 10 functions as the acquisition unit 10a, the transmission processing unit 10b, the reception processing unit 10c, and the specific unit 10d.
  • the computer program 11a may be recorded on a recording medium (not shown) so that it can be read by a computer.
  • the storage unit 11 stores the computer program 11a read from the recording medium by a reading device (not shown). Further, the computer program 11a may be downloaded from an external computer and stored in the storage unit 11.
  • the first in-vehicle communication unit 12, the second in-vehicle communication unit 13, and the third in-vehicle communication unit 14 conform to a CAN transceiver that communicates in accordance with the CAN communication protocol, or a communication protocol such as 100BASE-T1 or 1000BASE-T1. It is an Ethernet (registered trademark) PHY part that communicates with.
  • the navigation ECU 30 is connected to the first in-vehicle communication unit 12 via a communication line 3a conforming to the above communication protocol, and various information is transmitted and received to and from the navigation ECU 30.
  • the vehicle-mounted relay device 1 receives or acquires the first position information transmitted from the navigation ECU 30 by the first in-vehicle communication unit 12.
  • the recognition ECU 40 is connected to the second in-vehicle communication unit 13 via a communication line 4a conforming to the above communication protocol, and various information is transmitted and received to and from the recognition ECU 40.
  • the vehicle-mounted relay device 1 according to the first embodiment receives or acquires the second position information transmitted from the recognition ECU 40 by the second in-vehicle communication unit 13.
  • a drive ECU 50 is connected to the third in-vehicle communication unit 14 via a communication line 5a conforming to the above communication protocol, and various information is transmitted and received to and from the drive ECU 50.
  • the vehicle-mounted relay device 1 according to the first embodiment receives or acquires the communication information transmitted from the drive ECU 50 by the third in-vehicle communication unit 14.
  • the communication line 5a is a CAN communication line, and the vehicle-mounted relay device 1 and the drive ECU 50 perform communication in accordance with the CAN communication protocol.
  • the input / output I / F 15 is an interface for communicating with the first vehicle-mounted communication device 21, the second vehicle-mounted communication device 22, the third vehicle-mounted communication device 23, the driving support device 6, and the like.
  • the first vehicle-mounted communication device 21, the second vehicle-mounted communication device 22, the third vehicle-mounted communication device 23, and the driving support device 6 are connected to the input / output I / F 15 via a wire harness such as a serial cable.
  • the driving support device 6 includes, for example, an HMI (Human Machine Interface) device such as a display device, a lamp, and a speaker.
  • the HMI device displays data or information output from the vehicle-mounted relay device 1 via the input / output I / F 15.
  • the HMI device may be configured to be controlled by the ECU.
  • the display device is a display device such as a liquid crystal display, an organic EL display, or electronic paper.
  • the display device displays a map image based on the map information and information related to moving objects such as vehicles C and pedestrians P existing in the vicinity.
  • the display unit displays information for warning the presence of a moving body that may collide with the vehicle C.
  • the speaker acquires a sound to warn of the presence of a moving object that may collide with the vehicle C.
  • FIG. 4 is a block diagram showing a configuration example of the information providing device 9.
  • the information providing device 9 is a server computer connected to the vehicle-mounted relay device 1 and the mobile terminal device 8 via the wireless communication network N.
  • the information providing device 9 includes a server control unit 90, a server storage unit 91, and a communication unit 92.
  • the server control unit 90 is configured by using an arithmetic processing unit such as a CPU or an MPU, and performs various arithmetic processing by reading and executing a server computer program or the like stored in the server storage unit 91. Specifically, the server control unit 90 receives the first position information, the second position information, the communication information, the terminal position information, etc. wirelessly transmitted from the plurality of vehicles C and the mobile terminal device 8, and the server storage unit 91. Execute the process to be stored in. That is, the server control unit 90 executes a process of collecting information for identifying the position of the moving body in the parking lot A. Further, the server control unit 90 executes a process of distributing the map information of the parking lot A to the vehicle C and further transmitting various information for identifying the positions of the vehicle C and the pedestrian P in the parking lot A.
  • an arithmetic processing unit such as a CPU or an MPU
  • the server storage unit 91 includes a volatile memory element such as a RAM and a non-volatile storage device such as a hard disk.
  • the server storage unit 91 stores a computer program for a server and various other data necessary for the operation of the server control unit 90. Further, the server storage unit 91 stores the first position information, the second position information, the communication information, and the terminal position information collected from the plurality of vehicles C. Further, the server storage unit 91 stores the map information of the parking lot A.
  • the map information includes the position of parking lot A, the position of individual parking spaces where vehicle C can be parked, the position where moving objects such as vehicle C and pedestrian P can move, the position where they cannot move, and the entrance / exit of parking lot A. It is information showing the position of.
  • the map information may be information on a two-dimensional map or information on a three-dimensional map.
  • the map information may be created based on SLAM (Simultaneous Localization and Mapping) technology, may be created manually, or may be created by a combination of SLAM technology and manual. It may be.
  • SLAM Simultaneous Localization and Mapping
  • the communication unit 92 includes a reception unit 92a and a transmission unit 92b.
  • the receiving unit 92a receives the information wirelessly transmitted from the vehicle-mounted relay device 1 mounted on the plurality of vehicles C via the first vehicle-mounted communication device 21. Specifically, the receiving unit 92a receives the first position information, the second position information, the communication information, and the terminal position information. In addition, the receiving unit 92a receives the terminal position information transmitted from the mobile terminal device 8.
  • the transmission unit 92b wirelessly transmits information to a plurality of vehicle-mounted relay devices 1 via the wireless communication network N. Specifically, the transmission unit 92b receives the map information and the first position information, the second position information, and the communication information collected from the plurality of vehicles C and the mobile terminal device 8 under the control of the server control unit 90. Send terminal location information.
  • FIG. 5 is a schematic diagram showing an example of the usage state of the vehicle communication system
  • FIG. 6 is a flowchart showing the procedure of the position identification processing of the moving body.
  • the process executed by the vehicle-mounted relay device 1 in the situation where the vehicle C equipped with the vehicle-mounted relay device 1 according to the first embodiment moves in the parking lot A as shown in FIG. 5 will be described.
  • the parking lot A there are a plurality of moving objects such as vehicles C and pedestrians P.
  • At least a plurality of vehicles C are equipped with the vehicle-mounted relay device 1 according to the first embodiment.
  • Some pedestrians P have a mobile terminal device 8.
  • the control unit 10 of the vehicle-mounted relay device 1 acquires the first position information (GNSS position information) from the navigation ECU 30 (step S11).
  • the first position information is information indicating the position of the vehicle C on which the in-vehicle relay device 1 which is its own device is mounted.
  • the control unit 10 acquires the second position information (sensor position information) from the recognition ECU 40 (step S12).
  • the second position information is information indicating the position of a moving body existing around the vehicle C detected by using the sensors.
  • the control unit 10 acquires communication information (CAN communication information) from the drive ECU 50 (step S13).
  • the communication information is information flowing through the communication line 5a, for example, the CAN communication line.
  • the control unit 10 acquires the first position information, the second position information, and the communication information from the vehicle-mounted relay device 1 of another vehicle C by vehicle-to-vehicle communication (V2V communication) (step S14).
  • V2V communication vehicle-to-vehicle communication
  • the three or more in-vehicle relay devices 1 in the parking lot A may be configured to relay information by vehicle-to-vehicle communication and share the first position information, the second position information, and the communication information. ..
  • the vehicle-mounted relay device 1 performs vehicle-to-vehicle communication with the first vehicle-mounted relay device 1 which is the first other vehicle C in the process of step S14.
  • the first vehicle-mounted relay device 1 performs vehicle-to-vehicle communication with the second vehicle-mounted relay device 1 mounted on the second other vehicle C, thereby providing the first position information and the second position information from the second vehicle-mounted relay device 1. You may have acquired location information and communication information. In this case, by the process of step S14, the vehicle-mounted relay device 1 performs inter-vehicle communication with the first vehicle-mounted relay device 1 so that not only the first other vehicle C but also the second other vehicle C can be seconded. 1 position information, 2nd position information and communication information can be acquired.
  • the control unit 10 acquires the terminal position information by wireless communication (V2P communication) with the mobile terminal device 8 possessed by the pedestrian P (step S15).
  • the terminal position information is information indicating the position of the pedestrian P detected by the mobile terminal device 8.
  • the control unit 10 transmits real-time position information including the information acquired in the processes of steps S11 to S15 to the information providing device 9 by the first vehicle-mounted communication device 21 (step S16).
  • the information providing device 9 receives the real-time position information transmitted from the vehicle-mounted relay device 1 by the receiving unit 92a (step S17). Further, the information providing device 9 receives the terminal position information directly transmitted from the mobile terminal device 8 by the receiving unit 92a (step S18). The information providing device 9 stores the received real-time position information and the terminal position information transmitted from the mobile terminal device 8 in the server storage unit 91 (step S19).
  • the server control unit 90 of the information providing device 9 transmits the real-time position information collected from the plurality of vehicles C and the mobile terminal device 8 and the map information of the parking lot A to the vehicle-mounted relay device 1 by the transmission unit 92b (the transmission unit 92b). Step S20).
  • the real-time position information transmitted from the information providing device 9 includes not only the real-time position information collected from the in-vehicle relay device 1 but also the terminal position information directly transmitted from the mobile terminal device 8. Needless to say, in a situation where the terminal position information cannot be obtained from the mobile terminal device 8, the real-time position information collected from the in-vehicle relay device 1 is distributed.
  • the real-time position information transmitted by the information providing device 9 includes the first position information, the second position information, the communication information, and the terminal position information detected within the latest predetermined time. Even if the information providing device 9 also transmits the first position information, the second position information, the communication information, and the terminal position information detected at a time in the past before the predetermined time to the in-vehicle relay device 1. good.
  • the transmission timing of map information and real-time position information is not particularly limited, and the server control device may transmit the information at any timing.
  • the server control device may transmit map information and real-time position information in response to a request from the in-vehicle relay device 1, or may spontaneously transmit the map information.
  • the server control device may simultaneously transmit map information and real-time position information, or may transmit each separately.
  • the control unit 10 of the vehicle-mounted relay device 1 receives the real-time position information and the map information transmitted from the information providing device 9 at the first vehicle-mounted communication device 21 (step S21).
  • the control unit 10 Based on the received real-time position information and the first position information, the second position information, the terminal position information, etc. acquired by the vehicle-mounted relay device 1 which is the own device, the control unit 10 causes the vehicle-mounted relay device 1 which is the own device.
  • the position (coordinate value) of the moving body existing around the mounted vehicle C is logically calculated (step S22).
  • the meaning of the logical sum calculation is as follows.
  • the peripheral recognition device 4 of the vehicle C on which the vehicle-mounted relay device 1 which is the own device is mounted may not detect the moving body, and the peripheral recognition device 4 of another vehicle C may be able to detect the moving body.
  • the coordinate value of another vehicle C that could not be detected by the peripheral recognition device 4 of the vehicle C on which the in-vehicle relay device 1 which is its own device is mounted is obtained by the position detection device 3 of the vehicle C. It may be obtained from one position information.
  • the plurality of first position information and the second position information complementarily have the coordinate values of the moving body existing in the parking lot A.
  • the control unit 10 of the vehicle-mounted relay device 1 has a plurality of coordinate values of the moving body indicated by the received real-time position information, and the first position information, the second position information, and the terminal acquired by the vehicle-mounted relay device 1 which is its own device. By logically integrating the coordinate values indicated by the position information and the like, the coordinate values of the moving body in the parking lot A can be recognized without omission.
  • a peripheral recognition device 4 of a plurality of vehicles C, or the like a plurality of coordinate values indicating the positions of the one moving body can be obtained.
  • the control unit 10 recognizes, for example, a plurality of coordinate values within a predetermined distance from each other as information indicating the position of the same moving body.
  • the control unit 10 does not discard some of the coordinate values, but instead, the coordinate values of the vehicle C (own vehicle C) indicated by the first position information acquired by the in-vehicle relay device 1 which is its own device and the second position information are displayed.
  • control unit 10 may calculate the position of the moving body by preferentially using the first position information as compared with the second position information.
  • the control unit 10 preferentially uses the first position information and the second position information acquired by the in-vehicle relay device 1 which is its own device to determine the position of the moving body rather than the real-time position information from the received information providing device 9. It is good to calculate.
  • the control unit 10 may preferentially use the first position information, the second position information, and the terminal position information having the latest time information to calculate the position of the moving body.
  • the control unit 10 preferentially uses the first position information or the second position information received by vehicle-to-vehicle communication over the first position information or the second position information received from the information providing device 9 to determine the position of the moving body.
  • the control unit 10 may calculate the position of the moving body by preferentially using the terminal position information directly acquired from the mobile terminal device 8 rather than the terminal position information received from the information providing device 9.
  • the control unit 10 may calculate the position of the moving body by preferentially using the second position information of the pedestrian P rather than the terminal position information indicating the position of the pedestrian P.
  • the method of giving priority to the coordinate values is not particularly limited.
  • the control unit 10 may calculate the position of the moving body based on the weighted average value of each coordinate value. Further, the position of the moving body may be calculated by using only the coordinate values having high priority.
  • control unit 10 may be configured to estimate the current position and speed of the moving body.
  • a Kalman filter may be used to estimate the current position and velocity of the moving object.
  • the position and speed of the moving body may be estimated in consideration of the control contents of the engine, the brake, and the steering device indicated by the communication information.
  • control unit 10 executes a warning process (step S23) based on the position information of the moving body obtained in the process of step S22, and ends the process.
  • FIG. 7 is a flowchart showing the procedure of warning processing.
  • the control unit 10 uses the map information to exclude the moving body outside the parking lot A from the warning target (step S51). Specifically, the control unit 10 discards the position information outside the parking lot A among the position information of the moving body calculated in step S22.
  • the control unit 10 uses the map information to exclude a moving object at a position where the vehicle C cannot move from the warning target (step S52). Specifically, the control unit 10 discards the position coordinates corresponding to the positions where the vehicle C cannot move, which is indicated by the map information, among the position information of the moving body calculated in step S22.
  • the control unit 10 estimates the traveling route based on the map information, the acquired communication information, the first position information, and the like (step S53). Then, the control unit 10 excludes a moving body that is not on the traveling path from the warning target (step S54). Specifically, the control unit 10 discards the position information of the moving body calculated in step S22 that is not on the traveling path of the vehicle C.
  • the control unit 10 identifies a moving body that may collide based on the position information of the moving body that remains without being excluded from the processing of steps S51 to S54 and the first position information (step S55).
  • a process for warning the existence of a moving object that may collide is executed (step S56).
  • the control unit 10 may collide with the vehicle C when the vehicle C is on a travel path on which the vehicle C can move and there is a moving body within a predetermined distance from the position of the vehicle C indicated by the first position information.
  • Information indicating the existence of a moving body having a property is output to the driving support device 6.
  • control unit 10 when the control unit 10 can determine the type of the moving body, the control unit 10 may output information indicating the type of the moving body such as the vehicle C or the pedestrian P to the driving support device 6. Further, when the moving direction of the moving body can be estimated, the information indicating the moving direction of the moving body may be output to the driving support device 6.
  • the driving support device 6 acquires the information output from the control unit 10 via the input / output I / F15 and warns of the existence of a moving body that may collide with the vehicle C.
  • FIG. 8 is an explanatory diagram showing an example of warning the existence of the vehicle C in the back.
  • the vehicle-mounted relay device 1 of the vehicle C in “No. 5" of the parking lot A communicates with the vehicle-mounted relay device 1 of the vehicle C backing from “No. 1" via vehicle-to-vehicle communication (V2V) or an information providing device 9. Communication (V2N) is performed.
  • V2V vehicle-to-vehicle communication
  • V2N Communication
  • the vehicle-mounted relay device 1 of the vehicle C in “No. 5" specifies, for example, the position and the moving direction of the vehicle C backing from "No. 1".
  • the in-vehicle relay device 1 approaches the vehicle C and warns of the existence of the vehicle C that may collide with the vehicle C.
  • the driving support device 6 displays characters such as "The car is backing from No. 1! Attention! On the display device.
  • FIG. 9 is an explanatory diagram showing an example of warning the existence of the pedestrian P.
  • the peripheral recognition device 4 of the vehicle C in "No. 5" of the parking lot A is in a situation where the pedestrian P diagonally behind cannot be recognized, and the in-vehicle relay device 1 is the second position information indicating the position of the pedestrian P. Have not been acquired.
  • the mobile terminal device 8 possessed by the pedestrian P communicates with the information providing device 9, and the in-vehicle relay device 1 can acquire the terminal position information via the information providing device 9.
  • the vehicle-mounted relay device 1 of the vehicle C in "No. 5" warns, for example, the existence of a pedestrian P existing in the vicinity.
  • the driving support device 6 displays characters such as "There is a pedestrian P in the vicinity! Attention!” On the display device.
  • FIG. 10 is an explanatory diagram showing an example in which the pedestrian P is detected by using the camera 41 and the presence of the pedestrian P is warned.
  • the peripheral recognition device 4 of the vehicle C in "No. 5" of the parking lot A is in a situation where it cannot recognize the pedestrian P behind, and the in-vehicle relay device 1 provides the second position information indicating the position of the pedestrian P. I haven't got it.
  • the vehicle-mounted relay device 1 of the vehicle C in "No. 5" of the parking lot A communicates with the vehicle-mounted relay device 1 of the vehicle C in "No. 2" via vehicle-to-vehicle communication (V2V) or an information providing device 9. Communication (V2N) is performed.
  • V2V vehicle-to-vehicle communication
  • V2N communication
  • the vehicle-mounted relay device 1 of the vehicle C in “No. 5" acquires the second position information of the pedestrian P by inter-vehicle communication (V2V) or communication via the information providing device 9 (V2N). Can be done.
  • the vehicle-mounted relay device 1 of the vehicle C in "No. 5" warns, for example, the existence of a pedestrian P existing in the vicinity.
  • the driving support device 6 displays characters such as "There is a pedestrian P in the vicinity! Attention!” On the display device.
  • the vehicle-mounted device, the control method, and the computer program 11a configured in this way, among the vehicle-mounted relay devices 1 mounted on the plurality of vehicles C in the parking lot A, By sharing the first position information and the second position information of the moving body, the pedestrian P and the vehicle C moving in the parking lot A can be effectively recognized.
  • the in-vehicle relay device 1 acquires the first position information, the second position information, and the communication information by vehicle-to-vehicle communication. Therefore, as compared with the case where the real-time position information is obtained from the information providing device 9, newer first position information, second position information and communication information can be acquired, and the moving body in the parking lot A can be acquired more accurately. The position can be calculated.
  • the in-vehicle relay device 1 can recognize the moving body existing in the parking lot A without omission by taking the logical sum of the positions of the moving bodies indicated by the real-time position information obtained from the plurality of vehicles C.
  • the in-vehicle relay device 1 calculates the position of one moving body based on a plurality of first position information, second position information, or terminal position information. Therefore, the in-vehicle relay device 1 can calculate a more probable position of the moving body.
  • the in-vehicle relay device 1 preferentially calculates the position of the moving body by using the first position information (GNSS position information) having higher position detection accuracy than the second position information (sensor position information). Therefore, the in-vehicle relay device 1 can more accurately calculate the position of the moving body in the parking lot A.
  • GNSS position information GNSS position information
  • sensor position information sensor position information
  • the first position information and the second position information obtained from the vehicle C on which the in-vehicle relay device 1 which is the own device is mounted are more reliable than the real-time position information obtained from the other vehicle C, and therefore are in-vehicle.
  • the relay device 1 preferentially uses the former information to calculate the position of the moving body. Therefore, the in-vehicle relay device 1 can more accurately calculate the position of the moving body in the parking lot A.
  • the in-vehicle relay device 1 calculates the position of the moving body using the newer first position information, second position information, and terminal position information. Therefore, the in-vehicle relay device 1 can more accurately calculate the position of the moving body in the parking lot A.
  • the vehicle-mounted relay device 1 When the in-vehicle relay device 1 has the first position information and the second position information received by the vehicle-to-vehicle communication and the first position information and the second position information received from the information providing device 9, the vehicle-mounted relay device 1 is used in the vehicle-to-vehicle communication.
  • the position of the moving body is calculated by preferentially using the received first position information and the second position information.
  • the first position information and the second position information obtained by vehicle-to-vehicle communication are newer. Therefore, the position of the moving body in the parking lot A can be calculated more accurately.
  • the in-vehicle relay device 1 more accurately identifies a moving body that may collide with the vehicle C by adding communication information indicating the driving state of the vehicle C in addition to the first position information and the second position information. can do. By using the communication information, the moving speed and the moving direction of the vehicle C can be grasped more accurately, and the position of the moving body can be estimated accurately.
  • the in-vehicle relay device 1 identifies the pedestrian P using the terminal position information, the position of the pedestrian P that was not detected by the peripheral recognition device 4 can be specified. Therefore, the vehicle-mounted relay device 1 can more reliably identify the pedestrian P that may collide with the vehicle C on which the vehicle-mounted relay device 1 is mounted.
  • the in-vehicle relay device 1 identifies the position of the pedestrian P, which is a moving body, by using the terminal position information received by wireless communication with the mobile terminal device 8.
  • the terminal position information directly received from the mobile terminal device 8 is newer than the terminal position information acquired via the information providing device 9. Therefore, the pedestrian P, which is a moving body that may collide with the vehicle C, can be identified more accurately.
  • the in-vehicle relay device 1 can more accurately identify the moving body that may collide with the vehicle C.
  • the in-vehicle relay device 1 can more accurately identify a moving body that may collide with the vehicle C by excluding the moving body in a position where the vehicle C cannot move.
  • the vehicle-mounted relay device 1 can more accurately identify a moving body that may collide with the vehicle C by specifying a moving body existing in the moving path of the vehicle C.
  • driving support such as parking support is provided by using the coordinate values of the specified moving body. You may go. Further, the coordinate values of the moving body in the specified parking lot A may be used for automatic driving.
  • the information providing device 9 identifies the vehicle C that may collide with the pedestrian P in the parking lot A, and provides information that warns of the existence of the vehicle C that may collide with the mobile terminal device 8. Since the point of transmission to is different from that of the first embodiment, the above difference will be mainly described below. Since other configurations and actions and effects are the same as those in the embodiment, the corresponding parts are designated by the same reference numerals and detailed description thereof will be omitted.
  • FIG. 11 is a flowchart showing a processing procedure for transmitting warning information to the mobile terminal device 8 of the pedestrian P.
  • the server control unit 90 of the information providing device 9 collects and stores real-time position information transmitted from the plurality of vehicle-mounted relay devices 1 and the mobile terminal device 8.
  • the server control unit 90 calculates the position of the vehicle C based on the first position information, the second position information, and the like stored in the server storage unit 91 (step S211).
  • the method of calculating the position of the vehicle C is the same as the process of step S22.
  • the server control unit 90 uses the map information to exclude the vehicle C outside the parking lot A from the warning target (step S212). Specifically, the server control unit 90 discards the coordinate values outside the parking lot A among the coordinate values of the vehicle C calculated in step S211.
  • the server control unit 90 estimates the traveling route of the vehicle C based on the map information, the first position information obtained from the vehicle-mounted relay device 1, the communication information, and the like (step S213).
  • the server control unit 90 identifies the vehicle C that may collide with the pedestrian P (step S214), and the pedestrian P possesses information for warning the existence of the vehicle C that may collide. Transmission to the mobile terminal device 8 (step S215).
  • the mobile terminal device 8 receives the information, outputs a voice for warning the existence of the colliding vehicle C, and displays an image. Since it takes a certain amount of time for the information related to the warning to be transmitted to the mobile terminal device 8 and the warning to be issued, it is preferable to estimate the position of the vehicle C at a predetermined time ahead of the present time and perform the warning processing.
  • FIG. 12 is an explanatory diagram showing an example of warning the pedestrian P of the presence of the vehicle C in the back.
  • the vehicle-mounted relay device 1 of the vehicle C in the "No. 1" of the parking lot A and the mobile terminal device 8 possessed by the pedestrian P communicate with the information providing device 9.
  • the in-vehicle relay device 1 transmits the first position information and the second position information to the information providing device 9, and the mobile terminal device 8 transmits the terminal position information to the information providing device 9.
  • the information providing device 9 identifies the vehicle C that may collide with the pedestrian P based on the real-time position information received from the in-vehicle relay device 1 and the mobile terminal device 8.
  • the vehicle C backing from "No. 1" in the parking lot A is identified as the vehicle C that may collide with the pedestrian P, and the warning information is transmitted to the mobile terminal device 8. Will be done.
  • the mobile terminal device 8 displays characters such as "The car is backing from No. 1! Attention!.
  • the information providing device 9 identifies the vehicle C that may collide with the pedestrian P.
  • Warning information can be transmitted to the mobile terminal device 8 possessed by the pedestrian P.
  • FIG. 13 is a flowchart showing a distribution procedure of map information and real-time information.
  • the control unit 10 of the vehicle-mounted relay device 1 transmits the map request information including the first position information and requests the map information to the information providing device 9 by the first vehicle-mounted communication device 21 (step S311).
  • the information providing device 9 receives the map request information transmitted from the in-vehicle relay device 1, and the server control unit 90 selects the map information of the parking lot A within the first predetermined distance from the requesting vehicle C (() Step S312).
  • the server control unit 90 can recognize the position of the requesting vehicle C based on the first position information included in the map request information.
  • the server storage unit 91 stores map information of a plurality of parking lots.
  • the server control unit 90 calculates the distance between the recognized position of the vehicle C and the position of the parking lot A, and selects map information in which the calculated distance is within the first predetermined distance.
  • the server control unit 90 transmits the selected map information to the in-vehicle relay device 1 of the map request source (step S313).
  • the control unit 10 of the vehicle-mounted relay device 1 receives the map information transmitted from the information providing device 9 (step S314).
  • the control unit 10 acquires the first position information (GNSS position information) from the navigation ECU 30 (step S315). Further, the control unit 10 acquires communication information (CAN communication information) from the drive ECU 50 (step S316). Then, the control unit 10 determines whether or not the vehicle C is within the second predetermined distance shorter than the first predetermined distance and may enter the parking lot A (step S317). For example, the control unit 10 determines that the vehicle C enters the parking lot A when the steering is performed to move toward the entrance of the parking lot A and the vehicle decelerates before the position entrance of the parking lot A.
  • step S317: NO the control unit 10 returns the process to step S315 and continues to monitor the approaching state of the vehicle C to the parking lot A.
  • step S317: YES the control unit 10 sends the real-time information request information requesting the provision of real-time information of the moving body in the parking lot A to the first in-vehicle communication device. It is transmitted to the information providing device 9 at 21 (step S318).
  • the server control unit 90 When the information providing device 9 receives the real-time information request information from the vehicle-mounted relay device 1, the server control unit 90 starts providing the real-time information to the requesting vehicle-mounted relay device 1 (step S319). After that, the server control unit 90 periodically transmits real-time information.
  • the control unit 10 of the vehicle-mounted relay device 1 that has transmitted the real-time information request information calculates the position of the moving body in the parking lot A in the same manner as in the first embodiment, and warns of the existence of the moving body that may collide. (Step S320).
  • the control unit 10 determines whether or not the vehicle C equipped with the in-vehicle relay device 1 which is its own device has gone out of the parking lot A based on the first position information (step S321). When it is determined that the vehicle C is not outside the parking lot A (step S321: NO), the position detection of the moving body in the parking lot A and the warning process are continuously executed. When it is determined that the vehicle C has gone out of the parking lot A (step S321: YES), the control unit 10 transmits the stop request information requesting the stop of providing the real-time information to the information providing device 9 by the first in-vehicle communication device 21. (Step S322).
  • the server control unit 90 stops providing the real-time information to the requesting vehicle-mounted relay device 1 (step S323).
  • FIG. 14 is an explanatory diagram showing a method of distributing map information and real-time information.
  • the solid rounded quadrangle indicates the parking lot A.
  • the broken rounded quadrangle indicates the range within the first predetermined distance from the parking lot A.
  • the vehicle communication system when the vehicle-mounted relay device 1 of the vehicle C traveling at a position within the first predetermined distance from the parking lot A requests the map information from the information providing device 9, the map information Is delivered to the in-vehicle relay device 1. At this stage, the real-time position information of the moving object has not been delivered yet.
  • the in-vehicle relay device 1 receives the real-time position information of the mobile body delivered from the information providing device 9, and executes a process of warning the existence of the moving body that may collide.
  • the in-vehicle relay device 1 requests the information providing device 9 to stop the distribution of the real-time position information, and discards the map information.
  • the vehicle communication system, the vehicle-mounted device, the control method, and the computer program 11a according to the third embodiment configured in this way it is possible to prevent the map information and the real-time position information from being unnecessarily distributed to the vehicle-mounted relay device 1. Can be done. Therefore, it is possible to prevent the storage unit 11, the communication traffic, and the like of the vehicle-mounted relay device 1 from being oppressed.
  • In-vehicle relay device In-vehicle wireless communication device 3 Position detection device 3a Communication line 4 Peripheral recognition device 4a Communication line 5 Drive control device 5a Communication line 6 Operation support device 8 Mobile terminal device 9 Information provision device 10 Control unit 10a Acquisition unit 10b Transmission Processing unit 10c Reception processing unit 10d Specific unit 11 Storage unit 11a Computer program 12 1st in-vehicle communication unit 13 2nd in-vehicle communication unit 14 3rd in-vehicle communication unit 15 Input / output I / F 21 1st in-vehicle communication device 22 2nd in-vehicle communication device 23 3rd in-vehicle communication device 30 Navigation ECU 31 GNSS receiver 40 recognition ECU 41 Camera 42 Ultrasonic Sonar 43 Millimeter Wave Radar 44 LiDAR 50 drive ECU 51 Actuator 52 Drive system sensor 90 Server control unit 91 Server storage unit 92 Communication unit 92a Reception unit 92b Transmission unit A Parking lot C Vehicle P Pedestrian N Wireless communication network

Abstract

Selon la présente invention, un dispositif embarqué est connecté à un dispositif de fourniture d'informations par l'intermédiaire d'un réseau de communication sans fil. Le dispositif embarqué acquiert : des premières informations de position indiquant la position d'un véhicule sur lequel le dispositif embarqué est monté, les premières informations de position étant détectées à l'aide d'un dispositif de détection de position monté sur le véhicule; et des secondes informations de position indiquant la position d'un corps mobile dans l'environnement du véhicule, les secondes informations de position étant détectées à l'aide d'un dispositif de reconnaissance d'environnement. Le dispositif embarqué transmet les premières et secondes informations de position acquises au dispositif de fourniture d'informations. Le dispositif embarqué reçoit : des premières et secondes informations de position qui sont collectées par un autre dispositif embarqué monté sur un autre véhicule, et qui sont fournies par le dispositif de fourniture d'informations; et des informations de carte d'une région prescrite dans laquelle une position vers laquelle le corps mobile peut se déplacer est représentée. Le dispositif embarqué spécifie, sur la base des premières et secondes informations de position acquises et des premières et secondes informations de position reçues et des informations de carte, un corps mobile qui peut éventuellement entrer en collision avec le véhicule sur lequel le dispositif embarqué est monté.
PCT/JP2020/019219 2019-05-31 2020-05-14 Système de communication de véhicule, dispositif embarqué, procédé de commande et programme informatique WO2020241273A1 (fr)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001212782A (ja) * 2000-01-31 2001-08-07 Sony Corp ロボット装置及びロボット装置の制御方法
JP2015219803A (ja) * 2014-05-20 2015-12-07 株式会社デンソー 運転支援表示装置
JP2016222143A (ja) * 2015-06-01 2016-12-28 株式会社デンソー 自動運転制御装置
WO2019069524A1 (fr) * 2017-10-02 2019-04-11 ソニー株式会社 Appareil de mise à jour d'informations environnementales, procédé de mise à jour d'informations environnementales, et programme
JP2019079242A (ja) * 2017-10-24 2019-05-23 株式会社デンソー 走行支援装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001212782A (ja) * 2000-01-31 2001-08-07 Sony Corp ロボット装置及びロボット装置の制御方法
JP2015219803A (ja) * 2014-05-20 2015-12-07 株式会社デンソー 運転支援表示装置
JP2016222143A (ja) * 2015-06-01 2016-12-28 株式会社デンソー 自動運転制御装置
WO2019069524A1 (fr) * 2017-10-02 2019-04-11 ソニー株式会社 Appareil de mise à jour d'informations environnementales, procédé de mise à jour d'informations environnementales, et programme
JP2019079242A (ja) * 2017-10-24 2019-05-23 株式会社デンソー 走行支援装置

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