WO2022220194A1

WO2022220194A1 - Roadside device, vehicle merging assistance system, and vehicle merging assistance method

Info

Publication number: WO2022220194A1
Application number: PCT/JP2022/017343
Authority: WO
Inventors: 辰徳荒木; 順北門; 李佳森田
Original assignee: 京セラ株式会社
Priority date: 2021-04-16
Filing date: 2022-04-08
Publication date: 2022-10-20

Abstract

In a roadside device 200 which is provided with a communication unit 210, and which performs wireless communication with a vehicle 100 traveling along a main carriageway 310 or a merging lane 320 of a road 300, the communication unit 210 transmits a first message including specific information specific to the roadside device. Further, in response to reception of a second message including vehicle-mounted unit identification information of a vehicle-mounted unit 150 mounted in the vehicle 100, the communication unit 210 transmits a third message including the vehicle-mounted unit identification information, and control information relating to merging assistance for the vehicle 100 in which the vehicle-mounted unit 150 having the vehicle-mounted unit identification information is mounted.

Description

Roadside unit, vehicle merging support system, and vehicle merging support method

The present disclosure relates to a roadside unit, a vehicle merging support system, and a vehicle merging support method.

In recent years, intelligent transport systems (ITS) have attracted attention as a technology that can avoid the danger of traffic accidents. As one such system, Non-Patent Document 1 discloses a roadside unit, which is a base station installed on the roadside, and a vehicle-mounted device, which is a mobile station mounted on a vehicle. describes a system for performing road-to-vehicle communication.

Further, in Patent Document 1, when a vehicle traveling in an acceleration lane on an expressway joins a main line, the merging position is determined based on the situation of the main line photographed by a rear camera or the like and the situation of the own vehicle specified by GPS. A technique for identifying and displaying a display image representing the identified merging position by superimposing it on a door mirror is described.

JP 2008-222153 A

A roadside unit according to the first aspect is a roadside unit that includes a communication unit and performs wireless communication with a vehicle traveling on a main road or a merging lane. The communication unit transmits a first message including unique information unique to the roadside unit. Further, the communication unit, in response to receiving the second message including the vehicle-mounted device identification information of the vehicle-mounted device installed in the vehicle, the vehicle-mounted device identification information and the vehicle-mounted device having the vehicle-mounted device identification information. and a third message containing control information related to merging support for.

The vehicle merging support system according to the second aspect includes the roadside unit according to the first aspect.

A vehicle merging support method according to the third aspect is a vehicle merging support method executed by a roadside unit that has a communication unit and performs wireless communication with a vehicle traveling on a main road or a merging lane. The vehicle merging support method includes transmitting a first message including specific information specific to the roadside unit by the communication unit. Further, in the vehicle merging support method, in response to the communication unit receiving the second message including the vehicle-mounted device identification information of the vehicle-mounted device mounted in the vehicle, the vehicle-mounted device identification information and the vehicle-mounted device identification information. and transmission of a third message containing control information relating to merging support for a vehicle equipped with the vehicle-mounted device.

A roadside unit according to the fourth aspect is a roadside unit that includes a communication unit and a control unit, and performs wireless communication with a vehicle traveling on a main road or a merging lane. The communication unit transmits a first message including unique information unique to the roadside unit. Further, the communication unit receives a second message including vehicle-mounted device identification information of a vehicle-mounted device mounted on the vehicle and appearance information regarding the appearance of the vehicle. Further, in response to reception of the second message by the communication unit, the control unit uses the appearance information to compare the sensing information of the roadside unit with the second message.

A vehicle merging support system according to the fifth aspect includes the roadside unit according to the fourth aspect.

A vehicle merging support method according to a sixth aspect includes a communication unit and a control unit, and is performed by a roadside unit that performs wireless communication with a vehicle traveling on a main road or a merging lane. The method. The vehicle merging support method includes the communication unit transmitting a first message including unique information unique to the roadside unit. Further, the vehicle merging support method includes receiving, by the communication unit, a second message including vehicle-mounted device identification information of a vehicle-mounted device mounted on the vehicle and appearance information regarding the appearance of the vehicle. Further, in the vehicle merging support method, the control unit compares the sensing information of the roadside unit with the second message using the appearance information in response to the reception of the second message by the communication unit. including.

FIG. 1 is a diagram showing a configuration example of a vehicle merging support system according to first and second embodiments. FIG. 2 is a diagram showing a configuration example of a vehicle according to the first and second embodiments. FIG. 3 is a diagram showing a configuration example of the roadside unit according to the first and second embodiments. FIGS. 4A and 4B are diagrams showing examples of first and second messages according to the first embodiment. FIG. 5 is a diagram showing an example of the third message according to the first and second embodiments. FIG. 6 is a diagram showing an operation example of the vehicle merging support system according to the first embodiment. FIG. 7 is a diagram showing an example of a message according to the first embodiment. FIGS. 8A and 8B are diagrams showing examples of first and second messages according to the second embodiment. FIG. 9 is a diagram showing an operation example of the vehicle merging support system according to the second embodiment.

With the technology that superimposes the merging position on the door mirrors, the display image showing the merging position can be displayed only after the vehicle has grasped the state of the main line. When the vehicle is traveling in a merging lane in which the situation of the main line cannot be grasped, the technique cannot grasp the situation of the main line and cannot superimpose the display image representing the merging position on the door mirror. Therefore, such technology may not be able to provide appropriate merging support.

Therefore, the embodiments aim to provide a roadside unit, a vehicle merging support system, and a vehicle merging support method capable of performing appropriate merging support for vehicles.

A first embodiment will be described with reference to the drawings. In the description of the drawings, the same or similar parts are denoted by the same or similar reference numerals.
[First embodiment]

(Configuration example of vehicle merging support system)
FIG. 1 is a diagram showing a configuration example of a vehicle merging support system 1 according to the first embodiment. The vehicle merging support system 1 has a vehicle 100 and a roadside device 200 .

The vehicle 100 may be an automobile such as a motorcycle, a tricycle, or a four-wheeled vehicle. Vehicle 100 may also be an emergency vehicle such as an ambulance. Also, the vehicle 100 may be a specific vehicle such as a bus. Furthermore, the vehicle 100 may be wholly or partially an autonomous vehicle. The vehicle 100 performs wireless communication (road-to-vehicle communication) with the roadside device 200 .

FIG. 1 shows an example in which a vehicle 100A is running in a merging lane 320 of an expressway 300, and

vehicles

100B and 100C are running in a main line 310. Both the vehicle 100A traveling on the merging lane 320 and the

vehicles

100B and 100C traveling on the main line 310 can communicate with the roadside device 200 by radio.

The expressway 300 is a road whose main purpose is to achieve rapid traffic movement, and is a road on which automobiles can travel at high speed and safely. Expressway 300 may be referred to as a motorway. On the other hand, general roads refer to roads other than expressways.

The main line 310 is a roadway portion composed of lanes on which the vehicle normally travels on the expressway 300 . The main line 310 includes driving lanes and passing lanes. Main line 310 may be referred to as a main roadway.

The merging lane 320 is included in the highway 300. Merge lane 320 may be referred to as an acceleration lane. The merging lane 320 may be a road connecting the general road and the main line 310 of the expressway 300 . Also, the merging lane 320 may be a lane (or lane) used by the vehicle 100 using the expressway 300 . A point where the merging lane 320 and the main line 310 merge may be referred to as a merging point.

The roadside device 200 performs wireless communication (road-to-vehicle communication) with the vehicle 100 . The roadside device 200 may communicate with other roadside devices (roadside communication). The roadside unit 200 is installed near the junction of the expressway 300 . Moreover, in the example of FIG. 1, the roadside machine 200 is provided in the support|pillar. The roadside unit 200 may be provided on a signboard, road sign, utility pole, or the like.

The vehicle merging support system 1 performs road-to-vehicle communication by transmitting and receiving radio signals between the vehicle 100 and the roadside device 200 . For example, the roadside device 200 broadcasts a radio signal. Vehicle 100 also transmits radio signals, for example, by broadcasting. The vehicle 100 and the roadside device 200 perform road-to-vehicle communication by receiving radio signals transmitted by broadcast.

The vehicle merging support system 1 performs road-to-vehicle communication between the roadside unit 200 and the vehicle 100 traveling on the main line 310 or the merging lane 320 of the highway 300, as shown in FIG. In the vehicle merging support system 1, merging support for the vehicle 100 is performed by performing road-to-vehicle communication when the vehicle 100 is traveling on both the main line 310 and the merging lane 320. FIG.

(Vehicle configuration example)
FIG. 2 is a diagram showing a configuration example of the vehicle 100 according to the first embodiment. As shown in FIG. 2 , vehicle 100 has communication unit 110 , storage unit 120 , control unit 130 , and vehicle sensor 140 .

The communication unit 110 includes a wireless communication module (or wireless communication function). The wireless communication module includes an antenna, converts (down-converts) a wireless signal received by the antenna into a baseband signal, and outputs the baseband signal to control section 130 . The wireless communication module converts (up-converts) the baseband signal output by the control unit 130 into a wireless signal and transmits the wireless signal from the antenna. The communication unit 110 can transmit and receive messages by transmitting and receiving radio signals. Details of the message will be described later.

The communication unit 110 transmits and receives radio signals using, for example, a radio communication system conforming to the 3GPP (Third Generation Partnership Project) standards. An example of such a wireless communication scheme is V2I (Vehicle-to-Infrastructure). Other than that, a wireless LAN (Local Area Network) system, ARIB T109, or a wireless communication system other than V2I based on 3GPP may be used.

The control unit 130 is composed of a control circuit such as a CPU (Central Processing Unit). Control unit 130 controls the entire vehicle 100 . Control unit 130 controls at least communication unit 110 . The control unit 130 may control the communication unit 110 to send and receive messages.

In addition, the control unit 130 reads the on-vehicle device ID (Identification: identification information) stored in the storage unit 120 in response to receiving a message (for example, a first message) received from the roadside device 200, and reads the read on-vehicle device ID. The communication unit 110 is controlled to generate a message (for example, a second message) including the device ID and transmit the generated message. Details of each message will be described later.

Further, after that, the control unit 130 can perform travel control according to the control information included in the message (for example, the third message, etc.) received from the roadside device 200 . The control information is, for example, information regarding merging support for the vehicle 100 .

The storage unit 120 includes at least one memory. The storage unit 120 stores a vehicle-mounted device ID that identifies the vehicle-mounted device 150 . The storage unit 120 also stores programs executed by the control unit 130 and information used for processing of the control unit 130 .

As shown in FIG. 2, the vehicle-mounted device 150 includes a communication unit 110, a control unit 130, and a storage unit 120. In this case, the control unit 130 may be divided into a functional part that controls the entire vehicle and a functional part as the vehicle-mounted device 150 . Also, the control unit 130 may be divided into two different control units. The example of FIG. 2 shows an example in which at least one control unit 130 has a function of controlling the entire vehicle and a function of the vehicle-mounted device 150 .

The vehicle sensor 140 may be a position information acquisition sensor that acquires position information of the vehicle 100 . Also, the vehicle sensor 140 may be a speed sensor that acquires the speed of the vehicle 100 . Furthermore, the vehicle sensor 140 may be a camera sensor that acquires the driving lane of the vehicle 100, the inter-vehicle distance, and the like. The vehicle sensor 140 shown in FIG. 2 may, for example, consist of a plurality of sensors in this manner. Vehicle sensor 140 may also be configured to acquire one or more pieces of vehicle information with one sensor. Vehicle sensor 140 outputs the acquired vehicle information to control unit 130 . Control unit 130 controls communication unit 110 to transmit a message (for example, a second message) including vehicle information. The communication unit 110 can transmit the message under the control of the control unit 130 . The vehicle information is, for example, information acquired by the vehicle sensor 140 .

(Configuration example of roadside unit)
FIG. 3 is a diagram showing a configuration example of the roadside unit 200 according to the first embodiment. As shown in FIG. 3 , the roadside device 200 has a communication section 210 , a roadside sensor 220 , a storage section 230 and a control section 240 .

The communication unit 210 includes a wireless communication module (or wireless communication function). The wireless communication module includes an antenna, converts (down-converts) a wireless signal received by the antenna into a baseband signal, and outputs the baseband signal to control section 240 . The wireless communication module converts (up-converts) the baseband signal output by the control unit 240 into a wireless signal and transmits the wireless signal from the antenna. The communication unit 210 can transmit and receive messages by transmitting and receiving radio signals. Note that the communication unit 210 transmits messages at intervals of 100 msec, for example. The communication unit 210 may transmit messages at other time intervals.

The communication unit 210 transmits and receives wireless signals using, for example, a wireless communication method conforming to the 3GPP (Third Generation Partnership Project) standards. As such a wireless communication system, for example, there is V2I (Vehicle-to-Infrastructure). Other than that, it may be a wireless LAN (Local Area Network) system, the above-mentioned ARIB T109, or a wireless communication system other than V2I that conforms to 3GPP.

The roadside sensor 220 is, for example, a camera sensor. The roadside sensor 220 is a sensor for acquiring sensor information. The roadside sensor 220 may be composed of multiple sensors. The roadside sensor 220 outputs the acquired sensor information to the control unit 240 . Here, the sensor information is, for example, information acquired by the roadside sensor 220 .

The storage unit 230 includes at least one memory. The storage unit 230 stores programs executed by the control unit 240 and information used for processing of the control unit 240 .

The control unit 240 controls at least the communication unit 210 and controls transmission and reception of messages to the communication unit 210 . For example, the control unit 240 generates a message, outputs the generated message to the communication unit 210, and controls the communication unit 210 to transmit the message. At this time, the control unit 240 controls the communication unit 210 to transmit two messages with different transmission timings. The first message sent is sometimes referred to as the "first message." The next message to send may be referred to as a "third message." After controlling communication unit 210 to transmit the first message, control unit 240 receives a message transmitted from vehicle 100 (sometimes referred to as a “second message”) and transmits a third message. The communication unit 210 is controlled to transmit the

That is, first, the roadside device 200 transmits the first message. Vehicle 100 then transmits a second message in response to receiving the first message. Finally, the roadside device 200 transmits a third message in response to receiving the second message.

(example of message)
FIG. 4A is a diagram showing an example of the first message.

As shown in FIG. 4(A), the first message includes information such as message ID, roadside device ID, and information update time.

A message ID represents identification information given to each message. For example, the controller 240 of the roadside device 200 gives it.

The unique information is unique information unique to the roadside device 200 . The unique information is the roadside device ID. Information other than the roadside device ID may be included as the unique information.

The roadside device ID is identification information given to each roadside device 200 . For example, the roadside device ID is stored in the storage unit 230 of the roadside device 200 and is information that can be read by the control unit 240 as appropriate.

The information update time represents the time when the message information was updated (or generated). For example, the control unit 240 acquires the information update time from the timer each time the information of the message is updated.

As described above, the messages transmitted by the roadside device 200 include the first and third messages. For example, the first message does not contain the vehicle-mounted device ID. On the other hand, the third message contains the vehicle-mounted device ID.

FIG. 4B is a diagram showing an example of the second message transmitted by vehicle 100. FIG.

As shown in FIG. 4(B), the second message includes each information of message ID, vehicle-mounted device ID, information update time, vehicle information, control flag, inter-vehicle distance, and target lane.

The message ID is identification information given to the message. For example, the control unit 130 of the vehicle 100 gives the message ID.

The vehicle-mounted device ID is identification information given to each vehicle-mounted device. The information update time represents the time when the message was updated (or generated). For example, the control unit 130 acquires the time when the message was updated from the timer.

The vehicle information is information related to the vehicle 100 acquired from the vehicle sensor 140 . The vehicle information includes vehicle position (latitude, longitude, altitude), driving lane, vehicle speed, and vehicle length. For example, the controller 130 can acquire vehicle information from the vehicle sensor 140 . Vehicle position may be referred to as position information.

The control flag indicates whether or not the vehicle 100 is subject to control by the roadside unit 200 . For example, the control unit 130 can set "1" when complying with the control of the roadside device 200 and "0" when not complying with the control of the roadside device 200. FIG. Thereby, the vehicle 100 can transmit the information as to whether or not the roadside device 200 is subject to control.

The inter-vehicle distance is the distance between own vehicle 100 and another vehicle traveling in front of own vehicle 100 . For example, the controller 130 can acquire the inter-vehicle distance from the vehicle sensor 140 . A target lane represents a lane that is a target for vehicle 100 to travel.

For example, the control unit 130 outputs the vehicle information acquired from the vehicle sensor 140 and the vehicle-mounted device ID read from the storage unit 230 to the communication unit 110 . Control unit 130 then controls communication unit 110 to transmit a message containing these pieces of information. As a result, the message (or second message) shown in FIG. 5 is transmitted from communication unit 110 (or vehicle 100).

FIG. 5 is a diagram showing an example of the third message.

As shown in FIG. 5, the third message is a message with control information added to the first message (FIG. 4(A)).

The control information includes a control flag, target inter-vehicle distance, and target lane. The control flag indicates whether or not the vehicle 100 is subject to control by the roadside device 200 . The target inter-vehicle distance represents the inter-vehicle distance to the preceding vehicle that the vehicle 100 should target. The target lane represents a lane (or lane) that the vehicle 100 should target. For example, the roadside unit 200 may use the third message to set the control flag of the target vehicle 100 to "1" and perform traffic control so that the target vehicle 100 travels in the target inter-vehicle distance and the target lane. It is possible.

(Example of operation of the first embodiment)
An operation example according to the first embodiment will be described.

There are two scenarios for operation examples: the first scenario and the second scenario. In the first scenario, the roadside device 200 compares the sensing information held inside the roadside device with the contents of the second message, and transmits the third message. On the other hand, in the second scenario, the roadside unit 200 transmits the third message without such verification. The two scenarios are described in turn below.

(First scenario of the first embodiment)
After transmitting the first message, the roadside device 200 receives the second message. The roadside device 200 may want to know which vehicle 100 sent the second message in response to the first message.

However, as shown in FIGS. 4(A) and 4(B), although the "message ID" is commonly included in the first message and the second message, the first message contains the "vehicle equipment ID ” is not included. The roadside device 200 recognizes the “vehicle device ID” only after receiving the second message. That is, the roadside device 200 cannot link the first message and the second message. Also, the sensing information held inside the roadside unit is not included in the first message. Therefore, the roadside device 200 cannot verify the second message.

Therefore, in the first scenario, the sensing information and the first 2 Compare with the contents of the message.

That is, the roadside device 200 holds sensing information acquired by the roadside sensor 220 in the storage unit 230 . The roadside device 200 collates the sensing information internally held in this manner with the content of the second message using the vehicle speed or the like included in the second message. For example, the control unit 240 compares the vehicle speed or the like included in the received second message with the sensing information read from the storage unit 230 . If the sensing information and the vehicle speed or the like match or are within a predetermined range, the control unit 240 determines that the sensing information and the content of the second message are matched (or matched).

On the other hand, if the sensing information and the vehicle speed do not match or are not within a predetermined range, the control unit 240 determines that the sensing information and the contents of the second message are not matched.

After that, the roadside device 200 may determine whether or not to transmit the third message based on the determination result. Also, the roadside device 200 may transmit the third message regardless of the determination result.

(Second scenario of the first embodiment)
Next, the second scenario will be explained.

In the first scenario, the sensing information held inside the roadside unit was compared with the content of the second message.

However, even if the vehicle speed or the like is used as a key, the first message and the second message do not necessarily correspond (or collate) correctly.

Therefore, in the second scenario, the roadside unit 200 does not perform verification. On the other hand, the roadside unit 200 only needs to be able to control the vehicle 100 . If the roadside device 200 specifies the vehicle 100 using the vehicle-mounted device ID, it is possible to control the vehicle 100 .

That is, in the second scenario, the roadside device 200 uses the vehicle-mounted device ID included in the received second message to transmit the third message including the vehicle-mounted device ID without performing verification. As a result, the roadside device 200 can transmit control information to the vehicle 100 having the vehicle-mounted device 150 having the vehicle-mounted device ID and perform traffic control for each vehicle 100 without performing verification. .

In the second scenario, the roadside device 200 does not perform verification. Therefore, the roadside device 200 does not use sensor information.

(Operation Example of Second Scenario of First Embodiment)
FIG. 6 is a diagram showing an operation example of the second scenario.

As shown in FIG. 6, the roadside unit 200 detects the vehicle 100 in step S20. For example, when the control unit 240 of the roadside unit 200 receives detection information from the roadside sensor 220 indicating that the vehicle A traveling in the merging lane 320 and the

vehicles

100B and 100C traveling in the main line 310 are detected, , the vehicle 100 is detected. When the roadside device 200 detects the vehicle 100, the roadside device 200 executes the following steps.

In step S21, the roadside device 200 broadcasts the first message. The first message includes unique information, for example, in the first message shown in FIG. 4(A). In the second scenario, the first message may be a message representing starting a joining support service.

Returning to FIG. 6, in step S22, the vehicle 100 transmits the second message in response to receiving the first message. The second message is, for example, the message shown in FIG. 4(B).

Returning to FIG. 6, in step S23, the roadside device 200 responds to the reception of the second message, without collating the sensing information held inside the roadside device 200 with the contents of the second message. Send a message by broadcast. The third message, as shown in FIG. 5, contains the "vehicle-mounted device ID" received in the second message, and also contains control information.

Thus, in the second scenario, unlike the first scenario, matching is not performed. Therefore, the roadside unit 200 can perform traffic control on the vehicle 100 more appropriately than in the first scenario. Therefore, the vehicle merging support system 1 can perform appropriate merging support.

(Modification of the second scenario of the first embodiment)
FIG. 7 is a diagram showing a modification of the second scenario. FIG. 7 shows an example in which a target speed is added as control information to the third message. The third message described in the second scenario contains the target inter-vehicle distance. For example, in FIG. 1, consider a case where vehicle 100B receives the third message and travels so that the inter-vehicle distance to vehicle 100C in front is the target inter-vehicle distance included in the third message. In such a case, when the forward vehicle 100C changes lanes, there is no object for the target inter-vehicle distance. Therefore, the target speed is added as one of the traffic control. Even if the preceding vehicle 100C changes lanes, the vehicle 100B can move to the merging point according to the target speed. Therefore, the vehicle merging support system 1 can perform appropriate merging support for the vehicle 100 .
[Second embodiment]

A second embodiment will be described with reference to the drawings. Regarding the second embodiment, differences from the first embodiment will be mainly described, and descriptions of similar or identical configurations will be omitted. The "configuration of the vehicle merging support system", the "configuration of the vehicle", the "configuration of the roadside unit", and the "third message" according to the second embodiment are the same as in the first embodiment. FIG. 8A representing the "first message" according to the second embodiment is the same as FIG. 4A representing the "first message" according to the first embodiment. The "second message" according to the second embodiment differs from the "second message" according to the first embodiment in that it further includes appearance information.

The appearance information shown in FIG. 8(B) is stored in the storage unit 120 of the vehicle 100, for example. The control unit 130 of the vehicle 100 reads the appearance information from the storage unit 120, acquires the vehicle information from the vehicle sensor 140, and controls the communication unit 110 to transmit the second message including the appearance information and the vehicle information. This enables communication unit 110 to transmit the second message (FIG. 8B) including the appearance information.

(Example of operation of the second embodiment)
An operation example according to the second embodiment will be described.

There are two scenarios for operation examples: the first scenario and the second scenario. In the first scenario, the roadside device 200 uses the vehicle speed or the like to perform a process of collating the sensing information held inside the roadside device with the second message. On the other hand, in the second scenario, the roadside unit 200 uses appearance information in addition to vehicle speed and the like to perform a process of collating the sensing information with the second message. The two scenarios are described in turn below. Note that the first scenario of the second embodiment is the same as the first scenario of the first embodiment, so the description is omitted.

(Second scenario of the second embodiment)
Next, the second scenario will be explained. In the second scenario, the second message contains appearance information (FIG. 8(B)).

In the first scenario, the vehicle speed, etc. included in the second message were used to compare the sensing information held inside the roadside unit with the contents of the second message.

However, even if the vehicle speed or the like is used, the sensing information and the contents of the second message do not necessarily correspond (or collate) correctly.

Therefore, in the second scenario, the roadside unit 200 performs verification using the appearance information of the vehicle 100 in addition to the vehicle speed and the like. The roadside unit 200 uses the vehicle speed and the like and the appearance information of the vehicle 100 to compare the sensing information with the content of the second message. Improves accuracy. Therefore, the roadside unit 200 can perform traffic control on the appropriate vehicle 100, and can perform appropriate merging support.

For example, the control unit 240 of the roadside device 200 performs verification as follows. That is, control unit 240 collates the vehicle speed and the like included in the second message with the sensing information read from storage unit 230 . When the vehicle speed or the like and the sensing information match or are within a predetermined range, the control unit 240 temporarily determines that the sensing information and the content of the second message match (or correspond).

Next, the control unit 240 acquires appearance information of the vehicle 100 from the roadside sensor 220 . The control unit 240 may acquire the appearance information when transmitting the first message. Also, the control unit 240 may acquire the appearance information when receiving the second message. Alternatively, the control unit 240 may acquire the information after transmitting the first message and before receiving the second message.

Then, the control unit 240 compares the appearance information (first appearance information) included in the second message with the appearance information (second appearance information) acquired from the roadside sensor 220 . When the appearance information included in the second message and the appearance information acquired from the roadside sensor 220 match or are within a predetermined range, the control unit 240 finally compares the sensing information with the second message. to decide. On the other hand, if the appearance information included in the second message and the appearance information acquired from the roadside sensor 220 do not match or are not within a predetermined range, the control unit 240 does not match the sensing information with the second message. make a final decision.

When the control unit 240 determines that the sensing information finally corresponds to the second message, it transmits the third message.

However, regarding appearance information, there is a certain amount of variation in terms of color and vehicle width. Therefore, even when the appearance information of the second message and the appearance information from the roadside sensor 220 are within a predetermined range, the control unit 240 determines that the sensing information and the second message correspond to each other. The control unit 240 may use part of the appearance information shown in FIG. 8B, instead of using all of the appearance information.

After that, the control unit 240 uses the vehicle-mounted device ID included in the second message determined to correspond to the sensing information, and transmits a third message including the vehicle-mounted device ID.

(Operation Example of Second Scenario of Second Embodiment)
FIG. 9 is a diagram showing an operation example of the second scenario.

As shown in FIG. 9, the roadside unit 200 detects the vehicle 100 in step S30. For example, when the control unit 240 of the roadside unit 200 receives detection information from the roadside sensor 220 indicating that the vehicle A traveling in the merging lane 320 and the

vehicles

In step S31, the roadside device 200 broadcasts the first message. The first message is, for example, the message shown in FIG. 4(A).

Returning to FIG. 9, in step S32, the vehicle 100 broadcasts the second message in response to the reception of the first message. For example, as shown in FIG. 8B, the second message includes appearance information.

Returning to FIG. 9, in step S33, the roadside device 200 compares the sensing information with the second message in response to receiving the second message. As described above, the roadside device 200 performs verification using vehicle speed and the like and appearance information.

In step S34, the roadside device 200 broadcasts the third message. The roadside device 200 transmits the third message (FIG. 5) using the vehicle-mounted device ID included in the second message determined to be matched with the sensing information as a result of the matching in step S33. Since the third message includes the vehicle-mounted device ID, even if the roadside device 200 broadcasts the third message, the vehicle 100 receives the third message that matches the vehicle-mounted device ID of the vehicle-mounted device 150. can do. Therefore, the roadside device 200 can deliver the third message to the vehicle-mounted device ID (or to the vehicle 100 having the vehicle-mounted device ID).

Then, the vehicle 100 can travel on the road (merging lane 320 or main line 310) according to the control information included in the third message.

[Other embodiments]
In the above-described embodiment, the roadside unit 200 that provides merging support at a merging point on the expressway 300 has been mainly described. For example, the roads shown in FIG. 1 may be roads other than expressways (for example, general roads) instead of expressways 300 . The roadside unit 200 described in the above embodiment may also be used when merging from the first road (for example, merging lane) to the second road (for example, main road).

Although the embodiments have been described in detail with reference to the drawings, the specific configuration is not limited to the above, and various design changes can be made without departing from the scope of the invention. In addition, the examples described above can be combined within a consistent range.

This application claims priority of Japanese Patent Application No. 2021-070035 (filed on April 16, 2021) and Japanese Patent Application No. 2021-070037 (filed on April 16, 2021), and All are incorporated herein.

1: vehicle merging support system 100 (100A, 100B, 100C): vehicle 110: communication unit 120: storage unit 130: control unit 140: vehicle sensor 200: roadside device 210: communication unit 220: roadside sensor 230: storage unit 240: Control unit 300: Expressway 310: Main line 320: Merging lane

Claims

Equipped with a communication unit,
Roadside units that perform wireless communication with vehicles traveling on the main road or merging lane,
The communication unit
transmitting a first message including unique information unique to the roadside unit;
In response to receiving a second message including the vehicle-mounted device identification information of the vehicle-mounted device installed in the vehicle, joining the vehicle equipped with the vehicle-mounted device having the vehicle-mounted device identification information and the vehicle-mounted device identification information. sending a third message containing control information about the assistance;
roadside machine.
The roadside unit according to claim 1, wherein the first message is a message indicating start of merging support service.
The roadside unit according to claim 1, wherein the control information includes a target inter-vehicle distance and a target lane.
The roadside unit according to claim 3, wherein the control information includes a target speed.
The roadside unit according to claim 1, wherein the vehicle is an autonomous vehicle.
A vehicle merging support system comprising the roadside unit according to any one of claims 1 to 5.
A vehicle merging support method executed by a roadside device having a communication unit and performing wireless communication with a vehicle traveling on a main road or a merging lane,
the communication unit transmitting a first message including unique information unique to the roadside unit;
In response to the communication unit receiving a second message including the vehicle-mounted device identification information of the vehicle-mounted device mounted in the vehicle, the vehicle-mounted device identification information and the vehicle-mounted device having the vehicle-mounted device identification information are mounted. and transmitting a third message that includes:
A roadside unit that includes a communication unit and a control unit and performs wireless communication with a vehicle traveling on a main road or a merging lane,
The communication unit
transmitting a first message including unique information unique to the roadside unit;
receiving a second message including vehicle-mounted device identification information of a vehicle-mounted device mounted on the vehicle and appearance information about the appearance of the vehicle;
The control unit uses the appearance information to compare sensing information of the roadside unit with the second message in response to reception of the second message by the communication unit.
roadside machine.
The roadside unit according to claim 8, wherein the appearance information includes the color, model, manufacturer information, and vehicle width of the vehicle.
9. The roadside according to claim 8, wherein said communication unit transmits a third message including said vehicle-mounted device identification information and control information regarding merging support for said vehicle equipped with said vehicle-mounted device having said vehicle-mounted device identification information. machine.
The roadside unit according to claim 10, wherein the control information includes a target inter-vehicle distance and a target lane.
The roadside unit according to claim 8, wherein the vehicle is an autonomous vehicle.
A vehicle merging support system comprising the roadside unit according to any one of claims 8 to 12.
A vehicle merging support method that includes a communication unit and a control unit and is executed by a roadside unit that performs wireless communication with a vehicle traveling on a main road or a merging lane,
the communication unit transmitting a first message including unique information unique to the roadside unit;
the communication unit receiving a second message including vehicle-mounted device identification information of a vehicle-mounted device mounted on the vehicle and appearance information relating to the appearance of the vehicle;
wherein the control unit compares sensing information of the roadside unit with the second message using the appearance information in response to reception of the second message by the communication unit. .