JP2001143197A - Roadside device, device and method for preventing collision of vehicles as they passing by and recording medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a roadside device, a device and a method for preventing collision of vehicles as they passing by which can notify in real time all vehicles traveling toward an intersection of the position and speed information on these vehicles, and a recording medium. SOLUTION: Each road is provided with a roadside device that detects the states of the vehicles which are traveling on the road, and a vehicle sensor detects the vehicles which are traveling in its own detection area. A data receiving part of the roadside device receives the data which are detected by other roadside devices. The data on the vehicles which are traveling in its own detection area and detected by the vehicle sensor and the data which are detected by other roadside devices and received by the data receiving part are transmitted to an on-vehicle device. Meanwhile, the data on the vehicles which are traveling in its own detection area and detected by the vehicle sensor are transmitted to other roadside devices.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for preventing a collision of a meeting head at an intersection, and more particularly, to an intersection without a traffic light or an intersection with poor visibility.
The present invention relates to a method of displaying the status of a vehicle existing on an approach road at an intersection on an in-vehicle device in real time and, when there is a danger of collision, issuing an alarm notification to prevent a collision at a head of encounter.

[0002]

2. Description of the Related Art Conventionally, at intersections where there is no traffic light or at intersections where visibility is poor, the driver himself / herself visually checks the timing of entering the intersection to prevent a collision between heads.

[0003] Japanese Patent Application Laid-Open No. 5-28400 discloses that
A “vehicle head-on collision prevention display device” in which a vehicle detector is installed on a priority road and a warning display plate is installed on a non-priority road is disclosed. In other words, the vehicle sensor detects a vehicle traveling on the priority road toward the intersection, and displays the detected information on the warning display board to warn the vehicle entering the intersection from the non-priority road. are doing.

Further, Japanese Patent Application Laid-Open No. H11-175896 discloses that a position where transmission and reception can be performed toward all approach roads of an intersection is described.
A storage device storing an intersection collision prevention method and system, an intersection collision prevention program, and an intersection in which one roadside device is installed and the roadside device collects and centrally manages information on all vehicles entering the intersection. apparatus"
Is disclosed. In other words, the one on-road device determines entry permission or entry non-permission, and notifies all vehicles attempting to enter the intersection of entry permission or entry non-permission, respectively, thereby stopping or driving the driver. Provides a display that calls attention.

[0005]

[Problem to be Solved by the Invention] (Problem 1) However, at an intersection where there is an obstacle such as a building or a tree at the corner of the approach road to the intersection, where the visibility is poor, before entering the intersection, However, there is a problem in that the range of roads that the driver can see is limited, and the visibility of vehicles entering the intersection is delayed, which may cause a collision accident.

(Problem 2) Further, in a device that installs a warning display board on a non-priority road and notifies a vehicle of a warning, the vehicle traveling on the non-priority road may have a vehicle entering an intersection from the priority road. On the contrary, a vehicle traveling on a priority road cannot know the existence of a vehicle trying to enter an intersection from a non-priority road. Therefore, a vehicle traveling on a priority road may have a delay in recognizing entry of a vehicle from a non-priority road and perform sudden braking. There is a problem that there is a possibility of collision with a vehicle that has entered from behind.

(Problem 3) In the method of notifying entry permission and entry non-permission information from a road device to all vehicles that are going to enter an intersection, the speed at which another vehicle enters the intersection is determined. I do not know how far it is coming from, and how far from the intersection it is traveling, how fast and at what timing should my vehicle enter the intersection There is a problem that it is difficult to determine whether or not. Furthermore, when several vehicles continuously enter the intersection, there is a problem that it is difficult to grasp the status of the following vehicle.

(Problem 4) Furthermore, in the method of centrally managing vehicles on all approach roads of one intersection by one roadside device, even if one roadside device fails, the entire system is stopped. There is a problem.

The present invention provides a roadside device capable of notifying real-time position information and speed information of all vehicles traveling on an approach road such as an intersection to all vehicles traveling on the approach road such as the intersection. , Encounter head collision prevention device,
It is an object of the present invention to provide a head collision prevention method and a recording medium.

[0010]

According to the present invention, a roadside device for detecting the state of a vehicle traveling on one road is provided for each road, and a vehicle detection sensor detects a vehicle traveling in a self-detection area. The data detected by the other roadside device is received by the data receiving unit, and the data of the vehicle traveling in the self-detection area detected by the vehicle detection sensor and the data detected by the other roadside device received by the data receiving unit are The data of the vehicle traveling in the self-detection area detected by the vehicle detection sensor and transmitted to the on-vehicle device is transmitted to the other roadside device.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a diagram showing a head collision prevention apparatus CP1 according to an embodiment of the present invention.

The head-on collision prevention device CP1 includes a roadside device 10 installed on a road and a vehicle-mounted device 50 installed in a vehicle.
And is constituted by. Although only one roadside device is provided in FIG. 1, a plurality of roadside devices are actually provided. That is, the head-on collision prevention device CP1
Is a device provided with a roadside device for detecting the state of a vehicle traveling on one road for each road.

The roadside device 10 includes a vehicle detection sensor 11 and
A self-detection area vehicle information memory 12, a first data receiving unit 13, another approach road vehicle information memory 14, a collision possibility calculation processing unit 15, a first data transmission unit 16,
And a second data transmission unit 17.

The vehicle detection sensor 11 is a vehicle detection sensor that detects a vehicle traveling in the self-detection area. That is, the vehicle detection sensor 11 detects a vehicle on the road, and outputs identification information of the detected vehicle, position information of the vehicle, and speed information for each vehicle.

The vehicle information memory 12 in the self-detection area is a memory for storing identification information of each vehicle, position information and speed information of each vehicle detected by the vehicle detection sensor 11 for each vehicle.

The first data receiving unit 13 is a data receiving unit for receiving data (vehicle identification information, position information, speed information, etc.) detected by the other roadside devices.

The other entry road vehicle information memory 14 stores the first
Is a memory for storing data (vehicle identification information, position information, speed information, and the like) received by the data receiving unit 13 of FIG.

The possibility-of-collision operation processing unit 15 converts the data of the vehicle traveling in the self-detection area detected by the vehicle detection sensor 11 and the data received by the first data receiving unit 13 and detected by another roadside device. On the basis of this, the possibility of collision between the own vehicle traveling in the own detection area and another vehicle traveling in the detection area detected by another roadside device is calculated.

The first data transmission unit 16 converts the data of the vehicle traveling in the self-detection area detected by the vehicle detection sensor 11 and the data detected by the other roadside device received by the first data reception unit 13. , A transmission unit for transmitting to the in-vehicle device 50. That is, the first data transmission unit 16 distributes information to a plurality of vehicles traveling in the self-detection area by broadcast. In this case, the information to be distributed is three types of information: an intersection type code, position information of each vehicle traveling near the intersection, and speed information of each vehicle traveling near the intersection. The information may be provided by the broadcast communication as described above, or the information may be provided by the roadside device 10 and each vehicle communicating one-to-one.

The first transmitting section 16 is means for transmitting the data on the possibility of a collision calculated by the possibility of collision calculating section 15 to the vehicle-mounted device 50 of the own vehicle.

The second data transmission unit 17 is provided with data on vehicles traveling in the self-detection area detected by the vehicle detection sensor 11 (intersection type code, position information of each vehicle traveling near the intersection, and information on each vehicle traveling near the intersection). Vehicle speed information)
This is a transmission unit for transmitting to another roadside device.

The on-vehicle device 50 displays a map near the intersection and the vehicle status, and presents collision warning information.
It has a second data receiving unit 51, an audio processing unit 52, a speaker 53, an image processing unit 54, a display 55, and an intersection shape information memory 56.

The second data receiving unit 51 stores the data of the vehicle traveling in the self-detection area transmitted by the first transmitting unit 16,
The data received by the other roadside device and the data on the possibility of collision transmitted by the first data transmitting unit 16 are received and passed to the audio processing unit 52 and the image processing unit 54.

The sound processing unit 52 and the speaker 53 are sound output units that warn by sound when the collision possibility calculation unit 15 outputs data that may cause a collision.

The image processing unit 54 and the display 55
It is a display that displays an image based on the data of the vehicle traveling in the self-detection area and the data detected by the other roadside device, and also displays the position information and the speed information of all the vehicles existing on the approach road of the intersection. Means for displaying the intersection on the overhead view. That is, the image processing unit 54 acquires the intersection shape data from the intersection shape information memory 56 based on the intersection type code in the information received from the second data receiving unit 51, and displays the intersection information on the display 55. Display the shape. Then, the second data receiving unit 51
The vehicle existing near the intersection is displayed on the display 55 based on the position information and the speed information of the vehicle received from the vehicle.

FIG. 2 shows the roadside apparatus 10 according to the above embodiment.
It is a figure which shows the state where 20 and 30 are arrange | positioned at the intersection C1 of poor visibility without a traffic light.

Each of the roadside devices 20 and 30 is the same device as the roadside device 10.

In FIG. 2, the non-priority road 10r is connected to the priority roads 20r and 30r.

Roadside devices 10, 20, and 30 are installed on the roadsides of the roads 10r, 20r, and 30r, respectively.
0a and 30a. In addition, the detection areas 10a, 20a
Inside, vehicles 10c and 20c are running, respectively.

Here, the roadside device 10 will be mainly considered. Therefore, the roadside device 10 is the own roadside device, the roadside devices 20 and 30 are the other roadside regions, and the detection region 10a is the own detection region. And the detection areas 20a, 30
a is the other detection area, the vehicle 10c is the own vehicle, and the vehicle 20c is the other vehicle.

The vehicle sensor 11 used in the roadside devices 10, 20, 30 is configured to determine the position and speed of the vehicle at a constant cycle x.
And the period x is 50 at the longest.
0 ms is the limit. In addition, roadside devices 10, 20, 3
0, the detection areas 10a, 20a, 30a
The transmission cycle for transmitting information is defined as y, and this cycle y is also limited to a maximum of 500 milliseconds.

When the roadside device 10 detects the host vehicle 10c in the host detection region 10a, the roadside device 10 transmits the position and speed information of the host vehicle 10c to all the vehicles existing in the host detection region 10a by broadcasting. , To the other roadside devices 20 and 30 installed near the intersection C1.

The roadside device 1 that has received the information of the vehicle 10c
0 transmits the position and speed information of the vehicle 10c to all vehicles within the detection area 10a by broadcast communication. here,
Since the vehicle 20c exists in the detection area 20a, the position and speed information of the vehicle 10c are transmitted to the vehicle 20c.

The roadside apparatus 20 transmits to the roadside apparatus 10 information on the vehicle 20c existing in the detection area 20a in parallel with the information transmission to the detection area 20a. And
The roadside device 20 is a vehicle 20c in the detection area 20a.
, The position and speed information of the vehicle 10c is transmitted.

By the above operation, the vehicle 10c and the vehicle 20
With c, mutual position and speed information can be obtained.

Next, the operation of the above embodiment will be described.

FIG. 3 shows the roadside device 10 in the above embodiment.
6 is a flowchart showing the operation of the embodiment.

First, it is detected whether or not a vehicle exists in the self-detection area 10a (S1). The detection result is determined (S2). If a vehicle is detected, the process proceeds to step S3. If no vehicle is detected, this cycle ends, the process returns to step S1, and detection is performed again.

Then, the detected position and speed information of the vehicle is transmitted to all vehicles in the self-detection area 10a (S3). As a result, each vehicle can acquire the position and speed information of the vehicle on the same road and also acquire its own position and speed information.

The detected vehicle information is then transferred to the roadside devices 20 and 30 installed on other approach roads of the same intersection C1.
(S4). Thereby, the self-detection area 10a
The information of the vehicle detected in the above can be transmitted to vehicles on another approach road.

On the other hand, it is checked whether or not information on vehicles on other approach roads has been received (S5). If information on vehicles on other approach roads has been received, another vehicle simultaneously entering intersection C1 exists. Therefore, information on vehicles on other approach roads is transmitted to vehicles in the self-detection area 10a by broadcast communication (S6). Thereby, the vehicle state on the other approach road is displayed on the display 5 of the vehicle-mounted device 50 of each vehicle.
5, the state of another vehicle entering the intersection C1 can be grasped.

If the information of the vehicle on another approach road is not received (S6), this cycle is ended, and step S
Return to 1.

Then, the possibility of collision between vehicles attempting to enter the intersection C1 at the same time is calculated, and if it is determined that there is a possibility of collision and a warning is necessary (S
7) The warning information is distributed to the corresponding vehicle (S8), and this cycle ends, and the process returns to step S1. If there is no need for a warning (S7), this cycle is terminated and step S1 is executed.
Return to It should be noted that a known method is used for calculating the possibility of warning.

Next, in the above embodiment, the in-vehicle device 50
The display of the vehicle status in the intersection C1 in the above will be described.

FIG. 4 shows the on-vehicle device 5 in the above embodiment.
FIG. 7 is a diagram showing an example of image display on a display 55 of No. 0.

Roadside devices 10, 20, installed on the side of the road
When the information of the intersection C1, the position of the vehicle in the intersection C1, and the speed information are acquired from 30, the in-vehicle device 50 displays the roads 10r, 20r, and 30r indicating the road alignment of the intersection C1 in the display 55 of the in-vehicle device. The vehicle 10c, 20c1, 20c2 is displayed on the roads 10r, 20r, 30r based on the position information.

As the road linear display of the intersection C1, a deformed one is used. A typical road linear pattern image such as a T-junction, a three-way intersection, or a crossroad is prepared and displayed according to the target intersection C1. Vehicle 10 in intersection C1
The positions of c, 20c1, and 20c2 are relative values within the intersection C1, and based on this value, the vehicles 10c, 20c
The positions of 1, 20c2 are expressed and displayed on the display 55.

It is assumed that the state of the intersection C1 displayed on the display 55 is updated at a constant cycle z, and the cycle z
Varies depending on the performance of the roadside apparatuses 10, 20, and 30 and the in-vehicle apparatus 50, but is limited to about 500 milliseconds at the longest.

In FIG. 4, the vehicle is indicated by a square, and the speed is indicated by the direction and length of the arrow. In this case, the longer the length of the arrow, the faster the speed.

The own vehicle 10c and the other vehicles 20c, 20c1,
In order to facilitate distinction from the vehicle 20c2, the color of the own vehicle 10c is displayed differently from the colors of the other vehicles 20c, 20c1, and 20c2.

When the driver looks at the vehicle-mounted device 50 when the host vehicle 10c attempts to enter the intersection C1, the vehicle-mounted device 50
The driver can recognize the position and the speed of the vehicle entering the intersection C1 at the same time according to the vehicle condition of the intersection C1 displayed in.

In FIG. 4, the vehicle 10c is located at the intersection C
Since the position and speed of the vehicle 20c entering the vehicle 1 can be grasped, it is easy to determine the timing of entering the intersection C1 and to adjust the speed of the host vehicle 10c.

The driver of the own vehicle 10c is
Since the existence of the vehicle 20c1 following c can also be known in advance, it is easy to determine the approach timing to the intersection C1 and adjust the speed of the host vehicle 10c.

Further, the driver of the vehicle 20c also
With the on-board device mounted on the vehicle c, the presence of the vehicle 10c approaching the intersection C1 can be known in advance, the vehicle can be driven with the movement of the vehicle 10c conscious, and the collision of head-to-head can be avoided. it can.

Here, the position information is displayed as a relative value in the intersection C1, but an absolute value obtained by using the GPS may be displayed.

In the above description, information on all vehicles received by the on-vehicle device 50 is displayed. However, in order to reduce the processing load on the on-vehicle device 50, only some of the vehicles are selected and displayed. Is also good. As a method of selecting a vehicle to be displayed, a method of displaying only a vehicle that is trying to enter the intersection C1 can be considered.

Further, in the above embodiment, the deformed map is displayed as the road shape of the intersection C1, but if the above embodiment is used in combination with the car navigation system, the vehicle is displayed on the road map of the car navigation system. Information can be displayed.

Next, the operation of notifying the driver of warning information in the above embodiment will be described.

In the above embodiment, the warning information is provided to the driver by using both the screen display and the voice.

In a situation where the driver pays particular attention as in the case of the intersection C1 or the like, it is impossible to keep watching the screen of the vehicle-mounted device 50 for a long time. The warning by voice is, for example, the intersection C
(1) When a vehicle having a possibility of collision approaches from the right side, a short message such as "right side, caution" is transmitted to the driver.

The warning by the image display plays a role of assisting the driver in determining the situation after receiving the voice warning.

Next, a description will be given of a warning operation by displaying on the display 55 in the above embodiment.

FIG. 5 is a diagram showing a display example of an image displayed on the display 55 of the vehicle-mounted device 50 when the warning information is received in the above embodiment.

The on-vehicle device 50 displays the vehicle in the intersection C1 on the display 55, and the road-side devices 10, 20,.
When the warning information is received from 30, when the vehicle 20 c that may collide with the host vehicle 10 c is displayed on the display 55, the color of the vehicle 20 c on the screen is different from the colors of the other vehicles.

As a result, the driver can easily and surely grasp the positional relationship with the vehicle having a possibility of collision, and can take a more appropriate avoiding action than in the case of simply receiving a warning.

FIG. 6 is a diagram showing the overall structure of a head-on collision prevention device CP2 according to a second embodiment of the present invention.

In the head-on collision prevention device CP1, the road-side device 10 has a collision possibility calculation unit 15, but in the head-on collision prevention device CP2, the road-side device 10-1 does not have the collision possibility calculation unit 15, The device 50-1 has a collision possibility calculation unit 57.

In the head-on collision prevention device CP2, the collision possibility calculation section 57 is disposed in the vehicle-mounted device 50-1 and the intersection C
The in-vehicle terminal 50-1 in each vehicle holds the position information and the speed information of the vehicles existing near one.

That is, the in-vehicle terminal 50-1 determines whether the vehicle traveling in the self-detection area and the other road-side apparatus are based on the data of the vehicle traveling in the self-detection area and the data detected by the other roadside apparatus. Has a collision possibility calculation unit that calculates the possibility of collision with another vehicle traveling in the detection area detected by the vehicle.

According to the above embodiment, the vehicle entering the intersection C1 grasps in real time the status of all the other vehicles existing near the intersection C1 on the screen of the in-vehicle terminal 50 installed in the own vehicle. be able to.

Therefore, even at the intersection C1 where visibility is poor, it is possible to recognize the vehicle at a position where the driver cannot visually recognize the vehicle, and it is possible to grasp the positional relationship with the own vehicle. Furthermore, compared with the conventional method, it is easier to take the timing to enter the intersection C1 and to adjust the speed of the vehicle when entering the intersection C1, and it is possible to prevent a collision at the intersection.

Further, even when the driver is warned of a collision by voice, the overall situation of the intersection C1 can be reliably grasped by the above-mentioned screen display. You can take action and prevent head-on collision.

Further, since the roadside devices are disposed on each approaching road to the intersection C1 and the roadside devices are arranged, the processing load can be dispersed as compared with the case of centralized management by one device, and the entire system at the time of failure can be dispersed. Robustness can be improved.

The above description is about the case of the intersection C1 in which there is a distinction between a priority road and a non-priority road. However, the present invention is not limited to such an intersection C1, and the entrance and exit to the parking lot of a store along the road are not limited. The above-described embodiment can also be applied to a place where a collision of encounters may occur, such as an entrance of a gas station.

The above embodiment can be understood as an embodiment of a recording medium.

That is, in the above embodiment, the procedure for providing the roadside device for detecting the state of the vehicle traveling on one road for each road, the procedure for detecting the traveling vehicle, A procedure in which the one roadside device receives data detected by another roadside device that is a roadside device other than one roadside device, and a data of a vehicle detected in the one roadside device, and the received other data. A program for causing a computer to execute a procedure of transmitting data detected by the roadside device to the on-vehicle device and a procedure of transmitting data of the vehicle detected by the one roadside device to the other roadside device are recorded. It is an example of a computer-readable recording medium.

In this case, based on the data of the vehicle traveling in the self-detection area detected by the one roadside device and the data detected by the other roadside device, the own vehicle traveling in the self-detection region is determined. In addition, a program for causing a computer to execute a collision possibility calculation procedure for calculating the possibility of collision with another vehicle traveling in the detection area detected by the other roadside device is recorded on a recording medium.

As the recording medium, FD, CD,
DVD, HD, semiconductor memory and the like are conceivable.

[0079]

According to the present invention, the position information and the speed information of all the vehicles traveling on the approach road such as the intersection are notified to all the vehicles traveling on the approach road such as the intersection in real time. This has the effect that it can be performed.

[Brief description of the drawings]

FIG. 1 is a diagram showing an encounter head collision prevention device CP1 according to a first embodiment of the present invention.

FIG. 2 shows the roadside devices 10, 20, 30 according to the embodiment.
It is a figure which shows the state arrange | positioned at the intersection C1 with a poor visibility without a traffic light.

FIG. 3 is a flowchart showing an operation of the roadside device 10 in the embodiment.

FIG. 4 is a diagram showing an example of image display on a display 55 of the in-vehicle device 50 in the embodiment.

FIG. 5 is a diagram showing a display example of an image displayed on the display 55 of the in-vehicle device 50 when warning information is received in the embodiment.

FIG. 6 is a diagram showing an overall configuration of a head-on collision prevention device CP2 according to a second embodiment of the present invention.

[Explanation of symbols]

 10, 20, 30: roadside device, 11: vehicle detection sensor, 12: memory for vehicle information in self-detection area, 13: first data receiving unit, 14: memory for vehicle information on other approach road, 15: possibility of collision Arithmetic processing unit, 16: first data transmission unit, 17: second data transmission unit 17, 50: in-vehicle device, 51: second data reception unit, 52: audio processing unit, 53: speaker, 54: image Processing unit, 55: display, 56: memory for intersection shape information, 10r: non-priority road, 20r, 30r: priority road, 10a, 20a, 30a: detection area, 10c, 20c: vehicle.

Claims (14)

[Claims] A roadside device for detecting the state of a vehicle traveling on one road is a roadside device in an encounter head collision prevention device provided for each road, and detects a vehicle traveling in a self-detection area. A vehicle detection sensor; a data receiving unit that receives data detected by the other roadside device; a data of a vehicle traveling in the self-detection area detected by the vehicle detection sensor; and the other data received by the data receiving unit. A first transmission unit for transmitting data detected by the roadside device to the on-vehicle device; and transmitting a data of the vehicle traveling in the self-detection area detected by the vehicle detection sensor to the other roadside device. A roadside device, comprising: 2. The vehicle according to claim 1, wherein data of the vehicle traveling in the self-detection area detected by the vehicle detection sensor and data detected by the other roadside device received by the data receiving unit are provided. A roadside device, comprising: a collision possibility calculation unit that calculates a possibility of a collision between the own vehicle traveling in the self detection region and another vehicle traveling in the detection region detected by the another roadside device. 3. The vehicle according to claim 2, wherein the first transmitting unit is means for transmitting the data on the possibility of a collision calculated by the possibility of collision calculating unit to an on-vehicle device of the own vehicle. Roadside equipment. 4. A head-on collision prevention device provided for each road to detect a state of a vehicle traveling on one road, wherein the vehicle detection sensor detects a vehicle traveling in a self-detection area. And a first receiving the data detected by the other roadside device.
Data of a vehicle traveling in the self-detection area detected by the vehicle detection sensor; and data detected by the other roadside device received by the first data reception unit, to an in-vehicle device. A first transmission unit for transmitting; a second transmission unit for transmitting data of a vehicle traveling in the self-detection area detected by the vehicle detection sensor to the another roadside device;
A second data receiving unit that receives the data of the vehicle traveling in the self-detection area transmitted by the first transmitting unit and the data detected by the other roadside device, which is included in the roadside device; The head-on collision prevention device, wherein the on-vehicle device has: a display for displaying an image based on the data of the vehicle traveling in the self-detection area and the data detected by the other roadside device. 5. The vehicle according to claim 4, wherein data of the vehicle traveling in the self-detection area detected by the vehicle detection sensor and data detected by the other roadside device received by the data receiving unit are provided. The roadside device has a collision possibility calculating unit that calculates a possibility of collision between the own vehicle traveling in the self detection region and another vehicle traveling in the detection region detected by the other roadside device, The first data transmission unit is means for transmitting the data on the possibility of a collision calculated by the possibility of collision calculation unit to the in-vehicle device of the host vehicle, and the second data reception unit is a unit for transmitting the first data An encounter head collision prevention device, which is means for receiving data of a possibility of collision transmitted from a transmission unit. 6. The self-vehicle traveling in the self-detection area based on data of the vehicle traveling in the self-detection area and data detected by the another roadside device, The head-on collision prevention device, wherein the on-vehicle device includes a collision possibility calculation unit that calculates a possibility of collision with another vehicle traveling in a detection area detected by the roadside device. 7. The vehicle-mounted device according to claim 5, wherein the on-vehicle device has a voice output unit that warns by voice when the collision possibility calculation unit outputs data that may cause a collision. Head collision prevention device. 8. The display according to any one of claims 4 to 7, wherein the display displays position information and speed information of all vehicles existing on the approach road of the intersection on an overhead view of the intersection. An encounter head collision prevention device, which is a means. 9. The display according to claim 4, wherein the display indicates the speed of the vehicle by the direction and length of an arrow, and distinguishes between the own vehicle and another vehicle by changing colors. An encounter head collision prevention device, which is a means for displaying separately. 10. A road-side device for detecting the state of a vehicle traveling on one road is provided for each road; a traveling vehicle is detected; and among the road-side devices, other than one road-side device is provided. Receiving the data detected by the other roadside device, which is the roadside device, by the one roadside device;
Transmitting the vehicle data detected by the one roadside device and the received data detected by the other roadside device to an in-vehicle device; and transmitting the vehicle data detected by the one roadside device to the vehicle device. Transmitting to another roadside device. 11. The vehicle according to claim 10, wherein the vehicle travels in the self-detection area based on data of a vehicle traveling in the self-detection area detected by the one road-side device and data detected by the other road-side device. A head-on collision prevention method, comprising: a collision possibility calculation step of calculating a possibility of collision between the own vehicle and another vehicle traveling in a detection area detected by the other roadside device. 12. The head-on collision prevention method according to claim 10, wherein the in-vehicle device has a step of giving a warning by voice based on the collision probability calculated in the collision possibility calculation step. 13. A procedure in which a roadside device for detecting a state of a vehicle traveling on one road is provided for each road; a procedure for detecting a traveling vehicle; and among the roadside devices, other than one roadside device. A procedure in which the one roadside device receives data detected by another roadside device that is the roadside device of the above;
Transmitting the data of the vehicle detected by the one roadside device and the data detected by the other roadside device to the in-vehicle device; and transmitting the data of the vehicle detected by the one roadside device to the vehicle. And a computer-readable recording medium which records a program for causing a computer to execute the procedure of transmitting to another roadside device. 14. The vehicle according to claim 13, wherein the vehicle travels in the self-detection area based on data of a vehicle traveling in a self-detection area detected by the one roadside device and data detected by the other roadside device. A computer-readable recording medium storing a program for causing a computer to execute a collision possibility calculation procedure for calculating a possibility of collision between the own vehicle and another vehicle traveling in a detection area detected by the other roadside device.