JP2005032010A - Vehicle communication system, vehicle communication method, on-vehicle communication equipment, vehicle communication managing device and vehicle information collecting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To validly use the communication band of inter-vehicle communication, so as to give priority to the communication between vehicles which are likely to collide with each other. <P>SOLUTION: A communication managing device 1 picks up the image of each road for entering an intersection, and specifies vehicles C1, C2 and C3 entering the intersection from the picked-up image, and assigns exclusive communication channels B1, B2 and B3 to the vehicles C1, C2 and C3, and notifies the vehicles C1, C2 and C3 of the communication channels and the IP numbers of the other vehicles. On-vehicle communication equipment mounted on the vehicles C1, C2 and C3 directly communicate with respective vehicles based on the notified communication channels and the IP numbers of the other vehicles to execute situation decision and danger prevention. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicle communication system, a vehicle communication method, an in-vehicle communication device, a vehicle communication management device, and a vehicle information collection device that perform communication between vehicles. The present invention relates to a vehicle communication system, a vehicle communication method, an in-vehicle communication device, a vehicle communication management device, and a vehicle information collection device that can improve the performance.
[0002]
[Prior art]
Conventionally, a technique for preventing a collision by mounting an in-vehicle communication device in an automobile (vehicle) and communicating between the vehicles has been devised. Specifically, the position and speed of the host vehicle are transmitted, and the position and speed of other vehicles are received to determine whether there is a collision risk. If there is a collision risk, an avoidance action is proposed and executed. By doing so, a collision can be prevented in advance.
[0003]
By the way, in order to avoid a collision by inter-vehicle communication, high immediacy is required for the communication. However, a very wide communication band is required to achieve highly immediate communication between all vehicles. Furthermore, since vehicles that are in danger of collision and that actually require immediacy are only a part of the plurality of vehicles, most of the communication band remains unused.
[0004]
Therefore, in order to effectively use the communication band, the inter-vehicle communication device disclosed in Patent Document 1 discloses a technique for changing the communication speed according to the risk of collision.
[0005]
[Patent Document 1]
JP 2001-61185 A
[0006]
[Problems to be solved by the invention]
However, in the above-described conventional inter-vehicle communication, although the communication speed can be changed, all the vehicles need to communicate in advance, so a communication band sufficient to realize communication between all the vehicles is required. Is done. In other words, the conventional inter-vehicle communication still has a problem that a wide communication band is required.
[0007]
In particular, because the number of vehicles passing at a large intersection becomes enormous, it is not always possible to secure communication between vehicles that are likely to collide, and communication bandwidth is occupied by communication between vehicles that are not in danger of collision. There was a fear. Moreover, even if communication is established between vehicles at risk of collision, a sufficient communication speed (immediateness) cannot always be obtained.
[0008]
In other words, the conventional inter-vehicle communication has a problem that the communication band cannot be effectively used at a large intersection where collisions occur relatively frequently, and safety is lowered.
[0009]
The present invention has been made in order to solve the above-described problems caused by the prior art, and effectively uses the communication band of inter-vehicle communication to give priority to communication between vehicles having a possibility of collision. It is an object to provide a vehicle communication system, a vehicle communication method, an in-vehicle communication device, a vehicle communication management device, and a vehicle information collection device that can improve the vehicle performance.
[0010]
[Means for Solving the Problems]
In order to solve the above-described problems and achieve the object, a vehicle communication system according to the invention of claim 1 is a vehicle communication system that performs communication between vehicles, and vehicle status determination means that determines the status of the vehicle; Vehicle selection means for selecting a vehicle to be preferentially communicated based on a determination result by the vehicle state determination means; and an assignment means for allocating a dedicated communication channel to the vehicle to be preferentially communicated. It is characterized by having.
[0011]
According to the first aspect of the present invention, the vehicle communication system determines the situation of the vehicle, selects a vehicle to be preferentially communicated based on the determination result, and sets a dedicated communication channel for the selected vehicle. Allocate and communicate between vehicles.
[0012]
Further, in the vehicle communication system according to the invention of claim 2, in the invention of claim 1, the vehicle situation determination means takes an image in the vicinity of an intersection, and the vehicle selection means takes a picture of the vehicle situation determination means. A vehicle entering the intersection is selected based on the image.
[0013]
According to the second aspect of the present invention, the vehicle communication system captures an image near the intersection, selects a vehicle that enters the intersection from the captured image, assigns a dedicated communication channel to the selected vehicle, and communicates between the vehicles. I do.
[0014]
According to a third aspect of the present invention, there is provided a vehicle communication system according to the second aspect of the present invention, wherein the vehicle selection means is configured to detect a collision of a vehicle entering the intersection based on an image taken by the vehicle state determination means. A risk level is predicted, and a vehicle predicted to have a high risk level is selected.
[0015]
According to the invention of claim 3, the vehicle communication system predicts the risk of collision of a vehicle entering the intersection from the photographed image of the vicinity of the intersection, and is a communication channel dedicated to the vehicle predicted to be high in risk. To communicate between vehicles.
[0016]
According to a fourth aspect of the present invention, there is provided a vehicle communication system according to the first, second, or third aspect, wherein the vehicle status determining means receives information on the vehicle from the vehicle, and the vehicle based on the received information. It is characterized by determining the situation of.
[0017]
According to the fourth aspect of the present invention, the vehicle communication system receives information about the vehicle from the vehicle, determines the state of the vehicle based on the received information, and preferentially communicates based on the determination result. A vehicle to be performed is selected, and a dedicated communication channel is assigned to the selected vehicle to perform communication between the vehicles.
[0018]
According to a fifth aspect of the present invention, there is provided the vehicle communication system according to the fourth aspect, wherein the vehicle transmits information about the vehicle using a communication channel that is time-divisionally assigned to the vehicle, and The determining means receives information related to the vehicle, and determines the status of the vehicle based on the received information.
[0019]
According to the invention of claim 5, the vehicle communication system receives information on the vehicle transmitted by the vehicle using the communication channel time-divisionally assigned to the vehicle, and receives the received information on the vehicle. The vehicle status is determined based on the result, the vehicle to be preferentially communicated is selected based on the determination result, and a dedicated communication channel is assigned to the selected vehicle to perform communication between the vehicles.
[0020]
The vehicle communication system according to a sixth aspect of the present invention is the vehicle communication system according to any one of the first to fifth aspects, wherein the vehicle selection means can specify an operation based on a determination result by the vehicle situation determination means. The information which instruct | indicates operation | movement with respect to a simple vehicle is transmitted, and the vehicle which should communicate with priority from the vehicle other than the vehicle which transmitted this information is selected, It is characterized by the above-mentioned.
[0021]
According to the invention of claim 6, the vehicle communication system transmits information instructing the operation to the vehicle capable of defining the operation based on the result of determining the situation of the vehicle, and the vehicle that has transmitted the information. A vehicle to be communicated with priority is selected from the other, and a dedicated communication channel is assigned to the selected vehicle to perform communication between the vehicles.
[0022]
According to a seventh aspect of the present invention, there is provided a vehicle communication method for performing communication between vehicles based on a vehicle state determination step for determining a vehicle state and a determination result obtained by the vehicle state determination step. And a vehicle selection step of selecting a vehicle to be preferentially communicated, and an assigning step of assigning a dedicated communication channel to the vehicle to be preferentially communicated.
[0023]
According to the seventh aspect of the invention, the vehicle communication method determines a vehicle situation, selects a vehicle to be preferentially communicated based on the determination result, and assigns a dedicated communication channel to the selected vehicle. To communicate between vehicles.
[0024]
The vehicle communication method according to the invention of claim 8 is the vehicle communication method according to claim 7, wherein the vehicle situation determination step takes an image in the vicinity of an intersection, and the vehicle selection step takes a picture of the vehicle situation determination step. A vehicle entering the intersection is selected based on the image.
[0025]
According to the eighth aspect of the invention, the vehicle communication method captures an image in the vicinity of an intersection, selects a vehicle that enters the intersection from the captured image, assigns a dedicated communication channel to the selected vehicle, and communicates between the vehicles. I do.
[0026]
According to a ninth aspect of the present invention, in the vehicle communication method according to the eighth aspect of the present invention, the vehicle selection step includes a step of detecting a collision of a vehicle entering the intersection based on an image taken in the vehicle state determination step. A risk level is predicted, and a vehicle predicted to have a high risk level is selected.
[0027]
According to the ninth aspect of the invention, the vehicle communication method predicts the risk of collision of a vehicle entering the intersection from the photographed image of the vicinity of the intersection, and is a communication channel dedicated to the vehicle predicted to have a high risk. To communicate between vehicles.
[0028]
The vehicle communication method according to a tenth aspect of the present invention is the vehicle communication method according to the seventh, eighth, or ninth aspect, wherein the vehicle state determination step receives information about the vehicle from the vehicle, and the vehicle based on the received information. It is characterized by determining the situation of.
[0029]
According to the invention of claim 10, the vehicle communication method receives information related to the vehicle from the vehicle, determines the situation of the vehicle based on the received information, and preferentially communicates based on the determination result. A vehicle to be performed is selected, and a dedicated communication channel is assigned to the selected vehicle to perform communication between the vehicles.
[0030]
The vehicle communication method according to an invention of claim 11 is the vehicle communication method according to claim 10, wherein the vehicle status determination step is transmitted from the vehicle using a communication channel that is time-divided and assigned to each vehicle. It receives the information regarding a vehicle, and determines the condition of a vehicle based on the received information.
[0031]
According to the invention of claim 11, the vehicle communication method receives information on the vehicle transmitted from the vehicle using a communication channel that is time-divided and assigned to each vehicle, and the vehicle communication method is based on the received information. The vehicle is to be preferentially communicated based on the determination result, and a dedicated communication channel is assigned to the selected vehicle to perform communication between the vehicles.
[0032]
A vehicle communication method according to a twelfth aspect of the present invention is the vehicle communication method according to any one of the seventh to eleventh aspects, wherein the vehicle selection step operates based on a determination result determined by the vehicle state determination step. The information which instruct | indicates operation | movement is transmitted with respect to the vehicle which can prescribe | regulate, The vehicle which should communicate preferentially from the vehicle other than the vehicle which transmitted this information is characterized by the above-mentioned.
[0033]
According to the twelfth aspect of the present invention, in the vehicle communication method, based on the result of determining the state of the vehicle, information for instructing the operation is transmitted to the vehicle capable of defining the operation, and the vehicle that transmitted the information A vehicle to be communicated with priority is selected from the other, and a dedicated communication channel is assigned to the selected vehicle to perform communication between the vehicles.
[0034]
The in-vehicle communication device according to the invention of claim 13 is an in-vehicle communication device used for communication between vehicles, and communication information for receiving channel information relating to a communication channel used by the own vehicle for communication with the opponent vehicle. Receiving means; communication setting means for setting a communication channel based on the information received by the communication information receiving means; and communication means for communicating with a partner vehicle using the communication channel set by the communication setting means. , Provided.
[0035]
According to the invention of claim 13, the in-vehicle communication device receives channel information related to a communication channel used by the own vehicle for communication with the other vehicle, sets a communication channel based on the received information, and communicates with the other vehicle. Communicate.
[0036]
An in-vehicle communication device according to a fourteenth aspect of the present invention is an in-vehicle communication device used for communication between vehicles, and is based on information transmitting / receiving means for transmitting / receiving information related to the vehicle, and information received by the information transmitting / receiving means. Vehicle status determination means for determining the vehicle status, vehicle selection means for selecting a vehicle to be preferentially communicated based on a determination result by the vehicle status determination means, and a vehicle selected by the vehicle selection means; A communication setting unit for setting a communication channel between the vehicle and a communication unit for communicating with a partner vehicle using the communication channel set by the communication setting unit.
[0037]
According to the fourteenth aspect of the present invention, the in-vehicle communication device transmits and receives information about the vehicle, selects the vehicle to be preferentially communicated by determining the state of the vehicle based on the received information, and is selected. A communication channel with the vehicle is set to communicate with the opponent vehicle.
[0038]
According to a fifteenth aspect of the present invention, in the in-vehicle communication device according to the fourteenth aspect of the present invention, the information transmitting / receiving means transmits / receives information about the vehicle using a communication channel that is time-divisionally assigned to each vehicle. Features.
[0039]
According to the fifteenth aspect of the present invention, the in-vehicle communication device transmits and receives information related to the vehicle using the communication channel that is time-divided and assigned to each vehicle, and determines the status of the vehicle based on the received information. A vehicle to be preferentially communicated is selected, a communication channel with the selected vehicle is set, and communication with the partner vehicle is performed.
[0040]
The vehicle communication management device according to the invention of claim 16 is a vehicle communication management device for managing communication between vehicles, wherein the vehicle status determination means for determining the status of the vehicle and the determination result by the vehicle status determination means. Based on the above, vehicle selection means for selecting a vehicle to be preferentially communicated, assignment means for assigning a dedicated communication channel to the vehicle to be preferentially communicated, and a vehicle to which the communication channel is assigned, Communication information transmitting means for transmitting information on the assigned communication channel and information on a vehicle of a communication partner through the communication channel is provided.
[0041]
According to the sixteenth aspect of the present invention, the vehicle communication management device determines the situation of the vehicle, selects a vehicle to be preferentially communicated based on the determination result, assigns a dedicated communication channel, and the vehicle. The communication channel assigned to and the vehicle of the communication partner are notified.
[0042]
According to a seventeenth aspect of the present invention, in the vehicle communication management device according to the sixteenth aspect of the invention, the vehicle situation determination means takes an image of the vicinity of an intersection, and the vehicle selection means takes a picture of the vehicle situation determination means. A vehicle entering the intersection is selected on the basis of the obtained image.
[0043]
According to the seventeenth aspect of the present invention, the vehicle communication management device captures an image in the vicinity of the intersection, selects a vehicle that enters the intersection from the captured image, assigns a dedicated communication channel to the selected vehicle, and transmits the vehicle. The communication channel assigned to and the vehicle of the communication partner are notified.
[0044]
According to an eighteenth aspect of the present invention, in the vehicle communication management device according to the seventeenth aspect of the present invention, the vehicle selection means includes a collision of a vehicle entering the intersection based on an image taken by the vehicle state determination means. The risk level is predicted, and a vehicle predicted to have a high risk level is selected.
[0045]
According to the invention of claim 18, the vehicle communication management device predicts the risk of collision of a vehicle entering the intersection from the photographed image of the vicinity of the intersection, and communicates exclusively for the vehicle predicted to have a high risk. Assign channels and communicate between vehicles.
[0046]
A vehicle information collection device according to the invention of claim 19 is a vehicle information collection device for collecting vehicle information, wherein vehicle information receiving means for receiving information on a vehicle entering an intersection from the vehicle, and the vehicle Based on the information about the vehicle received by the information receiving means, information that instructs the operation of the vehicle is transmitted to the vehicle that can regulate the operation, and the information about the vehicle other than the vehicle that can regulate the operation is communicated between the vehicles. Vehicle information transmission means for transmitting to the inter-vehicle communication management device to be managed.
[0047]
According to the nineteenth aspect of the present invention, the vehicle information collecting device receives information on a vehicle entering the intersection from the vehicle, and based on the received information on the vehicle, the vehicle information collecting device is a vehicle capable of defining the operation. Is transmitted to a vehicle-to-vehicle communication management device that manages communication between vehicles.
[0048]
DETAILED DESCRIPTION OF THE INVENTION
Exemplary embodiments of a vehicle communication system, a vehicle communication method, an in-vehicle communication device, a vehicle communication management device, and a vehicle information collection device according to the present invention will be described below with reference to the accompanying drawings.
[0049]
(Embodiment 1)
First, the concept of the vehicle communication system according to the first embodiment will be described. FIG. 1 is an explanatory diagram for explaining the concept of the vehicle communication system according to the first embodiment. In FIG. 1, the communication management device 1 is mainly shown. ₁ Vehicles C1 to C9 are traveling at the intersection where is installed. Communication management device 1 ₁ Shoots each road that can enter the intersection, identifies a vehicle entering the intersection from the captured image, and assigns a dedicated communication channel between the entering vehicles.
[0050]
Specifically, in FIG. 1, vehicles C1, C2, C3, and C7 are approaching the intersection. Here, the vehicle C3 and the vehicle C7 are approaching from the same road, and the vehicle that enters the intersection first is C3. Therefore, the communication management device 1 ₁ Assigns communication channels to the vehicles C1, C2, C3.
[0051]
After assigning this communication channel, the vehicle C1 and the vehicle C2 communicate directly using the assigned communication channel B1. In addition, the vehicle C2 and the vehicle C3 communicate directly using the assigned communication channel B2. Similarly, the vehicle C1 and the vehicle C3 communicate directly using the assigned communication channel B3.
[0052]
That is, the vehicles C1, C2, and C3 can efficiently perform collision avoidance by transmitting and receiving vehicle information at a high speed using dedicated communication channels. On the other hand, communication channels are not assigned because there is no need for communication between vehicles that are not at risk of collision, such as vehicles that are moving away from an intersection.
[0053]
In this way, by allocating a dedicated communication channel between vehicles with a possibility of collision as needed, priority is given to communication between vehicles with a possibility of collision while effectively using the communication band, and safety is improved. be able to.
[0054]
Next, a specific configuration example of the communication management apparatus will be described. FIG. 2 shows a communication management apparatus 1 ₁ It is a general | schematic block diagram which shows the general | schematic structure. As shown in FIG. 2, the communication management device 1 ₁ Includes an antenna 10, cameras 11a, 11b, 11c, and 11d, image processing units 12a, 12b, 12c, and 12d, an approaching vehicle specifying unit 13, a communication channel setting unit 14, and a notification processing unit 15.
[0055]
Each of the cameras 11a to 11d captures an image of a road that can enter the intersection and transmits the image to the image processing units 12a to 12d. The image processing units 12 a to 12 d extract a vehicle image from images captured by the cameras 11 a to 11 d and transmit the vehicle image to the approaching vehicle specifying unit 13. The approaching vehicle specifying unit 13 specifies a vehicle entering the intersection based on the vehicle images extracted by the image processing units 12a to 12d. Here, for example, a process of reading a license plate and corresponding an IP number assigned to the vehicle can be used for specifying the vehicle. In addition to reading the license plate, a method of receiving the IP number directly from the vehicle by wireless communication is also conceivable.
[0056]
The communication channel setting unit 14 performs a process of assigning a dedicated communication channel to the vehicle specified by the approaching vehicle specifying unit 13. Here, if there are three vehicles entering the intersection as shown in FIG. 1, communication channels B1 to B3 are assigned between the vehicles. Similarly, if there are four vehicles entering the intersection, there are six combinations of vehicles, so six communication channels are allocated.
[0057]
By the way, in FIG. 1, the head vehicle entering the intersection is selected. However, the communication channel assignment is not limited to the head vehicle, and the communication channel may be assigned to an arbitrary number of vehicles. . For example, a communication channel may be assigned to a predetermined number of vehicles from the top for each road, or communication channels may be assigned to a predetermined number of vehicles in order from the intersection without distinguishing the approaching road. Also good. Further, assignment may be performed sequentially according to a predetermined priority order until the number of communication channels is filled.
[0058]
The notification processing unit 15 performs a process of transmitting a communication channel to be used with a communication partner vehicle to each vehicle via the antenna 10. Specifically, in the situation of FIG. 1, the IP number and communication channel B1 that specify the vehicle C2 and the IP number and communication channel B3 that specify the vehicle C3 are transmitted to the vehicle C1. Also, the IP number and communication channel B1 for specifying the vehicle C1 and the IP number and communication channel B2 for specifying the vehicle C3 are transmitted to the vehicle C2. Similarly, the IP number and communication channel B3 for specifying the vehicle C1 and the IP number and communication channel B2 for specifying the vehicle C2 are transmitted to the vehicle C3.
[0059]
Vehicles C1 to C3 are communication management devices 1 ₁ Is received by the in-vehicle communication device and communicates directly with each vehicle. FIG. 3 shows a configuration example of the in-vehicle communication device mounted on the vehicles C1 to C3.
[0060]
The vehicle management device 2 shown in FIG. 3 is a device in which an in-vehicle communication device that performs inter-vehicle communication and a vehicle control function are integrated. The vehicle management device 2 is connected to the GPS receiver 3 and the antenna 20, and includes a communication processing unit 21, a position information acquisition unit 22, a main control unit 23, a warning processing unit 24, and a control processing unit 25 therein.
[0061]
The communication processing unit 21 is a processing unit that uses the antenna 20 to perform communication with the communication management device 1 and inter-vehicle communication with other vehicles. Further, the position information acquisition unit 22 acquires the position information of the host vehicle and the map information around the host vehicle via the GPS receiver 3 and supplies the acquired information to the main control unit 23.
[0062]
The main control unit 23 is a control unit that controls the entire vehicle management device 2 and includes a situation determination unit 23a and a communication setting unit 23b. The communication setting unit 23b performs processing for changing the setting of the communication processing unit 21 when the communication partner IP number and the communication channel to be used are received from the communication management device 1. By changing the setting in this way, the main control unit 23 directly transmits information related to the host vehicle such as the position information and speed information of the host vehicle to the vehicle serving as the communication partner, Speed information etc. can be received directly.
[0063]
The situation determination unit 23a determines whether or not the host vehicle has actually received the vehicle based on various information related to the host vehicle such as the position and speed of the host vehicle and the state of the host vehicle and various information related to the other vehicle such as the position and speed of the other vehicle. The situation (situation) that is present is determined.
[0064]
The warning processing unit 24 is a processing unit that performs a warning necessary when it is necessary to warn a driver or the like as a result of the determination by the situation determination unit 23a. In addition, the control processing unit 25 is a processing unit that executes a control process necessary when it is necessary to perform some control process, for example, a brake control or an accelerator control, on the host vehicle as a result of the determination by the situation determination unit 23a. .
[0065]
Next, specific processing operations of the communication management device 1 and the vehicle management device 2 will be described. FIG. 4 shows the communication management apparatus 1 ₁ It is a flowchart explaining the processing operation of. As shown in FIG. ₁ First, photographing by the cameras 11a to 11d is executed (step S101), and a vehicle image and a license plate image are extracted from the photographed image (step S102).
[0066]
Then, the approach vehicle specific | specification part 13 specifies the vehicle which approachs an intersection (step 103), and determines whether two or more vehicles approach an intersection (step S104). When the number of vehicles entering the intersection is less than two (step S104, No), photographing with the cameras 11a to 11d is executed again (step S101).
[0067]
On the other hand, when there are two or more vehicles entering the intersection (step S104, Yes), the communication channel setting unit 14 assigns a communication channel to the entering vehicle (step S105), and each vehicle is assigned another vehicle. The IP number and the communication channel to be used are notified (step S106), and the process ends.
[0068]
Next, a flowchart for explaining the processing operation of the vehicle management apparatus 2 is shown in FIG.
As shown in the figure, the vehicle management device 2 includes a communication management device 1. ₁ If an IP number of another vehicle entering the intersection and a communication channel to be used are received from (step S201), the communication setting unit 23b changes the setting of the communication processing unit 21 (step S202).
[0069]
Subsequently, the vehicle management device 2 transmits information related to the own vehicle to another vehicle via the communication processing unit 21 (step S203). Then, if the information of the other vehicle which approachs an intersection is received (step S204, Yes), the vehicle management apparatus 2 will perform the situation determination by the situation determination part 23a (step S205).
[0070]
Based on the result of the situation determination in step S205, the vehicle management device 2 executes necessary warning, control, and communication processing (step S206). The communication process in step S206 is to notify other vehicles of a change in the situation due to the control of the host vehicle, and has the effect of improving the accuracy of situation determination in the other vehicles.
[0071]
Thereafter, the vehicle management device 2 determines whether or not the danger in the own vehicle has been avoided (step S207). If the danger still exists (step S207, No), the information on the own vehicle is transmitted to another vehicle again. (Step S203).
[0072]
On the other hand, if the danger in the host vehicle is avoided (step S207, Yes), the vehicle management device 2 ends the process. Here, in determining whether or not the danger in the host vehicle has been avoided, it can be determined that the danger has been avoided, for example, at the stage when the passage of the intersection is completed.
[0073]
As described above, in the first embodiment, a vehicle entering the intersection is specified, and a dedicated communication channel is assigned as needed. Therefore, it is possible to allocate a communication channel having a sufficient communication speed between vehicles having a possibility of collision, and it is possible to effectively use a communication band by suppressing communication between vehicles having no risk of collision. Therefore, it is possible to establish necessary inter-vehicle communication even at intersections where there is a lot of traffic, to avoid crisis using highly immediate communication, and to improve safety.
[0074]
Also, since the image processing is used when identifying the vehicle that enters the intersection, the vehicle that has the possibility of collision is identified without squeezing the communication band, and the vehicle-mounted communication device is not installed. A vehicle can also be detected.
[0075]
(Embodiment 2)
By the way, in the first embodiment, the case where the vehicle entering the intersection is specified by using the image processing and the inter-vehicle communication is established has been described. Further, by predicting the risk of collision of these vehicles. Thus, communication can be established only between vehicles that are predicted to have a high risk of collision, and communication between vehicles without risk of collision can be suppressed to effectively use the communication band.
[0076]
Therefore, in the second embodiment, after identifying vehicles entering the intersection, the risk of collision of those vehicles is predicted, and the case where communication is established only between vehicles with high risk will be shown. .
[0077]
First, the concept of the vehicle communication system according to the second embodiment will be described. FIG. 6 is a conceptual diagram illustrating the concept of the vehicle communication system according to the second embodiment. In FIG. 6, the communication management device 1 is mainly shown. ₂ Vehicles C1 to C9 are traveling at the intersection where is installed.
[0078]
Communication management device 1 ₂ Shoots each road that can enter the intersection as a moving image (or a continuous image), and identifies a vehicle that enters the intersection from the captured image.
In addition, image processing of the captured moving image is performed to predict the risk of collision between vehicles entering the intersection. A dedicated communication channel is allocated between vehicles that are predicted to have a high risk of collision.
[0079]
Specifically, in FIG. 6, vehicles C1, C2, C3, and C7 are approaching the intersection. Here, the vehicle C3 and the vehicle C7 are approaching from the same road, and the vehicle that enters the intersection first is C3. Therefore, the communication management device 1 ₂ Performs image processing on the moving images of the vehicles C1, C2, and C3, and provides direction indicators 30 for each vehicle. ₁ ~ 30 ₃ Grasp the blinking status of.
[0080]
In FIG. 6, the vehicle C1 and the vehicle C3 are the direction indicators 30. ₁ Since is not blinking, it is predicted to go straight. Further, the vehicle C2 has a left turn indicator 30. ₂ Is blinking, it is predicted to turn left. Therefore, it is estimated that the risk of collision between the vehicle C1 and the vehicle C2 is high. Therefore, the communication management device 1 ₂ Assigns the communication channel B1 to the vehicles C1 and C2.
[0081]
Thereafter, the vehicle C1 and the vehicle C2 communicate directly using the assigned communication channel B1. That is, the vehicles C1 and C2 can efficiently perform collision avoidance by transmitting and receiving vehicle information at high speed using a dedicated communication channel.
[0082]
In this way, by predicting the risk of collision and allocating a dedicated communication channel only between high-risk vehicles from among the vehicles entering the intersection, the risk of collision while effectively using the communication band It is possible to prioritize communication between vehicles with a high degree of safety and improve safety.
[0083]
Next, the communication management apparatus 1 according to the second embodiment. ₂ A specific configuration example will be described. FIG. 7 shows the communication management apparatus 1 ₂ It is a schematic block diagram which shows schematic structure of these. Here, the communication management apparatus 1 shown in FIG. ₁ The functional units that play the same roles as those in FIG. 4 are denoted by the same reference numerals, and detailed description thereof is omitted.
[0084]
As shown in FIG. 7, the communication management device 1 ₂ Includes an antenna 10, cameras 11a, 11b, 11c, and 11d, image processing units 12a, 12b, 12c, and 12d, an approaching vehicle specifying unit 13, a communication channel setting unit 14, a notification processing unit 15, and a dangerous vehicle prediction unit 31. Have
[0085]
Each of the cameras 11a to 11d captures a moving image (or a continuous image) of a road that can enter the intersection, and transmits it to the image processing units 12a to 12d. The image processing units 12 a to 12 d extract a vehicle image from the moving images captured by the cameras 11 a to 11 d and transmit the vehicle image to the approaching vehicle specifying unit 13. Here, the image processing units 12a to 12d not only extract the vehicle image but also the vehicle direction indicator 30. ₁ ~ 30 ₉ Extracts information about the blinking state of. The approaching vehicle specifying unit 13 specifies a vehicle entering the intersection based on the vehicle images extracted by the image processing units 12a to 12d.
[0086]
The dangerous vehicle prediction unit 31 performs a process of predicting a vehicle having a high risk of collision among vehicles entering the intersection. That is, the direction indicator 30 extracted by the image processing units 12a to 12d. ₁ ~ 30 ₉ The traveling direction of the vehicle is estimated based on the blinking state information of, and a vehicle with a high risk of collision is predicted.
[0087]
By the way, in FIG. ₁ ~ 30 ₉ The vehicle having a high collision risk is predicted based on the information on the blinking state, but the information used for the prediction is the direction indicator 30. ₁ ~ 30 ₉ It is not limited to the blinking state, and other information obtained by performing image processing may be used. For example, the position and speed of the vehicle, the acceleration / deceleration state, and the like may be analyzed from the captured moving image (or continuous image) to predict whether there is a risk of a collision.
[0088]
The communication channel setting unit 14 performs a process of assigning a dedicated communication channel to a vehicle having a high collision risk predicted by the dangerous vehicle prediction unit 31. Here, if there are two vehicles having a high degree of collision risk as shown in FIG. 6, the communication channel B1 is assigned between the vehicles. Similarly, if there are three vehicles with a high risk of collision, there are three combinations of vehicles, so three communication channels are assigned.
[0089]
The notification processing unit 15 performs a process of transmitting a communication channel to be used with a communication partner vehicle to each vehicle via the antenna 10. Specifically, in the situation of FIG. 6, an IP number for identifying the vehicle C2 and the communication channel B1 are transmitted to the vehicle C1. And the vehicle C1 and the vehicle C2 are the communication management apparatus 1 ₂ Is received by the in-vehicle communication device and communicates directly with each vehicle.
[0090]
Next, the communication management apparatus 1 ₂ A specific processing operation will be described. FIG. 8 shows the communication management apparatus 1 ₂ It is a flowchart explaining the processing operation of. As shown in FIG. ₂ First, shooting of moving images by the cameras 11a to 11d is executed (step S301), and the vehicle image, the license plate image, and the direction indicator 30 are subsequently extracted from the moving images that have been shot. ₁ ~ 30 ₉ Are extracted (step S302).
[0091]
Then, the approach vehicle specific | specification part 13 specifies the vehicle which approachs an intersection (step 303), and determines whether two or more vehicles approach an intersection (step S304). When the number of vehicles entering the intersection is less than two (step S304, No), photographing with the cameras 11a to 11d is executed again (step S301).
[0092]
On the other hand, when the number of vehicles entering the intersection is two or more (step S304, Yes), the dangerous vehicle prediction unit 31 determines the direction indicator 30 of the vehicle entering the intersection. ₁ ~ 30 ₉ The traveling direction of the vehicle is estimated from the image of (1), and the collision risk of each vehicle is predicted (step S305).
[0093]
And the communication channel setting part 14 allocates a communication channel with respect to the vehicle with high collision risk (step S306), and notifies each vehicle's IP number and the communication channel which should be used (step). S307), the process is terminated.
[0094]
As described above, in the second embodiment, a dedicated communication channel is assigned as needed only to vehicles predicted to have a high risk of collision among vehicles entering the intersection. Therefore, by assigning a communication channel having a sufficient communication speed only between vehicles having a high possibility of a collision, communication between vehicles with a low risk of a collision can be suppressed and a communication band can be used effectively.
[0095]
(Embodiment 3)
By the way, in Embodiment 1 or 2, the vehicle entering the intersection is photographed by the camera, and the vehicle having the possibility of collision is specified by performing image processing on the image. However, the vehicle entering the intersection By receiving information such as the vehicle's position, speed, and direction of travel from the vehicle, it is possible to reliably detect even vehicles that are not visible in the image behind other vehicles by identifying vehicles that may collide. May be.
[0096]
Therefore, in the third embodiment, an information collecting device that receives information related to the traveling state of a vehicle from a vehicle entering the intersection is installed before the intersection to identify a vehicle that may collide. I will show you.
[0097]
First, the concept of the vehicle communication system according to the third embodiment will be described. FIG. 9 is a conceptual diagram illustrating the concept of the vehicle communication system according to the third embodiment. In FIG. 9, the communication management device 1 is mainly shown. ₃ Vehicles C1 to C10 are traveling at the intersection where is installed.
[0098]
Specifically, in FIG. 9, vehicles C1, C2, C3, C4, and C8 approach the intersection, vehicles C1, C3, and C8 go straight, vehicle C2 turns left, and vehicle C4 turns right. Here, the lane in which the vehicle C2 is traveling is not prioritized over the lane in which the vehicles C1, C3, C4, and C8 are traveling, and is defined to stop at the temporary stop line L1.
[0099]
Each vehicle has an information collecting device 4 installed on the side of the road before the intersection. ₁ ~ 4 ₄ And a vehicle management device that integrates a vehicle-mounted communication device that communicates with other vehicles and a vehicle control function. And information collecting device 4 ₁ ~ 4 ₄ In contrast, information such as the IP number of the host vehicle, the position of the vehicle, the speed, the acceleration / deceleration status, the size of the vehicle, the direction indicated by the direction indicator, and the route to the destination in the car navigation system are transmitted.
[0100]
Information collection device 4 ₁ ~ 4 ₄ Receives the information transmitted from the vehicle entering the intersection and uses the received information as the communication management device 1 ₃ Send to. Therefore, even when another vehicle C4 is hidden behind the vehicle C3 entering the intersection and it is difficult to recognize the vehicle C4 with the camera described in the first or second embodiment, the vehicle C4 Can be reliably detected and information can be collected.
[0101]
Here, the information collecting device 4 ₁ ~ 4 ₄ However, the installation location is not limited to this, and it may be installed anywhere as long as the vehicle information can be acquired.
[0102]
Further, information such as the vehicle IP number, position, and speed is obtained from the information collecting device 4. ₁ ~ 4 ₄ Is received from the vehicle, as described in the first or second embodiment, the vehicle entering the intersection is photographed with a camera, and part of the information is acquired by performing image processing. It is good.
[0103]
Communication management device 1 ₃ Is the information collecting device 4 ₁ ~ 4 ₄ After the vehicle information is received from the vehicle, a vehicle at risk of collision is extracted based on the information, and a process of assigning a dedicated communication channel B1 between the extracted vehicles is performed.
[0104]
In addition, the information collecting device 4 installed in the lane where the temporary stop line L1 is located ₂ Simply transmits the acquired information to the communication management device 1 ₃ In addition, a stop signal is transmitted to the vehicle C2 entering the intersection to urge the vehicle to stop at the temporary stop line L1. And the vehicle C2 which received the stop signal performs control required in order to stop.
[0105]
When a stop signal is transmitted to the vehicle C2, the information collecting device 4 ₂ Communicates information about the vehicle C2 with the communication management device 1 ₃ Do not send to. As a result, the vehicle C2 having a low risk of collision can be excluded from the communication target, and a communication channel can be preferentially assigned to a vehicle having a high risk, so that the communication band can be used effectively.
[0106]
If the vehicle C2 does not stop at the temporary stop line L1 despite the transmission of the stop signal, the information collecting device 4 ₂ Communicates information about the vehicle C2 with the communication management device 1 ₃ Send to. And the communication management apparatus 1 ₃ Establishes a communication channel with a vehicle at high risk of collision.
[0107]
In addition, although the example of a temporary stop lane was shown here as a non-priority lane, a non-priority lane is not limited to a temporary stop lane, and priority / non-priority is prescribed | regulated by the traffic signal installed in the intersection The same vehicle communication system can be applied to cases. In this case, the lighting information of the traffic light is used as the information collecting device 4. ₁ ~ 4 ₄ Is obtained, the priority / non-priority of the lane is determined, and the same processing as described in the example of the temporarily stopped lane is performed.
[0108]
Further, here, the communication management apparatus 1 ₃ However, the information collecting device 4 ₁ ~ 4 ₄ Received information about each vehicle collected by the company and assigned a communication channel to vehicles at risk of collision. However, information about each vehicle was installed at a location different from the intersection, and the information was concentrated. It is also possible to transmit to a centralized management device that manages the system, and the centralized management device assigns a communication channel to a vehicle at risk of collision.
[0109]
Next, a specific configuration example of the vehicle communication system according to the third embodiment will be described. FIG. 10 is a schematic configuration diagram illustrating a schematic configuration of the vehicle communication system according to the third embodiment. As shown in FIG. 10, the vehicle communication system includes an information collecting device 4 ₁ ~ 4 ₄ And communication management device 1 ₃ Are connected via a communication cable 50.
[0110]
Information collection device 4 ₁ ~ 4 ₄ Is installed on the road in front of the intersection, receives information such as the IP number, vehicle position or speed information from the vehicle, and uses the received information as the communication management device 1 ₃ It is the device which transmits to. This information collection device 4 ₁ ~ 4 ₄ Antenna 40 ₁ ~ 40 ₄ And an information transmitting / receiving unit 41 and a lane determining unit 42.
[0111]
The information transmitting / receiving unit 41 includes an antenna 40. ₁ ~ 40 ₄ The information of the vehicle that enters the intersection is obtained via the communication management device 1 ₃ Process to send to. However, when the lane of the vehicle that has received the information is a non-priority lane with the temporary stop line L1 or L2, processing for transmitting a stop signal to the vehicle is performed. Only when the vehicle cannot be stopped at the temporary stop line L1 or L2, information on the vehicle is transmitted to the communication management device 1. ₃ Send to.
[0112]
The lane determination unit 42 determines whether or not the lane of the vehicle that has received the information is a priority lane, and performs processing to notify the information transmission / reception unit 41. This determination is made based on pre-stored lane priority / non-priority information.
[0113]
Communication management device 1 ₃ Includes an antenna 10, a dangerous vehicle prediction unit 31, a communication channel setting unit 14, and a communication processing unit 15. Here, the communication management apparatus 1 shown in FIG. ₂ The functional units that play the same roles as those in FIG. 4 are denoted by the same reference numerals, and detailed description thereof is omitted.
[0114]
The dangerous vehicle prediction unit 31 includes the information collecting device 4 ₁ ~ 4 ₄ Based on the information received from the vehicle, a process for predicting a vehicle having a high risk of collision among vehicles entering the intersection is performed. That is, based on information such as the position, speed, and route of each vehicle, the traveling direction of the vehicle is estimated and a vehicle with a high risk of collision is predicted.
[0115]
The communication channel setting unit 14 performs a process of assigning a dedicated communication channel to a vehicle having a high collision risk predicted by the dangerous vehicle prediction unit 31. The communication processing unit 15 performs a process of transmitting a communication channel B1 to be used with a communication partner vehicle to each vehicle via the antenna 10. And the vehicle which received the information of communication channel B1 by the vehicle-mounted communication apparatus performs communication between vehicles directly using the communication channel B1.
[0116]
Next, information collection device 4 ₁ ~ 4 ₄ A specific processing operation will be described. FIG. 11 shows the information collecting device 4 ₁ ~ 4 ₄ It is a flowchart explaining the processing operation of. As shown in FIG. ₁ ~ 4 ₄ First, information on vehicles entering the intersection is received (step S401).
[0117]
Subsequently, it is determined whether the lane of the vehicle that has received the information is a priority lane (step S402). If the lane is a priority lane (step S402, Yes), the received vehicle information is transmitted to the communication management device 1. ₃ (Step S403).
[0118]
On the other hand, when the lane of the vehicle that has received the information is a non-priority lane (No at Step S402), a stop signal is transmitted to the vehicle (Step S404). Then, the travel information is received again from the vehicle (step S405), and it is checked whether or not the vehicle has stopped (step S406).
[0119]
If the vehicle has stopped (step S406, Yes), the process ends. When the vehicle has not stopped (step S406, No), the received vehicle information is transmitted to the communication management device 1. ₃ (Step S403), and the process ends.
[0120]
As described above, in the third embodiment, information such as position and speed is received from the vehicle entering the intersection, and the vehicle at risk of collision is extracted, so the vehicle enters the intersection. Even when another vehicle is hidden behind a coming vehicle, the vehicle can be detected reliably, and necessary vehicle-to-vehicle communication is established even at intersections with heavy traffic, improving safety. be able to.
[0121]
In addition, since a stop signal is transmitted before a vehicle traveling in a non-priority lane enters the intersection, it is excluded from the target of inter-vehicle communication when it stops. And the communication band can be used effectively.
[0122]
(Embodiment 4)
By the way, in the said Embodiment 1-3, it was decided that the communication management apparatus which manages the communication between vehicles will allocate the communication channel with respect to the vehicles with the danger of a collision, but each vehicle has the danger of a collision. It is good also as performing highly immediate communication by extracting a certain other party vehicle and establishing a communication channel between the extracted vehicles.
[0123]
Therefore, in the fourth embodiment, a case will be described in which each vehicle extracts a partner vehicle at risk of collision and establishes a communication channel with the extracted vehicle.
[0124]
First, the concept of the vehicle communication system according to the fourth embodiment will be described. FIG. 12 is a conceptual diagram illustrating the concept of the vehicle communication system according to the fourth embodiment. In FIG. 12, the channel allocation device 5 ₁ ~ 5 ₄ And channel release device 6 ₁ ~ 6 ₄ Vehicles C1 to C10 are traveling at the intersection where is installed.
[0125]
Specifically, the vehicles C1, C2, C3, and C10 are approaching the intersection, and the vehicle C4 is traveling in the intersection. Here, the vehicle C4 is about to pass through the intersection, and the danger to the other vehicles C1, C2, and C3 is low. Further, the vehicle C10 is far away from the intersection, and the risk to the other vehicles C1, C2, C3 is low.
[0126]
Channel assignment device 5 ₁ ~ 5 ₄ Detects a vehicle entering the intersection, assigns a communication channel for transmitting information of the own vehicle to each vehicle, and transmits information of the communication channel assigned to each vehicle.
[0127]
The frequency band of this communication channel is common to each vehicle, and the frequency band is time-divided and assigned to each vehicle. That is, each vehicle transmits information on its own vehicle to another vehicle using a time-division communication channel having a common frequency band.
[0128]
Here, the information transmitted to the other vehicle is the IP number or position information of the host vehicle. In addition, the speed of the host vehicle, the acceleration / deceleration status, the size of the vehicle, the direction indicated by the direction indicator, the route to the destination in the car navigation system, and the like may be transmitted.
[0129]
In addition, the channel assignment device 5 ₁ ~ 5 ₄ Monitors which communication channel is in use among communication channels used for communication between vehicles, and transmits information on unused communication channels to each vehicle. This communication channel is different from the time-divided communication channel used in common by the above-mentioned vehicles, and is used exclusively for communication between vehicles having a risk of collision.
[0130]
Channel release device 6 ₁ ~ 6 ₄ Performs a process of releasing the assigned communication channel when each vehicle assigned the time-divided communication channel leaves the intersection.
[0131]
Further, each of the vehicles C1 to C10 is equipped with a vehicle management device that integrates an in-vehicle communication device that performs inter-vehicle communication and a vehicle control function. This vehicle management apparatus receives information transmitted from each vehicle using a time-division communication channel, extracts a vehicle that may collide with the own vehicle, and communicates exclusively with the vehicle. Establish a channel. And the process which controls so that the danger is avoided is performed.
[0132]
When establishing a dedicated communication channel between vehicles, communication with the partner vehicle is started when at least one vehicle determines that there is a risk of collision. Thereby, crisis avoidance can be performed immediately and safety can be improved.
[0133]
FIG. 13 is a conceptual diagram illustrating the concept of communication channels assigned to each vehicle. As shown in the figure, the frequency band common to each vehicle is divided at times T1 to T7, and the divided communication channels are vehicles C4, C2, C3, C1 and a channel allocation device 5. ₁ ~ 5 ₄ Assigned to.
[0134]
Each vehicle has a channel assignment device 5 ₁ ~ 5 ₄ When the communication time zone assigned by is reached, the IP number and position information of the host vehicle are transmitted to other vehicles. The other vehicle receives the information, and establishes a new communication channel and communicates with the vehicle determined to be in danger of collision with the host vehicle from the position information.
[0135]
In addition, the channel assignment device 5 ₁ ~ 5 ₄ Monitors which communication channel is in use for inter-vehicle communication, and transmits information on unused communication channels that can be used for communication between vehicles when the communication time zone assigned to the device is reached. To do. By receiving the information, each vehicle can select a communication channel to be used with the vehicle at risk of collision.
[0136]
Here, the vehicles C1 to C10 and the channel allocation device 5 ₁ ~ 5 ₄ It is necessary to make the times coincide with each other, but this can be made coincident by using a GPS or a radio timepiece that receives a time signal.
[0137]
Returning to FIG. 12, each of the vehicles C1, C2, and C3 that are about to enter the intersection and the vehicle C4 that is in the intersection receive the IP number and position information transmitted by each vehicle, and A vehicle having a risk of collision is extracted, and a communication channel is established with the extracted vehicle. However, since the vehicle C4 is already at the position of exiting the intersection, it is determined that there is no danger, and the communication channels B1, B2, and B3 are established only between the vehicles C1, C2, and C3.
[0138]
In this way, each vehicle receives information transmitted from other vehicles, extracts vehicles that are at risk of collision with the host vehicle, and establishes a communication channel with the extracted vehicles as needed. Thus, it is possible to prioritize communication between vehicles having a possibility of collision while effectively using the communication band, and improve safety.
[0139]
Next, specific processing operations of the vehicle management device mounted on each vehicle will be described. FIG. 14 is a flowchart for explaining a processing operation in which the vehicle management device transmits information on the own vehicle. As shown in the figure, the vehicle management device firstly transmits information on the communication time zone assigned to the host vehicle to the channel assignment device 5. ₁ ~ 5 ₄ (Step S501).
[0140]
Subsequently, the vehicle management device operates as the channel release device 6. ₁ ~ 6 ₄ It is determined whether or not a release signal instructing to release the assigned communication time zone is received (step S502). When the release signal is received (step S502, Yes), the vehicle management device deletes the information of the communication time zone assigned to the own vehicle (step S503), and ends the process.
[0141]
When the release signal has not been received (step S502, No), the vehicle management device determines whether or not the current time is a communication time zone assigned to the host vehicle (step S504). If the current time is the assigned communication time zone (step S504, Yes), the host vehicle's IP number and position information are transmitted to the other vehicle (step S505). If the current time is not the assigned communication time zone (step S504, No), it is determined again whether a release signal has been received (step S502).
[0142]
FIG. 15 is a flowchart for explaining a processing operation in which the vehicle management device avoids danger. As shown in the figure, the vehicle management apparatus first receives the IP number, position information, and inter-vehicle communication channel information of the other vehicle (step S601). Then, the vehicle management device extracts a vehicle that has a risk of collision with the host vehicle based on the received information (step S602).
[0143]
Subsequently, the vehicle management device sets a communication channel with the extracted vehicle (step S603). In setting, an unused communication channel is selected and set based on the received inter-vehicle communication channel information. And a vehicle management apparatus communicates between vehicles using the set communication channel (step S604).
[0144]
Thereafter, the vehicle management device executes situation determination to determine a situation in which the host vehicle is actually greeted (step S605). Based on the result, the vehicle management apparatus performs warning processing for the driver, control of brakes and accelerators for the host vehicle, and communication processing (step S606).
[0145]
The communication process in step S606 is to notify other vehicles of changes in the situation due to the control of the host vehicle, and has the effect of improving the accuracy of situation determination in other vehicles.
[0146]
Subsequently, the vehicle management apparatus determines whether or not the danger in the host vehicle has been avoided (step S607). The vehicle communicates with the other vehicle (step S604). On the other hand, if the danger in the own vehicle is avoided (step S607, Yes), the vehicle management device ends the process.
[0147]
As described above, in the fourth embodiment, each vehicle extracts a vehicle that has a risk of collision, and establishes a communication channel with the extracted vehicle. Therefore, it is possible to allocate a communication channel having a sufficient communication speed between vehicles having a possibility of collision, and it is possible to effectively use a communication band by suppressing communication between vehicles having no risk of collision.
[0148]
【The invention's effect】
As described above, according to the first aspect of the present invention, the vehicle communication system determines the situation of the vehicle, selects a vehicle to be preferentially communicated based on the determination result, and selects the selected vehicle. Since a dedicated communication channel is assigned to perform communication between vehicles, a vehicle communication system that effectively uses the communication band of vehicle-to-vehicle communication and prioritizes communication between vehicles with a possibility of a collision to improve safety. The effect that is obtained.
[0149]
According to the invention of claim 2, the vehicle communication system captures an image in the vicinity of the intersection, selects a vehicle that enters the intersection from the captured image, assigns a dedicated communication channel to the selected vehicle, and communicates between the vehicles. Since communication is performed, the vehicle communication system with improved safety can be obtained by using the communication band for inter-vehicle communication more effectively and giving priority to the communication between vehicles having a possibility of collision.
[0150]
According to the invention of claim 3, the vehicle communication system predicts the risk of collision of a vehicle entering the intersection from the photographed image of the vicinity of the intersection, and dedicated communication for the vehicle predicted to be high in risk. Since communication between vehicles is performed by allocating channels, a vehicle communication system with improved safety can be obtained by more effectively using the communication band of communication between vehicles and giving priority to communication between vehicles with a high possibility of collision. There is an effect that is.
[0151]
According to the invention of claim 4, the vehicle communication system receives information on the vehicle from the vehicle, determines the vehicle status based on the received information, and preferentially communicates based on the determination result. Select the vehicle to be used and assign a dedicated communication channel to the selected vehicle for communication between vehicles, so that the vehicle can be detected reliably and the communication band for inter-vehicle communication is used effectively. The vehicle communication system with improved safety can be obtained by giving priority to the communication between vehicles having a possibility of collision.
[0152]
According to the invention of claim 5, the vehicle communication system receives information on the vehicle transmitted by the vehicle using a communication channel that is time-divisionally assigned to the vehicle, and receives the received information on the vehicle. Based on the vehicle status, select the vehicle to communicate with priority based on the result of the determination, assign a dedicated communication channel to the selected vehicle, and communicate between vehicles. The vehicle information can be collected by effectively using the communication band, and the vehicle communication system with improved safety can be obtained by giving priority to the communication between vehicles having a possibility of collision.
[0153]
According to the invention of claim 6, the vehicle communication system transmits information instructing the operation to the vehicle capable of defining the operation based on the result of determining the condition of the vehicle, and transmits the information. Select a vehicle to communicate with priority from other than the vehicle, assign a dedicated communication channel to the selected vehicle, and perform communication between vehicles. There is an effect that a vehicle communication system with improved safety can be obtained by giving priority to communication between vehicles with possibility.
[0154]
According to the invention of claim 7, the vehicle communication method determines a vehicle situation, selects a vehicle to be preferentially communicated based on the determination result, and sets a dedicated communication channel for the selected vehicle. Since the communication between vehicles is performed by allocating, the vehicle communication method that improves the safety by effectively using the communication band of the communication between vehicles and giving priority to the communication between vehicles having a possibility of collision can be obtained. Play.
[0155]
According to the eighth aspect of the invention, in the vehicle communication method, an image near the intersection is taken, a vehicle that enters the intersection is selected from the taken image, a dedicated communication channel is assigned to the selected vehicle, and the vehicle communication method Since communication is performed, there is an effect that a vehicle communication method with improved safety can be obtained by more effectively using the communication band of the inter-vehicle communication and giving priority to the communication between vehicles having a possibility of collision.
[0156]
According to the invention of claim 9, the vehicle communication method predicts the risk of collision of a vehicle entering the intersection from the photographed image of the vicinity of the intersection, and communicates exclusively for the vehicle predicted to be high in risk. Since communication between vehicles is performed by allocating channels, a vehicle communication method that improves safety by using the communication band of inter-vehicle communication more effectively and prioritizing communication between vehicles with high possibility of collision is obtained. There is an effect that is.
[0157]
According to the invention of claim 10, the vehicle communication method receives information about the vehicle from the vehicle, determines the vehicle status based on the received information, and preferentially communicates based on the determination result. Select the vehicle to be used and assign a dedicated communication channel to the selected vehicle for communication between vehicles, so that the vehicle can be detected reliably and the communication band for inter-vehicle communication is used effectively. The vehicle communication method with improved safety can be obtained by giving priority to communication between vehicles having a possibility of collision.
[0158]
According to the invention of claim 11, the vehicle communication method receives information on a vehicle transmitted from the vehicle using a communication channel that is time-divisionally assigned to each vehicle, and based on the received information. The vehicle status is determined, the vehicle to be preferentially communicated is selected based on the determination result, and a dedicated communication channel is assigned to the selected vehicle for communication between the vehicles. The vehicle band can be collected by effectively using the communication band, and the vehicle communication method with improved safety can be obtained by giving priority to communication between vehicles having a possibility of collision.
[0159]
According to a twelfth aspect of the present invention, the vehicle communication method transmits information for instructing an operation to a vehicle capable of defining the operation based on the result of determining the condition of the vehicle and transmits the information. Select a vehicle to communicate with priority from other than the vehicle, assign a dedicated communication channel to the selected vehicle, and perform communication between vehicles. There is an effect that a vehicle communication method with improved safety can be obtained by giving priority to communication between vehicles with possibility.
[0160]
According to the invention of claim 13, the in-vehicle communication device receives channel information related to a communication channel used by the own vehicle for communication with the other vehicle, sets the communication channel based on the received information, and As a result, the in-vehicle communication device with improved safety can be obtained by using the communication band of the inter-vehicle communication effectively and giving priority to the communication between the vehicles having the possibility of collision.
[0161]
According to the invention of claim 14, the in-vehicle communication device selects and selects a vehicle to be preferentially communicated by transmitting and receiving information about the vehicle and determining the state of the vehicle based on the received information. Since the communication channel with the other vehicle is set to communicate with the other vehicle, it is possible to determine a vehicle with a possibility of collision without requiring a device installed outside the vehicle, There is an effect that an in-vehicle communication device with improved safety can be obtained by effectively using the communication band of the inter-vehicle communication and giving priority to the communication between vehicles having a possibility of collision.
[0162]
According to the fifteenth aspect of the present invention, the in-vehicle communication device transmits and receives information about the vehicle using a communication channel that is time-divisionally assigned to each vehicle, and determines the state of the vehicle based on the received information. Select the vehicle to communicate with priority, set the communication channel with the selected vehicle and communicate with the partner vehicle, so collect information of each vehicle by effectively using the communication band In addition, there is an effect that an in-vehicle communication device with improved safety can be obtained by giving priority to communication between vehicles having a possibility of collision.
[0163]
According to the invention of claim 16, the vehicle communication management device determines the situation of the vehicle, selects a vehicle to be preferentially communicated based on the determination result, assigns a dedicated communication channel, and Since the communication channel assigned to the vehicle and the communication partner vehicle are notified, the communication band of the vehicle-to-vehicle communication is effectively used, and the communication between vehicles with a possibility of collision is prioritized to improve safety. There is an effect that a vehicle communication management device is obtained.
[0164]
According to the invention of claim 17, the vehicle communication management device captures an image in the vicinity of the intersection, selects a vehicle entering the intersection from the captured image, assigns a dedicated communication channel to the selected vehicle, and Since the communication channel assigned to the vehicle and the communication partner's vehicle are notified, the communication band of vehicle-to-vehicle communication is used more effectively, and communication between vehicles with a possibility of collision is prioritized to improve safety. The vehicle communication management device can be obtained.
[0165]
According to the invention of claim 18, the vehicle communication management device captures an image near the intersection, predicts the risk of collision of a vehicle entering the intersection from the captured image, and is predicted to have a high risk. Since communication between vehicles is performed by assigning dedicated communication channels to vehicles, safety is improved by using communication bandwidth of inter-vehicle communication more effectively and giving priority to communication between vehicles with high possibility of collision There exists an effect that a vehicle communication management device is obtained.
[0166]
According to a nineteenth aspect of the present invention, the vehicle information collecting apparatus receives information on a vehicle entering the intersection from the vehicle, and based on the received information on the vehicle, the vehicle information collecting device determines whether the vehicle can be regulated. Since the information instructing the operation is transmitted and the information on the vehicle other than the vehicle capable of defining the operation is transmitted to the inter-vehicle communication management device that manages the communication between the vehicles, the vehicle can be reliably detected, Vehicle information collection device that improves safety by suppressing communication between vehicles with low possibility of collision and effectively using communication band of communication between vehicles and giving priority to communication between vehicles with possibility of collision The effect that is obtained.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram for explaining the concept of a vehicle communication system according to a first embodiment of the present invention.
FIG. 2 is a schematic configuration diagram showing a schematic configuration of the communication management apparatus shown in FIG. 1;
FIG. 3 is a schematic configuration diagram showing a schematic configuration of an in-vehicle communication device mounted on the vehicle shown in FIG. 1;
4 is a flowchart for explaining a processing operation of the communication management apparatus shown in FIG. 2;
FIG. 5 is a flowchart for explaining a processing operation of the vehicle management apparatus shown in FIG. 3;
FIG. 6 is a conceptual diagram illustrating the concept of a vehicle communication system according to a second embodiment of the present invention.
7 is a schematic configuration diagram showing a schematic configuration of the communication management apparatus shown in FIG. 6;
FIG. 8 is a flowchart for explaining a processing operation of the communication management apparatus shown in FIG. 6;
FIG. 9 is a conceptual diagram illustrating the concept of a vehicle communication system according to a third embodiment of the present invention.
10 is a schematic configuration diagram showing a schematic configuration of the vehicle communication system shown in FIG. 9;
11 is a flowchart for explaining processing operations of the information collecting apparatus shown in FIG. 9;
FIG. 12 is a conceptual diagram illustrating the concept of a vehicle communication system according to a fourth embodiment of the present invention.
FIG. 13 is a conceptual diagram illustrating the concept of communication channels assigned to each vehicle.
FIG. 14 is a flowchart illustrating a processing operation in which the vehicle management device transmits information on the own vehicle.
FIG. 15 is a flowchart illustrating a processing operation in which the vehicle management device avoids danger.
[Explanation of symbols]
1 ₁ , 1 ₂ , 1 ₃ Communication management device
2 Vehicle management device
3 GPS receiver
4 ₁ ~ 4 ₄ Information collection device
5 ₁ ~ 5 ₄ Channel assignment device
6 ₁ ~ 6 ₄ Channel release device
10, 20, 40 ₁ ~ 40 ₄ antenna
11a-11d camera
12a to 12d Image processing unit
13 Vehicle entry section
14 Communication channel setting section
15 Notification processor
21 Communication processing unit
22 Location information acquisition unit
23 Main control unit
23a Situation determination unit
23b Communication setting section
24 Warning processing section
25 Control processing section
30 ₁ ~ 30 ₉ Direction indicator
31 Dangerous vehicle prediction unit
41 Information transceiver
42 Lane judgment part
C1-C10 vehicle
B1-B3 communication channel
L1, L2 temporary stop line

Claims (19)

A vehicle communication system for performing communication between vehicles,
Vehicle status determination means for determining the status of the vehicle;
Vehicle selection means for selecting a vehicle to be preferentially communicated based on the determination result by the vehicle status determination means;
A vehicle communication system, comprising: an assigning unit that assigns a dedicated communication channel to the vehicle to be preferentially communicated. The vehicle situation determination means captures an image in the vicinity of an intersection, and the vehicle selection means selects a vehicle entering the intersection based on the image captured by the vehicle situation determination means. The vehicle communication system according to Item 1. The vehicle selection means predicts the risk of collision of a vehicle entering the intersection based on the image taken by the vehicle situation determination means, and selects a vehicle predicted to have a high risk. The vehicle communication system according to claim 2, wherein 4. The vehicle communication system according to claim 1, wherein the vehicle status determination unit receives information about the vehicle from the vehicle and determines the status of the vehicle based on the received information. The vehicle transmits information related to the vehicle using a communication channel that is time-divided and assigned to the vehicle, and the vehicle status determination means receives the information related to the vehicle, and the vehicle based on the received information The vehicle communication system according to claim 4, wherein the situation is determined. The vehicle selection means transmits information instructing the operation to a vehicle capable of defining the operation based on the determination result by the vehicle condition determination means, and communicates with priority from other than the vehicle that transmitted the information. The vehicle communication system according to any one of claims 1 to 5, wherein a vehicle to be performed is selected. A vehicle communication method for performing communication between vehicles,
A vehicle status determination step for determining the status of the vehicle;
Based on the determination result by the vehicle state determination step, a vehicle selection step for selecting a vehicle to be preferentially communicated, and
An allocating step of allocating a dedicated communication channel to the vehicle to be preferentially communicated. The vehicle situation determination step captures an image in the vicinity of an intersection, and the vehicle selection step selects a vehicle that enters the intersection based on the image captured in the vehicle situation determination step. Item 8. The vehicle communication method according to Item 7. The vehicle selection step predicts a collision risk level of a vehicle entering the intersection based on the image taken in the vehicle situation determination step, and selects a vehicle that is predicted to have a high risk level. The vehicle communication method according to claim 8, wherein: 10. The vehicle communication method according to claim 7, 8 or 9, wherein the vehicle situation determination step receives information about the vehicle from the vehicle and determines the situation of the vehicle based on the received information. The vehicle status determination step receives information on the vehicle transmitted from the vehicle using a communication channel that is time-divided and assigned to each vehicle, and determines the status of the vehicle based on the received information. The vehicle communication method according to claim 10. The vehicle selection step transmits information instructing the operation to a vehicle that can define the operation based on the determination result determined by the vehicle state determination step, and gives priority to the vehicle other than the vehicle that transmitted the information. The vehicle communication method according to any one of claims 7 to 11, wherein a vehicle to be communicated is selected. An in-vehicle communication device used for communication between vehicles,
Communication information receiving means for receiving channel information related to a communication channel used by the own vehicle for communication with the opponent vehicle;
Communication setting means for setting a communication channel based on the information received by the communication information receiving means;
An in-vehicle communication device comprising: a communication unit that communicates with a partner vehicle using a communication channel set by the communication setting unit. An in-vehicle communication device used for communication between vehicles,
Information transmitting and receiving means for transmitting and receiving information about the vehicle;
Vehicle status determination means for determining the status of the vehicle based on the information received by the information transmission / reception means;
Vehicle selection means for selecting a vehicle to be preferentially communicated based on the determination result by the vehicle status determination means;
Communication setting means for setting a communication channel with the vehicle selected by the vehicle selection means;
An in-vehicle communication device comprising: a communication unit that communicates with a partner vehicle using a communication channel set by the communication setting unit. 15. The in-vehicle communication device according to claim 14, wherein the information transmitting / receiving unit transmits / receives information about the vehicle using a communication channel that is time-divisionally assigned to each vehicle. A vehicle communication management device for managing communication between vehicles,
Vehicle status determination means for determining the status of the vehicle;
Vehicle selection means for selecting a vehicle to be preferentially communicated based on the determination result by the vehicle status determination means;
An assigning means for assigning a dedicated communication channel to the vehicle to communicate with priority;
A vehicle communication management device comprising: communication information transmitting means for transmitting, to a vehicle to which the communication channel is assigned, information relating to the assigned communication channel and information relating to a communication partner vehicle via the communication channel. . The vehicle situation determination means captures an image in the vicinity of an intersection, and the vehicle selection means selects a vehicle entering the intersection based on the image captured by the vehicle situation determination means. Item 17. The vehicle communication management device according to Item 16. The vehicle selection means predicts the risk of collision of a vehicle entering the intersection based on the image taken by the vehicle situation determination means, and selects a vehicle predicted to have a high risk. The vehicle communication management device according to claim 17, characterized in that: A vehicle information collection device for collecting vehicle information,
Vehicle information receiving means for receiving information on the vehicle entering the intersection from the vehicle;
Based on the information about the vehicle received by the vehicle information receiving means, information that instructs the operation of the vehicle is transmitted to the vehicle that can specify the operation, and information about the vehicle other than the vehicle that can specify the operation is transmitted between the vehicles. A vehicle information collection device comprising: vehicle information transmission means for transmitting to an inter-vehicle communication management device for managing communication.

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