JP2008011343A - Vehicle-to-vehicle communication system and vehicle-to-vehicle communication method - Google Patents

Vehicle-to-vehicle communication system and vehicle-to-vehicle communication method Download PDF

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JP2008011343A
JP2008011343A JP2006181438A JP2006181438A JP2008011343A JP 2008011343 A JP2008011343 A JP 2008011343A JP 2006181438 A JP2006181438 A JP 2006181438A JP 2006181438 A JP2006181438 A JP 2006181438A JP 2008011343 A JP2008011343 A JP 2008011343A
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vehicle
information
priority
inter
vehicles
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JP2006181438A
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Satoshi Abe
Akihiro Mitsunaga
明弘 光永
智 阿部
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Oki Electric Ind Co Ltd
沖電気工業株式会社
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Abstract

An object of the present invention is to improve communication quality and improve reliability of a safety support application.
A vehicle-to-vehicle communication system in which a plurality of vehicles exchange information on the position, speed, etc. of the vehicle with each other and apply crisis avoidance means based on the information. Priority determination means for determining the information priority of the vehicle, and transmission cycle determination for determining a transmission cycle of information to be transmitted next by the vehicle based on the priority information provided from the priority determination means It comprised with the means. A relay device that relays information on these neighboring vehicles is provided between the plurality of neighboring vehicles, and the relay device has priority judging means for judging the priority of the information received from the neighboring vehicles, and the priority judgment. Priority processing determining means for determining whether or not to preferentially process information from the surrounding vehicle based on priority information provided from the means.
[Selection] Figure 1

Description

  The present invention relates to a vehicle-to-vehicle communication system and a vehicle-to-vehicle communication method in which a plurality of vehicles exchange information such as the position and speed of the vehicle with each other and apply crisis avoidance means based on the information.

  Conventionally, inter-vehicle communication is based on wireless communication technology using autonomous decentralized control, and the vehicles directly communicate with each other without providing any infrastructure such as roadside devices, thereby providing safety support and entertainment information during vehicle travel. It is intended to be realized. However, when a large number of vehicles transmit information, a plurality of vehicles that transmit information at the same time have a problem that a delay until the transmission is completed increases or a communication failure occurs due to a collision. In addition, when all the vehicles transmit information at a fixed period, once simultaneous transmission by a plurality of vehicles occurs, simultaneous transmission by a plurality of vehicles repeatedly occurs in the next cycle or more, and the communication quality does not improve. there were. As a countermeasure against this problem, by setting the access method to CSMA, carrier sense is performed when transmission traffic occurs, while waiting for transmission of other vehicles, transmission is started after a randomly determined time has elapsed. Methods for avoiding collisions are generally known.

Patent Document 1 proposes an inter-vehicle communication device that reduces the transmission output of inter-vehicle communication when the degree of congestion of inter-vehicle communication increases.
JP-A-2005-39665

  However, even in the case of CSMA, which is the conventional method described above, when a plurality of vehicles try to transmit almost simultaneously, the vehicles other than the vehicle that has started the transmission first will wait until the transmission starts, thus solving the increase in delay. I can't do it. Furthermore, in CSMA, carrier sense is performed and transmission is started after confirming that the other vehicle is not transmitting. However, if the delay during this period cannot be ignored, if another vehicle attempts to start transmission during this time, communication due to collision occurs. Since a failure occurs, there is a problem that a plurality of vehicles that try to start transmission almost simultaneously have a higher probability of communication failure.

  In particular, in the case of vehicles and repeaters with high-priority information, if a collision occurs, there is a problem that the reliability of the safety support application decreases, and it is required to reduce the probability that the collision will occur. It was.

  In the inter-vehicle communication device of Patent Document 1, communication can be ensured to some extent by lowering the transmission output of inter-vehicle communication. Even in this case, information with high priority is transmitted after information with low priority. However, there remains a problem that reliability as a safety support application is lowered.

  The present invention has been made in view of the above problems, and in a vehicle-to-vehicle communication system in which a plurality of vehicles mutually exchange information such as the position and speed of the own vehicle and based on the information, the information on the own vehicle is provided. Priority determining means for determining priority, and priority processing determining means for determining whether or not the information to be transmitted next by the own vehicle is preferentially processed based on the priority information provided from the priority determining means. It is characterized by comprising.

  With this configuration, the priority determination unit determines the information priority of the own vehicle, and the priority processing determination unit determines whether or not the information to be transmitted next by the own vehicle based on the priority information. Determine.

  The inter-vehicle communication system detects a vehicle state of the host vehicle, performs processing according to a difference in priority between the priority determination unit and the priority processing determination unit, and transmits the vehicle state information to surrounding vehicles. A vehicle state detection process for other vehicles, and a vehicle state detection process for the own vehicle that detects the vehicle state of the own vehicle in consideration of the information of the surrounding vehicles and notifies the driver of the own vehicle when necessary. Is desirable.

  With this configuration, the vehicle state of the host vehicle is detected in the vehicle state detection process for the other vehicle, and the priority determination unit and the priority process determination unit perform a process according to a difference in priority, The vehicle state information is transmitted to the surrounding vehicle, and the vehicle state detection process for the own vehicle detects the vehicle state of the own vehicle in consideration of the information on the surrounding vehicle, and notifies the driver of the own vehicle when necessary. .

  In the inter-vehicle communication system, a priority determination unit that includes a relay device that relays information on these neighboring vehicles between a plurality of neighboring vehicles, and the relay device determines the priority of the information received from the neighboring vehicles. And priority processing determination means for determining whether or not to preferentially process the information from the surrounding vehicle based on the priority information provided from the priority determination means.

  With this configuration, when relaying information on the surrounding vehicle by the repeater, the priority determination unit determines the priority of the information received from the surrounding vehicle, and the priority processing determination unit determines the priority. Whether to preferentially process the information from the surrounding vehicle based on the information is determined.

  In order to determine the information priority of the vehicle by the priority determination means, and to determine whether the priority processing determination means preferentially processes information to be transmitted next by the vehicle based on the priority information. Since information with high priority is transmitted with priority over other information, the communication quality is improved and the reliability of the safety support application is increased.

  In the vehicle state detection process for the other vehicle, the vehicle state of the host vehicle is detected, the priority determination unit and the priority process determination unit perform a process according to a difference in priority, and the vehicle state information is obtained. In order to detect the vehicle state of the host vehicle in consideration of the information on the surrounding vehicle in the vehicle state detection process for the host vehicle and notify the driver of the host vehicle when necessary. It is possible to increase the reliability of the safety support application by efficiently exchanging information on the vehicle and the surrounding vehicle.

  In addition, when relaying the information on the surrounding vehicle by the repeater, the priority determination unit determines the priority of the information received from the surrounding vehicle, and the priority processing determination unit determines the priority information. Based on this, it is determined whether to preferentially process the information from the surrounding vehicles. Therefore, the communication quality relayed by the repeater is improved, and the reliability of the safety support application is increased.

[First Embodiment]
A vehicle-to-vehicle communication system according to a first embodiment of the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 is a block diagram showing an inter-vehicle communication system according to a first embodiment of the present invention, FIG. 2 is a schematic diagram showing an example of arrangement of vehicles on a road, and FIG. 3 is a flowchart showing processing in a control means.

  In the inter-vehicle communication system according to the present embodiment, a plurality of vehicles existing nearby communicate with each other at regular intervals in a normal period, exchange information such as the position and speed of the own vehicle, and use the information for collision avoidance, etc. It is a safety support system used for crisis avoidance. Based on the information of this system, the driver is warned or transmitted to crisis avoidance means provided on the vehicle side.

  In this case, the information exchanged between the vehicles is different in importance. Specifically, information related to a vehicle in a dangerous state such as a high possibility of a collision needs to be transmitted with priority over other information. For this reason, the priority of each information is changed, and it has been improved so that information with a high priority can be transmitted with priority.

  In other words, it is not a problem when the degree of congestion in inter-vehicle communication is low, but when the degree of congestion in inter-vehicle communication becomes high, important information and unimportant information are mixed, and unimportant information is preferentially transmitted. Things can happen. Such a situation needs to be resolved reliably. For this reason, in order to prioritize important information over other information and succeed in transmission, the priority of each information is differentiated, and information with high priority is preferentially transmitted.

  Below, the case where a certain vehicle transmits vehicle information with a high priority is considered. In particular, an example as shown in FIG. 2 is considered here as an arrangement of vehicles in inter-vehicle communication. The vehicles 1 to 6 are within a line-of-sight distance from each other. At this time, since the vehicle 1 and the vehicle 4 are the vehicles with the highest degree of danger at the head in each direction, the vehicles with the higher priority are set as the vehicles with the lower priority, and the vehicles with the lower priority are set as the vehicles with the lower priority.

  As shown in FIG. 1, the inter-vehicle communication system of each vehicle 1 to 6 includes priority determination means 111, vehicle state detection means 112, transmission cycle determination means 113, inter-vehicle communication transmission means 114, and inter-vehicle communication reception means. 121, a notification determination unit 122, an information output unit 123, and a control unit 124.

  The priority determination means 111 is a means for determining the information priority of the own vehicle and providing it to the transmission cycle determination means 113. The priority determination unit 111 receives information on the position and speed of the host vehicle, information on the position and speed of the surrounding vehicle, and the approaching vehicle and the host vehicle from the vehicle state detection unit 112 and the inter-vehicle communication receiving unit 121. The information priority of the own vehicle is determined by comprehensively judging such information. For example, information on the vehicle's position, speed, etc. is digitized and summed based on the degree of danger, etc., and the information priority of the vehicle is determined by whether the value exceeds a preset threshold. Determine. The priority may be determined by other means.

  The vehicle state detection means 112 is a means for detecting the state of the vehicle such as the position and speed of the host vehicle. Various elements can be used for detecting the vehicle state of the host vehicle. For example, the position of the host vehicle is specified by the map information and GPS function of the car navigation system installed in the vehicle, the speed of the host vehicle is specified by a speed sensor, or the vehicle is moving uphill or downhill by a gyroscope or the like. The vehicle state of the host vehicle is detected by specifying the forward / backward inclination of the vehicle, or specifying the right / left inclination of the vehicle due to a sharp curve or meandering operation by a gyroscope or the like. This allows the vehicle to pass through steep uphills and downhills that are approaching intersections, traveling at high speeds, passing through accident-prone points, and passing through winding roads with poor visibility. Detects the vehicle state such as running. The vehicle state detection unit 112 provides the detected vehicle state information to the inter-vehicle communication transmission unit 114 and the notification determination unit 122.

  The transmission cycle determination unit 113 is a unit for determining a transmission cycle of information to be transmitted next by the own vehicle based on the priority information provided from the priority determination unit 111. This transmission cycle determination means 113 transmits in a short cycle when the priority of information to be transmitted is high, and transmits in a normal cycle when the priority is low. For example, transmission is normally performed at a cycle of 100 milliseconds, and transmission of information with high priority is performed at a cycle of 20 milliseconds. The numerical values are not limited to 100 milliseconds and 20 milliseconds, but may be other numerical values. Set the value according to various conditions. The transmission cycle determination unit 113 determines that information with high priority is transmitted in a short cycle and increases the transmission frequency of information with relatively high priority, thereby improving communication quality regarding information with high priority. Improve.

  The inter-vehicle communication transmission unit 114 is a unit for transmitting the vehicle state information of the host vehicle acquired from the vehicle state detection unit 112 at the transmission cycle determined by the transmission cycle determination unit 113. The information transmitted by the inter-vehicle communication transmitting unit 114 is provided to the inter-vehicle communication receiving unit 121 of the surrounding vehicle.

  The priority determination unit 111, the vehicle state detection unit 112, the transmission cycle determination unit 113, and the inter-vehicle communication transmission unit 114 detect the vehicle state of the host vehicle and transmit the information to the surrounding vehicles. The vehicle state detection processing means for other vehicles is configured.

  The inter-vehicle communication receiving unit 121 is a unit for receiving information transmitted from the inter-vehicle communication transmitting unit 114 of surrounding vehicles. The inter-vehicle communication receiving unit 121 provides the information received from the inter-vehicle communication transmitting unit 114 of the surrounding vehicle to the notification determining unit 122 and the priority determining unit 111.

  The notification determination unit 122 is a unit for determining whether or not it is necessary to notify the driver of information. The notification determination means 122 is information from the vehicle state information such as the position and speed of the own vehicle detected by the vehicle state detection means 112 and the vehicle state information such as the position and speed of surrounding vehicles acquired by the inter-vehicle communication reception means 121. It is determined whether or not it is necessary to notify the driver. That is, the notification determination unit 122 comprehensively determines these pieces of information to determine the necessity of notification to the driver. For example, in the case of the vehicles 1 and 4 in FIG. 2 in which the surrounding vehicle is invading the same intersection when the own vehicle is about to enter the intersection, or the neighboring vehicle approaches from the opposite lane on a winding road with poor visibility. If the vehicle is approaching, or if a nearby vehicle is approaching from the oncoming lane at the point of frequent accidents, or if the surrounding vehicle traveling on the oncoming or driving lane is approaching the host vehicle while performing dangerous driving such as meandering If the vehicle is approaching or the surrounding vehicle is approaching at a high speed, the situation is comprehensively determined to determine the necessity of notification to the driver. In this case as well, as in the case of the priority determination means 111 described above, the degree of danger and the like are digitized and summed, and the driver is notified depending on whether or not the numerical value exceeds a preset threshold value. Determine the need for Moreover, you may determine by another means.

  Information determined by the notification determination unit 122 is provided to the information output unit 123. The information provided to the information output means 123 includes various information such as vehicle state information of surrounding vehicles, for example, detailed information such as that the vehicle is approaching at high speed from the oncoming lane, and information that merely calls attention. Can be set.

  The information output unit 123 is a unit for notifying the driver of information acquired from the notification determination unit 122. Specifically, the driver is alerted by issuing a warning sound, giving a specific notification by voice, pulling a seat belt, applying a brake, returning an accelerator, or the like. The control information output from the information output means 123 is set in balance with the crisis avoidance means provided on the vehicle side.

  Then, the vehicle state detection unit 112, the inter-vehicle communication reception unit 121, the notification determination unit 122, and the information output unit 123 detect the vehicle state of the host vehicle in consideration of the information on the surrounding vehicle, and when necessary. The vehicle state detection processing means for own vehicle which notifies the driver of the own vehicle is comprised.

  The control means 124 is a means for controlling each of the above means. The control means 124 includes at least a vehicle state detection processing function for other vehicles and a vehicle state detection processing function for the own vehicle. Specifically, the processing functions shown in the flowchart of FIG. 3 are stored. This processing function supports safety during vehicle travel.

  Each means has a specific hardware configuration using a CPU, RAM, ROM, antenna, transceiver, and the like. That is, a known hardware configuration can be used as each means.

[Operation]
The vehicle-to-vehicle communication system configured as described above operates as follows. This will be described based on the flowchart of FIG. Here, it is assumed that the vehicles exchange information such as the position and speed of the vehicles with each other at a constant cycle. The vehicles 1 to 6 in FIG. 2 start the service of the inter-vehicle communication system of the present embodiment, and perform the vehicle state detection process for the other vehicle and the vehicle state detection process for the own vehicle in parallel.

  In the vehicle state detection process for other vehicles, the vehicle state of the host vehicle is detected and the information is transmitted to surrounding vehicles.

  In this case, the vehicle state detection unit 112 first acquires the vehicle state (step S111). This own vehicle state is detected based on information such as the speed and position of the own vehicle. Specifically, as described above, the position of the own vehicle is specified by the map information and the GPS function of the car navigation system, the speed of the own vehicle is specified by the speed sensor, and the inclination is specified by the gyro. Then, the vehicle state of the own vehicle is detected. As a result, the vehicle state is detected such that the vehicle is approaching an intersection, is traveling at a high speed, and is passing through a high-accident location.

  Next, the priority determination unit 111 receives the vehicle state of the own vehicle detected by the vehicle state detection unit 112 and the information on the surrounding vehicles acquired by the inter-vehicle communication reception unit 121, and the vehicle state information of the own vehicle is received between the vehicles. The priority at the time of transmission is determined and acquired (step S112). Specifically, as described above, information such as the position and speed of the own vehicle, the position and speed of the surrounding vehicle, etc., such as the proximity of the surrounding vehicle and the own vehicle, are obtained, and these information are integrated. To determine the information priority of the vehicle.

  Next, the transmission cycle is determined by the transmission cycle determination means 113 (step S113). In this case, based on the priority of the transmission information provided from the priority determination unit 111, the transmission cycle determination unit 113 sets the next transmission cycle of the vehicle to 100 milliseconds or 20 milliseconds. Judge whether to do. Specifically, when the priority of information to be transmitted is high, transmission is performed at a cycle of 20 milliseconds, and when the priority is low, it is determined to transmit at a normal cycle of 100 milliseconds.

  Subsequently, the vehicle-to-vehicle communication transmission unit 114 notifies the surrounding vehicle to the surrounding vehicle (step S114). In this case, the inter-vehicle communication transmission unit 114 transmits the vehicle state information of the own vehicle acquired from the vehicle state detection unit 112 at the transmission cycle determined by the transmission cycle determination unit 113. The vehicle state information of the own vehicle transmitted by the inter-vehicle communication transmitting unit 114 is provided to the inter-vehicle communication receiving unit 121 of surrounding vehicles located around the own vehicle.

  Subsequently, it is determined whether or not the service has ended (step S102). If it is determined that the service has ended, the process ends (step S103). If it is determined that the service has not ended, the process returns to step S111 and step S121 to repeat the process.

  On the other hand, in the vehicle state detection process for the own vehicle, information such as surrounding vehicles, surrounding road conditions and surrounding environment is taken in as vehicle state information, and the vehicle state of the own vehicle is detected in consideration of these vehicle state information. Notify the driver of the vehicle when necessary. This is performed in parallel with the vehicle state detection process for other vehicles.

  In this case, first, information on surrounding vehicles is acquired by the vehicle-to-vehicle communication receiving means 121 (step S121). Each of the surrounding vehicles also performs the above-described vehicle state detection process for other vehicles in the same manner as the own vehicle. The vehicle state of each vehicle transmitted from each surrounding vehicle by the vehicle state detection process for other vehicles is acquired by the inter-vehicle communication receiving means 121.

  Next, the vehicle state of the host vehicle is acquired by the vehicle state detection means 112 (step S122). In this case, the vehicle state of each surrounding vehicle acquired by the vehicle-to-vehicle communication receiving means 121 is taken in as one of the determination materials, and information about the surrounding road conditions and the surrounding environment is comprehensively determined to determine the own vehicle. Get the vehicle status.

  Next, it is determined whether or not there is a vehicle around the host vehicle (step S123). Specifically, in step S121, when information on surrounding vehicles is not acquired by the inter-vehicle communication receiving unit 121, it is determined that there is no surrounding vehicle, and the process proceeds to step S102.

  When the information on surrounding vehicles is acquired by the inter-vehicle communication receiving means 121, it is determined that there is a surrounding vehicle, and then it is determined whether or not notification to the driver is necessary (step S124). Specifically, when it is determined that notification to the driver is unnecessary in a low risk state based on the vehicle state of the host vehicle acquired in step S122, the process proceeds to step S102. When it is determined that notification to the driver is necessary in a high risk state, the process proceeds to step S125. That is, the vehicle state of the own vehicle is relatively detected in consideration of the vehicle state of the surrounding vehicle together with the position and speed of the own vehicle, and it is determined whether the degree of danger is high or low. For example, even when the own vehicle (vehicle 1 in FIG. 2) enters the intersection at a low speed, if the vehicle 4 in FIG. judge. Further, even when the host vehicle is traveling on the road at a low speed, when the oncoming vehicle is approaching at a high speed, the risk is determined to be high. If it is determined that the degree of risk is high, the process proceeds to step S125.

  In step S125, the information output means 123 notifies the driver of the presence of the surrounding vehicle by the following crisis avoidance means to call attention. Specifically, as a crisis avoiding means, an alarm sound is generated, a state of surrounding vehicles is specifically notified by voice, a seat belt is pulled, or a brake is applied. In response to this, the driver travels paying attention to the surrounding area.

  Next, it is determined whether or not the service is finished (step S102). If the service is finished, the process is finished (step S103). If the service has not ended, the process returns to step S111 and step S121 to repeat the process. The vehicle state detection process for the other vehicle and the vehicle state detection process for the own vehicle can be regarded as almost simultaneous in terms of timing, so here, the vehicle state detection process for the other vehicle and the vehicle state detection process for the own vehicle Thus, the timing of returning to step S111 and step S121 is not matched. If the timing needs to be matched, a timing adjustment process is added before step S102.

Table 1 shows the simulation results of the inter-vehicle communication system according to this embodiment. Table 1 shows the simulation results showing the effect of the inter-vehicle communication system of this embodiment in terms of the average packet error rate (hereinafter referred to as “PER”) of all transmission / reception combinations by all vehicles.

  Here, it is assumed that a safety support application is assumed, the packet length is 142 bytes, and this data is transmitted in a cycle of 20 milliseconds for a high priority vehicle, and other vehicles are transmitted in a cycle of 100 milliseconds. In this simulation, the time was 10 seconds, that is, 100 packets, and the number of repetitions was 1000. “5 vs. 5” in Table 1 indicates the case where five vehicles are arranged on each of the vehicles 1 to 3 and the vehicles 4 to 6 in FIG. 2, and “10 vs. 10” Similarly, the case where 10 units are arranged is shown.

  From the results of this simulation, when comparing the average PER, communication quality deteriorates for low priority information compared to the conventional technology, but for information with high priority, 8 to 9 digits compared to the conventional technology. It can be seen that the numerical value has improved and has a large improvement effect.

  As a result, it can be seen that, in the safety support application, when high priority information is transmitted, the communication quality is improved by relatively shortening the transmission cycle.

[effect]
As described above, according to the first embodiment of the present invention, the priority of information to be transmitted is determined, and the transmission cycle of a vehicle that transmits high priority information is shorter than that of other vehicles. As a result, the effect of improving the PER per unit time, which is an index of communication quality, can be obtained, and the reliability of the application for safety support can be improved.


[Second Embodiment]
Next, a second embodiment of the present invention will be described. The inter-vehicle communication system of this embodiment is obtained by adding a repeater to the inter-vehicle communication system of the first embodiment. In addition, as a repeater, a relay vehicle may be sufficient. For this reason, in this embodiment, it demonstrates centering on the repeater 7. FIG. FIG. 4 is a block diagram showing a repeater according to the second embodiment of the present invention, FIG. 5 is a schematic diagram showing an example of arrangement of vehicles on a road, and FIG. 6 is a flowchart showing processing in the control means. The configuration of the inter-vehicle communication system of the vehicles 1 to 6 other than the repeater 7 is the same as that in FIG.

  As shown in FIG. 4, the repeater 7 has no vehicle state detection means 112, notification determination means 122, and information output means 123 compared to the inter-vehicle communication system of the first embodiment, The difference is that the inter-vehicle communication receiving means 121 and the inter-vehicle communication transmitting means 114 are connected.

  Furthermore, the new function mentioned later was added to the vehicle-to-vehicle communication receiving means 121 and the vehicle-to-vehicle communication transmitting means 114 of the first embodiment. Therefore, in this embodiment, the vehicle-to-vehicle communication receiving unit 221 and the vehicle-to-vehicle communication transmitting unit 214 are used. Specifically, the function of each block of the repeater 7 of the present embodiment is basically the same as that of each block of the inter-vehicle communication system of FIG. 1, and the different points are the following two points. The inter-vehicle communication transmitting unit 214 has a function of using information acquired from the inter-vehicle communication receiving unit 221 when transmitting. That is, the vehicle-to-vehicle communication transmitting unit 214 is connected to the vehicle-to-vehicle communication receiving unit 221 and takes in the information acquired from the vehicle-to-vehicle communication receiving unit 221 and transmits it as it is. In the inter-vehicle communication receiving unit 221, a function of providing information acquired from the inter-vehicle communication transmitting unit 214 of the surrounding vehicle is added to the inter-vehicle communication transmitting unit 214. That is, the vehicle-to-vehicle communication receiving unit 221 provides the acquired information on surrounding vehicles directly to the vehicle-to-vehicle communication transmitting unit 214. The control means 224 has a function of controlling each means. Specifically, the function shown in the flowchart of FIG. Since others are the same as those of the first embodiment of the present invention, description thereof will be omitted.

  A vehicle arrangement as a second embodiment of the present invention is shown in FIG. The vehicles 1 to 3 are within a line-of-sight distance, and the same applies to the vehicles 4 to 6. A repeater 7 is arranged at the center of the intersection as a means for relaying information. The repeater 7 may be installed on a structure on the road such as a signal pole or mounted on a vehicle. It is assumed that the repeater 7 is in line of sight with the vehicles 1 to 6 and the radio waves do not reach between the vehicles 1 to 3 and the vehicles 4 to 6 because they are blocked by obstacles and are out of line of sight.

[Operation]
The repeater 7 configured as described above operates as follows in relation to the inter-vehicle communication system. This will be described based on the flowchart of FIG.

  The repeater 7 starts a service (step S131), and first acquires information on surrounding vehicles by the inter-vehicle communication receiving means 221 (step S141). Each of the surrounding vehicles performs the vehicle state detection process for the other vehicle, and the vehicle state information transmitted from each of the surrounding vehicles by the vehicle state detection process for the other vehicle is acquired by the inter-vehicle communication receiving unit 221. To do.

  Next, the priority of information to be relayed (hopped) is acquired based on the information on the transmission source vehicle acquired in step S141 (step S142). Specifically, the information priority of the transmission source vehicle is determined by comprehensively determining information such as the position and speed of the transmission source vehicle.

  Subsequently, the transmission cycle is determined by the transmission cycle determination means 113 (step S143). In this case, based on the priority of the transmission information of the transmission source vehicle provided from the priority determination unit 111, the transmission cycle determination unit 113 sets the next transmission cycle to a 100 millisecond cycle or a 20 millisecond cycle. Judgment is made.

  Thereafter, the information on the transmission source vehicle is transmitted by the inter-vehicle communication transmission means 214 to notify the surrounding vehicles (step S144). In this case, the vehicle-to-vehicle communication transmission unit 114 transmits the transmission source vehicle information at the transmission cycle determined by the transmission cycle determination unit 113. The information on the transmission source vehicle transmitted by the inter-vehicle communication transmitting unit 114 is provided to the inter-vehicle communication receiving unit 121 of the surrounding vehicle located around the repeater 7.

    After step S144 is ended, it is determined whether or not the service is ended (step S132). If it is determined that the service will not be terminated, the process proceeds to step S141 and the above steps are repeated. If it is determined that the service has ended, the service is ended (step S133).

Table 2 shows the simulation results of this embodiment. Table 2 shows a simulation result indicating the effect of the present embodiment by an average PER of all transmission / reception combinations by all vehicles.

  Assuming a safety support application, the packet length is 142 bytes, and information is transmitted in a cycle of 20 milliseconds for high priority vehicles and repeaters, and in a cycle of 100 milliseconds for others. In the simulation, the time was 10 seconds, that is, 100 packets, and the number of repetitions was 1000. As a simulation condition, only a vehicle that transmits high-priority information and a repeater are allowed to hop once. In Table 2, “5 units vs. 5 units (+ repeater)” in FIG. 5 is a total of 5 vehicles on each of the vehicles 1 to 3 side and the vehicles 4 to 6 side, and one repeater in FIG. 11 cases are arranged, and “10 to 10 units (+ repeater)” similarly represents a case where 10 vehicles and 10 repeaters are arranged in total.

  From the result of this simulation, even when the repeater 7 is present, as in the first embodiment, compared with the prior art, although communication quality deteriorates for information with low priority, information with high priority is large. It can be seen that there is an improvement effect.

  Thereby, also in this embodiment, when transmitting high priority information in the safety support application, it can be seen that the communication quality is improved by relatively shortening the transmission cycle.

[effect]
As described above, according to the second embodiment of the present invention, even when the repeater 7 is present, the transmission interval of the vehicle transmitting the high priority information and the repeater 7 is compared with other vehicles. Thus, the effect of improving the PER per unit time, which is an index of communication quality, can be obtained, and the reliability of the application for safety support can be improved.

[Modification]
In each of the above-described embodiments, the transmission cycle determination unit 113 normally transmits at a cycle of 100 milliseconds, and when transmitting high priority information, it transmits at a cycle of 20 milliseconds. The numerical values of the second period and the 20 millisecond period can be changed as appropriate. Select the optimal value according to various conditions.

  In addition, here, the transmission cycle is set to two stages of a 100 millisecond cycle and a 20 millisecond cycle according to the priority, but may be set to three or more steps.

  Here, the transmission cycle determination unit 113 is used as the priority processing determination unit, and the transmission cycle determination unit 113 changes the transmission cycle according to the difference in priority. However, the transmission output may be changed. . That is, as the priority processing determination means, the transmission output determination means for determining the transmission output of the information to be transmitted next by the own vehicle is used. When transmitting high priority information, the transmission output is determined to be increased. However, information may be transmitted with a high transmission output.

  Further, both the transmission cycle and the transmission output may be changed. Other means may be used as long as information with high priority can be transmitted with higher probability than information with low priority.

  In these cases, the same operations and effects as those of the above embodiments can be obtained.

  In the first embodiment, information on the surrounding vehicle is acquired by the inter-vehicle communication receiving means 121 (step S121), and then the vehicle state of the own vehicle is acquired by the vehicle state detecting means 112 (step S122). First, the vehicle state of the host vehicle may be acquired by the vehicle state detection means 112 (step S122), and then information on surrounding vehicles may be acquired by the inter-vehicle communication reception means 121 (step S121). Also in this case, the same operation and effect as the first embodiment can be obtained.

1 is a block diagram showing an inter-vehicle communication system according to a first embodiment of the present invention. It is a schematic diagram which shows the example of arrangement | positioning of the vehicle in a road. It is a flowchart which shows the process in the control means which concerns on the 1st Embodiment of this invention. It is a block diagram which shows the repeater which concerns on the 2nd Embodiment of this invention. It is a schematic diagram which shows the example of arrangement | positioning of the vehicle in a road. It is a flowchart which shows the process in the control means which concerns on the 2nd Embodiment of this invention.

Explanation of symbols

1-6 Vehicle 7 Repeater 111 Priority determining means 112 Vehicle state detecting means 113 Transmission period determining means 114 Inter-vehicle communication transmitting means 121 Inter-vehicle communication receiving means 122 Notification determining means 123 Information output means 214 Inter-vehicle communication transmitting means 221 Inter-vehicle communication receiving means

Claims (12)

  1. In a vehicle-to-vehicle communication system in which a plurality of vehicles exchange information such as the position and speed of the vehicle with each other and perform crisis avoidance means based on the information.
    Priority determination means for determining information priority of the vehicle;
    It is characterized by comprising priority processing determination means for determining whether or not to preferentially process the information to be transmitted next by the own vehicle based on the priority information provided from the priority determination means. Inter-vehicle communication system.
  2. The inter-vehicle communication system according to claim 1,
    The inter-vehicle communication system, wherein the priority processing determination unit is a transmission cycle determination unit that determines a transmission cycle of information to be transmitted next by the vehicle.
  3. The inter-vehicle communication system according to claim 1,
    The inter-vehicle communication system, wherein the priority processing determination means is transmission output determination means for determining a transmission output of information to be transmitted next by the own vehicle.
  4. The inter-vehicle communication system according to claim 2 or 3,
    The inter-vehicle communication system characterized in that the transmission cycle or transmission output determined by the priority processing determination means is set in two stages or three or more stages.
  5. The inter-vehicle communication system according to any one of claims 1 to 4,
    Vehicle state detection for other vehicles that detects the vehicle state of the host vehicle, performs processing according to the priority difference by the priority determination unit and the priority processing determination unit, and transmits the vehicle state information to surrounding vehicles. Processing,
    A vehicle-to-vehicle communication system comprising: a vehicle state detection process for a host vehicle that detects a vehicle state of the host vehicle in consideration of information on the surrounding vehicles and notifies a driver of the host vehicle when necessary.
  6. The inter-vehicle communication system according to any one of claims 1 to 5,
    A relay device that relays information on these neighboring vehicles is provided between a plurality of neighboring vehicles.
    The repeater preferentially processes information from the surrounding vehicle based on priority determination means for determining the priority of information received from the surrounding vehicle and priority information provided from the priority determination means. A vehicle-to-vehicle communication system, comprising: priority processing determination means for determining whether or not.
  7. In a vehicle-to-vehicle communication method in which a plurality of vehicles exchange information such as the position and speed of the vehicle with each other and perform crisis avoidance means based on the information.
    A priority determination process for determining information priority of the vehicle;
    And a priority process determination process for determining whether or not the information to be transmitted next by the host vehicle is preferentially processed based on the priority information provided by the priority determination process. Inter-vehicle communication method.
  8. The inter-vehicle communication method according to claim 7,
    The inter-vehicle communication method, wherein the priority process determination process is a transmission period determination process for determining a transmission period of information to be transmitted next by the vehicle.
  9. The inter-vehicle communication method according to claim 7,
    The inter-vehicle communication method, wherein the priority process determination process is a transmission output determination process for determining a transmission output of information to be transmitted next by the vehicle.
  10. The inter-vehicle communication method according to claim 8 or 9,
    The vehicle-to-vehicle communication method, wherein the transmission cycle or transmission output determined in the priority processing determination processing is set to two stages or three or more stages.
  11. The inter-vehicle communication method according to any one of claims 7 to 10,
    A vehicle state detection process for other vehicles that detects the vehicle state of the host vehicle and transmits the vehicle state information to surrounding vehicles according to a difference in priority in the priority determination process and the priority process determination process;
    A vehicle-to-vehicle communication method comprising: a vehicle state detection process for a host vehicle that detects a vehicle state of the host vehicle in consideration of information on the surrounding vehicles and notifies a driver of the host vehicle when necessary.
  12. The inter-vehicle communication method according to any one of claims 7 to 11,
    Provided between a plurality of surrounding vehicles, equipped with a repeater that relays information on these surrounding vehicles,
    The repeater preferentially processes information from the surrounding vehicle based on priority determination processing for determining the priority of information received from the surrounding vehicle and priority information provided from the priority determination processing. A vehicle-to-vehicle communication method comprising: a priority processing determination process for determining whether or not.
JP2006181438A 2006-06-30 2006-06-30 Vehicle-to-vehicle communication system and vehicle-to-vehicle communication method Pending JP2008011343A (en)

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