JP2009231996A - On-vehicle communication apparatus and inter-vehicle communication system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an on-vehicle communication apparatus capable of directly communicating with a peripheral vehicle located on a blind corner of a vehicle itself because an obstacle exists between the vehicle itself and the peripheral vehicle, and to provide an inter-vehicle communication system including a plurality of vehicles each of which has the on-vehicle communication apparatus. <P>SOLUTION: The on-vehicle communication apparatus 10 (in details, a determination part 21 composing a control unit 20) determines whether an obstacle exists between a peripheral vehicle and the vehicle itself and the peripheral vehicle is located on the blind corner of the vehicle itself or not on the basis of the positional information of the peripheral vehicle, which is acquired via a first receiver 50, the positional information of the vehicle itself, which is acquired via a GPS receiver 60, and map information stored in a storage part 22. When it is determined that the peripheral vehicle is located on the blind corner of the vehicle itself, the on-vehicle communication apparatus 10 (a transmission part 23 composing the control unit 20) directly communicates with the peripheral apparatus through wave communication equipment 40. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an in-vehicle communication device used for direct communication with a surrounding vehicle located around the host vehicle and an inter-vehicle communication system including a plurality of vehicles having the in-vehicle communication device.

Conventionally, for example, a technique described in Patent Document 1 is known as an in-vehicle communication device and an inter-vehicle communication system. In the technology described in this document, the advertising vehicle is equipped with a vehicle-mounted device (second communication device) that can communicate with the DSRC (Dedicated Short Range Communication) communication method, and a general vehicle can also be communicated with the DSRC communication method. It is equipped with a vessel. The advertisement vehicle can input the information of the advertisement information of the company or the store to the vehicle-mounted device, and stores the input advertisement information data in the memory. The advertising vehicle transmits advertising information to the in-vehicle device of the general vehicle located in the communication area of the advertising vehicle by the on-vehicle device while traveling. The directivity of the in-vehicle device of the advertising vehicle and the in-vehicle device of the general vehicle is set in front of each vehicle, and when the advertising vehicle and the general vehicle pass each other, communication is established with each other. Advertising information is sent to the vessel.
JP 2004-221636 A

  By the way, in the DSRC communication system, for example, a radio wave having a short wavelength in the “5.9 [GHz]” band (second frequency band) is used, and the directivity of the radio wave is strong. Therefore, when there is no obstacle between the surrounding vehicle and the own vehicle and the surrounding vehicle is not located in the blind spot of the own vehicle, the own vehicle can directly communicate with the surrounding vehicle by the DSRC communication method. Although there is an obstacle between the surrounding vehicle and the own vehicle and the surrounding vehicle is located in the blind spot of the own vehicle, the own vehicle can communicate directly with the surrounding vehicle by the DSRC communication method. difficult. That is, the surrounding vehicles that can directly communicate between the surrounding vehicle and the host vehicle are limited to the surrounding vehicles that do not have an obstacle between the surrounding vehicle and the own vehicle and are not located in the blind spot of the own vehicle.

  The present invention has been made in view of the above circumstances, and the purpose of the present invention is to directly communicate with any surrounding vehicle that is located in the blind spot of the own vehicle where an obstacle exists with the own vehicle. Another object of the present invention is to provide a vehicle-mounted communication device including a plurality of vehicles having the vehicle-mounted communication device and the vehicle-mounted communication device.

  In order to achieve such an object, according to the first aspect of the present invention, a first receiver that receives position information of surrounding vehicles located around the host vehicle, and a second receiver that receives position information of the host vehicle; A first communication device that is mounted on a vehicle including a storage holding unit that stores and holds map information including position information of obstacles that hinder direct communication between the surrounding vehicle and the host vehicle, and that uses radio waves in the first frequency band And a second communication device that uses radio waves in a second frequency band higher than the first frequency band, and based on the position information of the surrounding vehicle, the position information of the own vehicle, and the map information, When it is determined whether there is an obstacle between the vehicle and the surrounding vehicle is located in the blind spot of the own vehicle, and the surrounding vehicle is located in the blind spot of the own vehicle, the first communication device is used to While communicating with the vehicle, the surrounding vehicle When it is determined that not located blind spot of both, and wherein the communicating with the peripheral vehicle using the second communication device.

  In the above-described configuration as the in-vehicle communication device, first, based on the position information of the surrounding vehicle, the position information of the own vehicle, and the map information, an obstacle that prevents direct communication between the surrounding vehicle and the own vehicle is detected between the surrounding vehicle and the own vehicle. It is determined whether or not it is located in the blind spot of the host vehicle. In this determination, when it is determined that the surrounding vehicle is located in the blind spot of the own vehicle, the in-vehicle communication device communicates with the surrounding vehicle using the first communication device that uses the radio wave of the first frequency band. Here, the first frequency band is lower than the second frequency band, and the wavelength of the radio wave in the first frequency band is longer than the wavelength of the radio wave in the second frequency band. It becomes possible. Therefore, the radio wave emitted from the first communication device reaches the surrounding vehicle located in the blind spot of the host vehicle by passing around the obstacle. Therefore, the in-vehicle communication device can directly communicate with surrounding vehicles located in the blind spot of the own vehicle. On the other hand, if it is determined that the surrounding vehicle is not located in the blind spot of the host vehicle, the in-vehicle communication device communicates with the surrounding vehicle using the second communication device. Here, since the second frequency band is higher than the first frequency band and the wavelength of the radio wave in the second frequency band is shorter than the wavelength of the radio wave in the first frequency band, the directivity becomes strong, and a large amount per unit time. The amount of information can be sent and received. Therefore, the in-vehicle communication device can directly communicate with a surrounding vehicle not located in the blind spot of the own vehicle at a suitable communication speed. As described above, according to the configuration of the first aspect, even if there is an obstacle between the host vehicle and the surrounding vehicle is located in the blind spot of the host vehicle, direct communication can be performed. It becomes like this.

  In order to achieve the above object, according to a second aspect of the present invention, a first receiver that receives position information of a surrounding vehicle located around the host vehicle, and a second receiver that receives position information of the host vehicle; And a first communication device that uses radio waves in the first frequency band and radio waves in a second frequency band that is higher than the first frequency band. An obstacle that hinders direct communication between the surrounding vehicle and the host vehicle based on the position information of the surrounding vehicle, the position information of the host vehicle, and the image information captured by the imaging device. Is present between the surrounding vehicle and the own vehicle, the first communication device is used to determine whether the surrounding vehicle is located in the blind spot of the own vehicle and determine that the surrounding vehicle is located in the blind spot of the own vehicle. While communicating with surrounding vehicles. When near the vehicle there is no obstacle between the two Metropolitan determines not located in the blind spot of the vehicle, and wherein the communicating with the peripheral vehicle using the second communication device.

  In the above configuration as the in-vehicle communication device, first, there is an obstacle that prevents direct communication between the surrounding vehicle and the host vehicle based on the position information of the surrounding vehicle, the position information of the host vehicle, and the image information captured by the imaging device. It is determined whether or not the surrounding vehicle is located in the blind spot of the own vehicle that exists between the surrounding vehicle and the own vehicle. In this determination, when it is determined that the surrounding vehicle is located in the blind spot of the own vehicle, the in-vehicle communication device communicates with the surrounding vehicle using the first communication device that uses the radio wave of the first frequency band. Here, the first frequency band is lower than the second frequency band, and the wavelength of the radio wave in the first frequency band is longer than the wavelength of the radio wave in the second frequency band. It becomes possible. Therefore, the radio wave emitted from the first communication device reaches the surrounding vehicle located in the blind spot of the host vehicle by passing around the obstacle. Therefore, the in-vehicle communication device can directly communicate with surrounding vehicles located in the blind spot of the own vehicle. On the other hand, if it is determined that the surrounding vehicle is not located in the blind spot of the host vehicle, the in-vehicle communication device communicates with the surrounding vehicle using the second communication device. Here, since the second frequency band is higher than the first frequency band and the wavelength of the radio wave in the second frequency band is shorter than the wavelength of the radio wave in the first frequency band, the directivity becomes strong, and a large amount per unit time. The amount of information can be sent and received. Therefore, the in-vehicle communication device can directly communicate with a surrounding vehicle not located in the blind spot of the own vehicle at a suitable communication speed.

  As described above, according to the configuration of the second aspect, even if there is an obstacle between the host vehicle and the surrounding vehicle is located in the blind spot of the host vehicle, direct communication can be performed. It becomes like this. Furthermore, according to the structure of the said Claim 2, the obstacle whose position information is not included in the map information memorize | stored and hold | maintained at the memory | storage holding | maintenance part, such as a tree planted on the roadside, a signboard, etc., for example Even if it exists between the vehicle and the host vehicle, it is possible to more accurately determine whether or not the surrounding vehicle is located in the blind spot of the host vehicle because it is based on the image information.

  Further, due to the movement of at least one of the surrounding vehicle and the own vehicle, the distance between the surrounding vehicle and the own vehicle, the presence or absence of an obstacle, and the like change every moment. Therefore, in the configuration according to the first or second aspect, as in the invention according to the third aspect, for example, the determination as to whether or not the surrounding vehicle is located in the blind spot of the own vehicle is repeatedly executed at predetermined time intervals. Is preferred. As a result, the communication device can be immediately switched in response to the communication state that changes from moment to moment between the surrounding vehicle and the host vehicle. Therefore, direct communication with surrounding vehicles can be further stabilized.

  In order to achieve the above object, the invention according to claim 4 includes a plurality of vehicles on which the in-vehicle communication device according to any one of claims 1 to 3 is mounted, and the first receiver is along a road. The roadside device receives radio waves emitted by the roadside device installed, and the roadside device performs polling that is an inquiry to a plurality of vehicles located around the roadside device, and based on a response to this polling, Position information of each vehicle centered on the roadside device is acquired. Thereby, the effect according to the structure of the said Claims 1-3 can be obtained. The transmission source of the position information of the surrounding vehicles is arbitrary. Therefore, the first receiver may receive position information of surrounding vehicles by receiving radio waves emitted from a satellite, for example. In short, the means is arbitrary as long as the position information of the surrounding vehicles can be acquired without being influenced by the presence of the obstacle.

(First embodiment)
Hereinafter, a first embodiment of an in-vehicle communication device and an inter-vehicle communication system according to the present invention will be described with reference to FIGS. FIG. 1 is a schematic diagram showing an in-vehicle communication device and an inter-vehicle communication system. First, an inter-vehicle communication system will be described with reference to FIG.

  As shown in FIG. 1, the inter-vehicle communication system of the present embodiment includes, for example, six vehicles C1 to C6 each mounted with an in-vehicle communication device to be described later, and, for example, four roadside devices installed along a road. R1 to R4 are included. The number of vehicles and the number of roadside units are not limited to six or four, but are arbitrary.

  The roadside devices R1 to R4 broadcast inquiry signals to their surroundings (so-called polling). The vehicles C1 to C6 that have received this inquiry signal transmit the position information of the vehicles C1 to C6 and the unique vehicles ID1 to ID6 for identifying the vehicles C1 to C6 to the roadside devices R1 to R4, respectively (so-called Polling response). And roadside unit R1-R4 acquires the positional information and vehicle ID1-ID6 of each vehicle C1-C6 centering on the said roadside unit R1-R4 based on this polling response, and each acquired vehicle C1-C6 And the vehicle ID1 to ID6 and the identification number are broadcasted. Here, broadcast transmission uses radio waves of a frequency that is weak in directivity and can wrap around obstacles.

  FIG. 2 is a block diagram illustrating a configuration of the in-vehicle communication device according to the present embodiment. Next, the in-vehicle communication device of the present embodiment will be described with reference to FIG.

  As shown in FIG. 2, the vehicles (not shown in FIG. 2) constituting the inter-vehicle communication system 1 use the roadside devices R <b> 1 to R <b> 4 based on the position information and vehicle IDs of the surrounding vehicles located around the host vehicle. A first receiver 50 that receives from a satellite, a second receiver (hereinafter also referred to as a GPS receiver) 60 that acquires position information of the host vehicle from a satellite (not shown), and a body control that controls, for example, turning on / off of the blinker Various control devices 70 that control the host vehicle, such as a device, various sensors 80 that detect the state quantity of the host vehicle, such as a vehicle speed sensor that detects the speed of the host vehicle, and the in-vehicle communication device 10 are provided. For convenience of illustration, in FIG. 2, the various control devices 70 are illustrated as a single block, and the various sensors 80 are illustrated as a single block, but these various control devices 70 and various sensors are illustrated. 80 means a plurality of control devices and sensors.

  Since the configurations and functions of the GPS receiver 60, the various control devices 70, and the various sensors 80 are known, a detailed description thereof is omitted here, but in the present embodiment, the GPS receiver 60 and the various control devices 70 are omitted. In addition, the various sensors 80 transmit the position information of the host vehicle, the information related to the blinking state of the winker, and the information related to the vehicle speed to the in-vehicle communication device 10, respectively. And the vehicle-mounted communication apparatus mentioned later transmits the positional information on the own vehicle, the information on the blinking state of the blinker, and the information on the vehicle speed to the surrounding vehicles as the own vehicle information.

  As shown in FIG. 2, the in-vehicle communication device 10 includes a control unit 20, a DSRC communication device (second communication device) 30, and a WAVE communication device (first communication device) 40.

  Among these, the DSRC communication device 30 is a communication device that uses radio waves in the “5.9 [GHz]” band (second frequency band), for example, and the WAVE communication device 40 is, for example, the “5.8 [GHz]” band. It is a communication device that uses radio waves in the (first frequency band). As described above, since the frequency bands of the radio waves used are different from each other, the directivity of the radio waves used in the DSRC communication device 30 is stronger than the directivity of the radio waves used in the WAVE communication device 40, and the obstacle ( For example, you cannot go around a building). In other words, the directivity of the radio wave used in the WAVE communication device 40 is weaker than the directivity of the radio wave used in the DSRC communication device 30 and can go around the obstacle. In the present embodiment, the obstacle means that an electric wave used in the DSRC communication device 30 mounted on the host vehicle cannot be circulated and obstructs direct communication with the surrounding vehicle.

  In the present embodiment, the surrounding vehicle is located within a range where the radio waves of the DSRC communication device 30 mounted on the own vehicle can reach when there is no obstacle between the surrounding vehicle and the own vehicle. Means a vehicle to do. Therefore, when there is an obstacle between the surrounding vehicle and the host vehicle, it is difficult to directly communicate with the surrounding vehicle using the DSRC communication device 30, but it is difficult to directly communicate with the surrounding vehicle using the WAVE communication device 40. It is possible to communicate.

  As a matter of course, when there is no obstacle between the surrounding vehicle and the host vehicle, it is possible to directly communicate with the surrounding vehicle using either the DSRC communication device 30 or the WAVE communication device 40. However, since the communication devices 30 and 40 differ in the amount of information that can be transmitted / received per unit time due to the difference in the frequency band of radio waves to be used, the DSRC communication device 30 is more than the WAVE communication device 40. However, the amount of information that can be transmitted / received per unit time is large.

  The control unit 20 includes a determination unit 21, a storage holding unit 22, and a transmission unit 23. Among these, the memory | storage holding | maintenance part 22 is comprised, for example by the hard disk drive etc., and memorize | stores and hold | maintains the map information containing the positional information on an obstacle and the positional information on roadside devices R1-R4. The determination unit 21 includes the position information and vehicle ID of the surrounding vehicles received by the first receiver 50, the identification numbers of the roadside devices R1 to R4, and the position information of the host vehicle received by the GPS receiver 60. Based on the map information stored and held in the storage holding unit 22, it is determined for each surrounding vehicle whether the DSRC communication device 30 or the WAVE communication device 40 is used for direct communication. Specifically, the positional relationship between the roadside unit and the surrounding vehicle is known for each surrounding vehicle from the positional information and vehicle ID of the surrounding vehicle and the identification number and position information of the roadside unit, and the positional information of the host vehicle and the roadside The positional relationship between the roadside device and the host vehicle is known from the position information and identification number of the device. Therefore, the positional relationship between the surrounding vehicle and the host vehicle is known for each surrounding vehicle. Here, since the map information stored and held in the storage holding unit 22 also includes position information of obstacles that prevent direct communication by the DSRC communication device 30, the determination unit 21 determines whether the surrounding vehicle, the host vehicle, It can be determined for each surrounding vehicle whether there is an obstacle between them, that is, whether the surrounding vehicle is located in the blind spot of the own vehicle. In the present embodiment, the blind spot of the host vehicle is a range in which the radio wave used in the DSRC communication device 30 mounted on the host vehicle is reachable, but there is an obstacle, so that direct communication is performed. It means a position that cannot.

  When determining that an obstacle exists between the surrounding vehicle and the own vehicle and that the surrounding vehicle is located in the blind spot of the own vehicle, the determining unit 21 uses the WAVE communication device 40 that can go around the obstacle. Choose that. On the other hand, when the determination unit 21 determines that there is no obstacle between the surrounding vehicle and the own vehicle and the surrounding vehicle is not located in the blind spot of the own vehicle, the DSRC having a large transmission amount that can be transmitted per unit time. Use of the communication device 30 is selected. The transmission part 23 transmits the said own vehicle information by controlling the communication apparatus judged and selected for every surrounding vehicle by the judgment part 21. FIG.

  FIG. 3 is a flowchart showing a processing procedure of communication device switching processing that is repeatedly executed at predetermined time intervals by the in-vehicle communication device 10 of the present embodiment. Although the predetermined time is arbitrary, in this embodiment, when the communication device is switched between the DSRC communication device 30 and the WAVE communication device 40, direct communication with the surrounding vehicle is established by the communication method after the switching. It is set to a time shorter than the time required to do. In short, the predetermined time is set to a sufficiently short time.

  When this communication device switching process is started, the in-vehicle communication device 10 (specifically, the determination unit 21 constituting the control unit 20) performs the processing of step S11, as the position information and vehicle ID of the surrounding vehicle, and the roadside unit identification number. Is acquired for each surrounding vehicle through the first receiver 50. Next, the determination part 21 acquires the positional information on the own vehicle through the GPS receiver 60 as the process of subsequent step S12. And the judgment part 21 acquires the positional information on an obstruction and a roadside device based on the map information of the memory | storage holding part 22 as a process of subsequent step S13, respectively.

  Thus, if various information is acquired through the process of step S11-step S13, the determination part 21 will determine the communication apparatus used for direct communication for every surrounding vehicle as a process of subsequent step S14. Moreover, the determination part 21 acquires the own vehicle information (The positional information of the own vehicle, the information regarding the blinking state of the blinker, and the information about the vehicle speed) through the in-vehicle network such as CAN, for example, as the processing of the subsequent step S15. And the transmission part 23 transmits the own vehicle information acquired by the process of previous step S15 using the DSRC communication apparatus 30 or the WAVE communication apparatus 40 as a process of subsequent step S16.

  When the determination unit 21 determines that the surrounding vehicle information, which is information related to the surrounding vehicle, has been received through the DSRC communication device 30 or the WAVE communication device 40, the received surroundings in a format that is visible to the passenger of the host vehicle. The vehicle information is displayed on an appropriate display unit (not shown) (a caution screen is displayed), and voice guidance is performed at an appropriate audio output unit. As a result, it is possible to alert a passenger (especially a driver) of the own vehicle to the surrounding vehicle. In addition, as such a display unit or an audio output unit, a display unit or an audio output unit of a car navigation apparatus that may be mounted on the vehicle may be employed.

  In the first embodiment described above, the in-vehicle communication device 10 (specifically, the determination unit 21 constituting the control unit 20) is based on the position information of the surrounding vehicle, the position information of the own vehicle, and the map information. It is determined for each surrounding vehicle whether there is an obstacle between the vehicle and the own vehicle and the surrounding vehicle is located in the blind spot of the own vehicle. Here, when it is determined that the surrounding vehicle is located in the blind spot of the own vehicle, the in-vehicle communication device 10 (specifically, the transmission unit 23 configuring the control unit 20) communicates with the surrounding vehicle using the WAVE communication device 40. Thereby, the radio wave emitted from the WAVE communication device 40 reaches the surrounding vehicle located in the blind spot of the own vehicle by reaching the obstacle, so that it can communicate directly with the surrounding vehicle.

In the first embodiment, when it is determined that the surrounding vehicle is not located in the blind spot of the host vehicle, the in-vehicle communication device 10 (specifically, the transmission unit 23 configuring the control unit 20) uses the DSRC communication device 30. To communicate with surrounding vehicles. Thereby, it becomes possible to communicate directly at a suitable communication speed.
(Second Embodiment)
Hereinafter, a second embodiment of the in-vehicle communication device and the inter-vehicle communication system according to the present invention will be described with reference to FIG. 1, FIG. 4, and FIG. However, the description overlapping with the first embodiment is omitted.

  As shown in these drawings, the present embodiment has a configuration according to the first embodiment. However, as shown in FIG. 4, the vehicle on which the in-vehicle communication device 10 a according to the present embodiment is mounted includes an imaging device 50 a that captures an image around the vehicle. Then, based on the position information of the surrounding vehicle, the position information of the own vehicle, and the map information, the determination unit 21a has no obstacle between the surrounding vehicle and the own vehicle, and the surrounding vehicle becomes a blind spot of the own vehicle. When it is determined that the vehicle is not located, it is further determined for each neighboring vehicle whether or not there is an obstacle not included in the map information between the neighboring vehicle and the host vehicle based on the image information captured by the imaging device 50a. Check with. Thereby, since the obstacle which is not contained in map data exists between the own vehicles, even if it is a peripheral vehicle located in the blind spot of the own vehicle, it can communicate directly.

  FIG. 5 shows a processing procedure of communication device switching processing that is repeatedly executed every predetermined time by the in-vehicle communication device 10a of the present embodiment.

  When the communication device switching process is started, the in-vehicle communication device 10a (specifically, the determination unit 21a configuring the control unit 20) executes the processes of Step S11 to Step S13, and the above-described process of Step S21 is performed as described above. An image around the host vehicle is captured by the imaging device 50a. And the determination part 21 determines the communication apparatus used for direct communication for every surrounding vehicle as a process of subsequent step S22. Specifically, when it is determined that an obstacle exists between the surrounding vehicle and the own vehicle based on the position information of the surrounding vehicle, the position information of the own vehicle, and the map information, and the surrounding vehicle is located in the blind spot of the own vehicle The WAVE communication device 40 is used. Further, based on the position information of the surrounding vehicle, the position information of the own vehicle, and the map information, it is determined that there is no obstacle between the surrounding vehicle and the own vehicle and the surrounding vehicle is not located in the blind spot of the own vehicle. Further, it is further determined whether or not the surrounding vehicle can be recognized based on the image information captured by the imaging device 50a. Here, when the surrounding vehicle cannot be recognized by the image information, an obstacle that is not included in the map information exists between the surrounding vehicle and the host vehicle, and therefore the WAVE communication device 40 is used. On the other hand, when the surrounding vehicle can be recognized by the image information, the obstacle not included in the map information does not exist between the surrounding vehicle and the host vehicle, and therefore the DSRC communication device 30 is used. Thus, the determination unit 21a determines the communication device used for direct communication for each peripheral vehicle.

  Hereinafter, an operation example of the present embodiment will be described with reference to FIG. In this operation example, the vehicles C1 to C4 and C6 are the surrounding vehicles, and the vehicle C5 is the host vehicle.

  First, the vehicle C5 acquires the position information of the vehicles C1 to C4 and C6, the vehicle ID and the identification number of the roadside device R1 from the roadside device R1, and also acquires the position information of the vehicle C5 from a satellite (not shown).

  And vehicle C5 judges whether vehicles C1-C4 and C6 are located in the blind spot of the said vehicles C5 based on the positional information on these vehicles C1-C4 and C6, the positional information on the said vehicles C5, and map information. To do. At this time, as shown in FIG. 1, there is no vehicle located in the blind spot of the vehicle C5 due to the obstacle included in the map information. Therefore, the vehicle C5 further determines whether or not the vehicles C1 to C4 and C6 are located in the blind spot of the vehicle C5 based on image information obtained by imaging the periphery of the vehicle C5 by the imaging device 50a.

  Here, the vehicle C2 exists between the vehicle C1 and the vehicle C5, and the vehicle C1 cannot be recognized based on the image information. Therefore, the vehicle C5 determines that the vehicle C1 is located in the blind spot of the vehicle C5. Moreover, since there is no obstacle between the vehicle C2 and the vehicle C5, the vehicle C2 can be recognized based on the image information. Therefore, the vehicle C5 determines that the vehicle C2 is not located in the blind spot of the vehicle C5. Further, since the vehicle C4 exists between the vehicle C3 and the vehicle C5, the vehicle C3 cannot be recognized based on the image information. Therefore, the vehicle C3 determines that the vehicle C1 is located in the blind spot of the vehicle C5. Moreover, since there is no obstacle between the vehicle C4 and the vehicle C5, the vehicle C4 can be recognized based on the image information. Therefore, the vehicle C5 determines that the vehicle C4 is not located in the blind spot of the vehicle C5. Furthermore, since there is no obstacle between the vehicle C6 and the vehicle C5, the vehicle C6 can be recognized based on the image information. Therefore, the vehicle C5 determines that the vehicle C6 is not located in the blind spot of the vehicle C5.

  Then, the vehicle C5 directly communicates with the vehicles C1 and C3 determined to be located in the blind spot of the vehicle C5 using the WAVE communication device 40, respectively. Specifically, the vehicle C5 has its own vehicle such as “vehicle speed: 10 [km / h], turn signal: right, own vehicle position: north latitude ** degrees, east longitude ** degrees” with respect to the vehicles C1 and C3. Send information. On the other hand, the vehicle C5 directly communicates with the vehicle C2, the vehicle C4, and the vehicle C6 that are determined not to be located in the blind spot of the vehicle C5 using the DSRC communication device 30. Specifically, the vehicle C5 transmits its own vehicle information such as “vehicle speed: 10 [km / h], turn signal: right” to the vehicle C2, the vehicle C4, and the vehicle C6.

  Radio waves emitted from the WAVE communication device 40 mounted on the vehicle C5 reach the vehicle C2 through the vehicle C1 and reach the vehicle C3 through the vehicle C4. On the other hand, the radio wave emitted from the DSRC communication device 30 mounted on the vehicle C5 reaches each of the vehicle C2, the vehicle C4, and the vehicle C6 linearly.

  In the second embodiment described above, the vehicle on which the in-vehicle communication device 10a is mounted includes the imaging device 50a that captures an image around the vehicle. Then, the in-vehicle communication device 10a (specifically, the determination unit 21a configuring the control unit 20) determines whether there is an obstacle between the surrounding vehicle and the own vehicle based on the position information of the surrounding vehicle, the position information of the own vehicle, and the map information. When it is determined that the surrounding vehicle is not located in the blind spot of the own vehicle, an obstacle not included in the map information is further detected from the surrounding vehicle and the own vehicle based on the image information captured by the imaging device 50a. It is confirmed for each surrounding vehicle whether or not it exists between the vehicles. Thereby, since the obstacle which is not contained in map data exists between the own vehicles, even if it is a peripheral vehicle located in the blind spot of the own vehicle, it can communicate directly with a surrounding vehicle.

  Note that the in-vehicle communication device and the inter-vehicle communication system according to the present invention are not limited to the configurations exemplified in the above embodiments, and can be implemented with various modifications without departing from the spirit of the present invention. Is possible. In other words, for example, the following embodiment can be implemented by appropriately changing the above embodiment.

  In each of the above embodiments, the roadside devices R1 to R4 acquire and acquire the position information and the vehicle ID1 to ID6 of the vehicles C1 to C6 around the roadside devices R1 to R4 based on the so-called polling response. Although the position information of the vehicles C1 to C6 and the vehicle ID1 to ID6 have been broadcasted, the method for acquiring the position information of the vehicles C1 to C6 is not limited to this. In addition, for example, the first receiver 50 may receive the position information of the vehicles C1 to C6 by receiving, for example, a radio wave emitted from a satellite. In short, the means is arbitrary as long as the position information of the vehicles C1 to C6 can be acquired regardless of the presence of the obstacle.

  In each of the above embodiments (including modifications), the WAVE communication device is employed as the first communication device, and the DSRC communication device is employed as the second communication device. However, the present invention is not limited to this. In short, the communication method is arbitrary, and as the first communication device, a communication device using a radio wave that is weak in directivity and can wrap around an obstacle is adopted, and as the second communication device, data transmission with strong directivity is performed. A communication device using radio waves with high speed may be employed.

  In each of the above embodiments (including modifications), as shown in FIGS. 3 and 5, the determination as to whether or not the surrounding vehicle is located in the blind spot of the host vehicle is repeatedly executed at predetermined time intervals. However, it is not limited to this. In addition, for example, whether or not the surrounding vehicle is located in the blind spot of the own vehicle is executed only when the own vehicle turns right and left, and the communication device used for direct communication with the surrounding vehicle is switched to transmit the own vehicle information. It is good as well.

  In the second embodiment (including the modification), the vehicle on which the in-vehicle communication device 10a is mounted includes the imaging device 50a that captures an image around the vehicle. Then, based on the position information of the surrounding vehicle, the position information of the own vehicle, and the map information, the determination unit 21a has no obstacle between the surrounding vehicle and the own vehicle, and the surrounding vehicle becomes a blind spot of the own vehicle. When it is determined that the vehicle is not located, it is further determined for each neighboring vehicle whether or not there is an obstacle not included in the map information between the neighboring vehicle and the host vehicle based on the image information captured by the imaging device 50a. Had confirmed. That is, the determination based on the map information and the determination based on the image information are used together, but the present invention is not limited to this. Even if the determination based on the map information is omitted and only the determination based on the image information is executed, the intended purpose can be achieved. In this case, the map information stored and held in the storage holding unit 22 does not need to include the position information of the obstacle that hinders direct communication.

1 is a schematic diagram of an in-vehicle communication device and an inter-vehicle communication system according to the present invention. The block diagram which shows the structural example of the vehicle-mounted communication apparatus which comprises the communication system between vehicles of 1st Embodiment. The flowchart which shows an example of the process sequence about the communication apparatus switching process performed by the vehicle-mounted communication apparatus of 1st Embodiment. The block diagram which shows an example of the structure about 2nd Embodiment of the vehicle-mounted communication apparatus which concerns on this invention, and the communication system between vehicles. The flowchart which shows the process sequence about the communication control process of 2nd Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1, 1a ... Inter-vehicle communication system 10, 10a ... In-vehicle communication apparatus, 20 ... Control unit, 21, 21a ... Judgment control part, 22 ... Memory holding part, 23 ... Transmission part, 30 ... DSRC communication apparatus (2nd communication) Equipment), 40 ... WAVE communication equipment (first communication equipment), 50 ... first receiver, 50a ... imaging equipment, 60 ... GPS receiver (second receiver), 70 ... various control devices, 80 ... various sensors.

Claims (4)

A first receiver that receives position information of surrounding vehicles located around the own vehicle, a second receiver that receives position information of the own vehicle, and positions of obstacles that prevent direct communication between the surrounding vehicle and the own vehicle A first communication device that uses a first frequency band radio wave and a second frequency band radio wave that is higher than the first frequency band are mounted on a vehicle including a memory holding unit that stores and holds map information including information. A second communication device to be used,
Based on the position information of the surrounding vehicle, the position information of the own vehicle, and the map information, whether there is an obstacle between the surrounding vehicle and the own vehicle and the surrounding vehicle is positioned at the blind spot of the own vehicle. When determining and determining that the surrounding vehicle is located in the blind spot of the own vehicle, the second communication device is communicating with the surrounding vehicle using the first communication device while determining that the surrounding vehicle is not located in the blind spot of the own vehicle. A vehicle-mounted communication device that communicates with surrounding vehicles using A vehicle comprising: a first receiver that receives position information of a surrounding vehicle located around the own vehicle; a second receiver that receives position information of the own vehicle; and an imaging device that captures an image of the vicinity of the own vehicle A first communication device that uses radio waves in the first frequency band, and a second communication device that uses radio waves in a second frequency band higher than the first frequency band,
Based on the position information of the surrounding vehicle, the position information of the own vehicle, and the image information captured by the imaging device, an obstacle that prevents direct communication between the surrounding vehicle and the own vehicle is between the surrounding vehicle and the own vehicle. And determining whether the surrounding vehicle is located in the blind spot of the own vehicle and determining that the surrounding vehicle is located in the blind spot of the own vehicle, while communicating with the surrounding vehicle using the first communication device, An in-vehicle communication device that communicates with a surrounding vehicle using a second communication device when it is determined that there is no obstacle between the vehicle and the own vehicle and the surrounding vehicle is not located in the blind spot of the own vehicle.   The in-vehicle communication device according to claim 1, wherein the determination as to whether or not the surrounding vehicle is located at a blind spot of the host vehicle is repeatedly performed at predetermined time intervals. Including a plurality of vehicles equipped with the in-vehicle communication device according to any one of claims 1 to 3,
The first receiver receives radio waves emitted from roadside devices installed along the road.
The roadside unit performs polling, which is an inquiry to a plurality of vehicles located around the roadside unit, and acquires position information of each vehicle centered on the roadside unit based on a response to the polling. A vehicle-to-vehicle communication system.

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