JP2010141516A - Mobile communication system, transmission terminal, reception terminal, mobile communication method, and program - Google Patents

Mobile communication system, transmission terminal, reception terminal, mobile communication method, and program Download PDF

Info

Publication number
JP2010141516A
JP2010141516A JP2008314668A JP2008314668A JP2010141516A JP 2010141516 A JP2010141516 A JP 2010141516A JP 2008314668 A JP2008314668 A JP 2008314668A JP 2008314668 A JP2008314668 A JP 2008314668A JP 2010141516 A JP2010141516 A JP 2010141516A
Authority
JP
Japan
Prior art keywords
terminal
communication
communication message
position condition
message
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP2008314668A
Other languages
Japanese (ja)
Other versions
JP5138565B2 (en
Inventor
Yoshifumi Hayakawa
祥史 早川
Kenji Sato
憲治 佐藤
Hisaharu Takeuchi
久治 竹内
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Heavy Industries Ltd
Original Assignee
Mitsubishi Heavy Industries Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Heavy Industries Ltd filed Critical Mitsubishi Heavy Industries Ltd
Priority to JP2008314668A priority Critical patent/JP5138565B2/en
Publication of JP2010141516A publication Critical patent/JP2010141516A/en
Application granted granted Critical
Publication of JP5138565B2 publication Critical patent/JP5138565B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Abstract

<P>PROBLEM TO BE SOLVED: To achieve an inter-vehicle communication capable of suppressing occurrence of collision. <P>SOLUTION: An expected course generation part 203 of a communication terminal 20-1 generates a position condition showing a predetermined position and a communication telegram transmission part 204 of the communication terminal 20-1 transmits a communication telegram attached by the position condition. Moreover, a communication telegram receiving part 205 of a communication terminal 20-2 receives a communication telegram, an expected course generation part 203 of the communication terminal 20-2 calculates an expected course showing a course where its own terminal is expected to move in a predetermined time on the basis of a position of its own terminal, moving speed, and a course direction, a position condition determination part 206 of the communication terminal 20-2 determines whether or not a position shown by the position condition attached to the received communication telegram overlaps the expected course calculated by the expected course generation part, and a reply telegram transmission part 208 of the communication terminal 20-2 transmits a response telegram to the communication telegram received on the basis of a determination result of the position condition determination part 206. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

本発明は、通信電文を送信する送信端末と、通信電文を受信して受信した通信電文に対する応答電文を送信する受信端末とを備える移動体通信システム、送信端末、受信端末、移動体通信方法及びプログラムに関する。   The present invention relates to a mobile communication system, a transmission terminal, a reception terminal, a mobile communication method, and a transmission terminal that includes a transmission terminal that transmits a communication message and a reception terminal that transmits a response message to the received communication message. Regarding the program.

近年、車の安全運転を支援するシステムであるＡＳＶ（Advanced Safety Vehicle、先進安全自動車）において、車同士の衝突事故を防止するために、車車間通信（車同士の通信）を行い、他の車との衝突の可能性がある場合、運転手に注意を喚起するようなシステムが提案されている（例えば、特許文献１を参照）。
上述したＡＳＶの車車間通信を行うには、車を特定して通信を行う必要がある。通常、送信先の端末を特定して通信を行う場合、送信先端末のＩＤを指定し、指定したＩＤの端末と通信を行う方法が用いられる。しかし、車車間通信では送信元の車の周辺に存在する不特定の車を送信先とするため、送信先のＩＤを予め取得しておくことができない。そのため、ＩＤを用いて通信を行う方法は、車車間通信に適していない。
なお、車を特定して通信を行う従来の方法として、ＥＴＣ（Electronic Toll Collection System）等に用いられるＤＳＲＣ（Dedicated Short Range Communication、狭域通信）やＶＩＣＳ（Vehicle Information and Communication System、道路交通情報通信システム）のように、通信領域を限定することで特定領域を走行する車と通信する方法が知られている。
特開２００８−２１００５１号公報 In recent years, ASV (Advanced Safety Vehicle), which is a system that supports safe driving of vehicles, performs vehicle-to-vehicle communication (communication between vehicles) to prevent other vehicles from colliding with other vehicles. A system has been proposed that alerts the driver when there is a possibility of a collision with the vehicle (see, for example, Patent Document 1).
In order to perform the above-described ASV inter-vehicle communication, it is necessary to perform communication by specifying a vehicle. Usually, when communication is performed by specifying a destination terminal, a method is used in which the ID of the destination terminal is designated and communication is performed with the terminal having the designated ID. However, in the inter-vehicle communication, an unspecified vehicle existing around the transmission source vehicle is set as the transmission destination, and therefore the transmission destination ID cannot be acquired in advance. Therefore, the method of performing communication using ID is not suitable for vehicle-to-vehicle communication.
In addition, as a conventional method for identifying and communicating with a vehicle, DSRC (Dedicated Short Range Communication) used in ETC (Electronic Toll Collection System), VICS (Vehicle Information and Communication System, road traffic information communication) As in (System), a method for communicating with a vehicle traveling in a specific area by limiting the communication area is known.
JP 2008-210051 A

しかしながら、上述したような通信領域を限定する通信する方法を特許文献１等に記載のシステムに適用した場合、以下のような問題がある。
まず、通信領域を狭くした場合、特許文献１等に記載のシステムは、他の車が当該領域に進入するまで当該他の車を検出することができない。そのため、衝突の可能性がある車の検出が遅れ、システムが運転手に注意を喚起した時、既に運転手が衝突を回避する余地が無いという可能性がある。
また、通信領域を広くした場合、通信領域に存在する車の数が多くなるため、ある車が送信する通信電文に対して多数の車が応答電文を送信することとなる。そのため、応答電文同士のコリジョン（collision）が多発する可能性が高くなり、衝突の可能性がある車の検出が遅れてしまう可能性がある。
本発明は上記の点に鑑みてなされたものであり、その目的は、コリジョンの発生を抑制できる移動体通信システム、送信端末、受信端末、移動体通信方法及びプログラムを提供することにある。 However, when the communication method for limiting the communication area as described above is applied to the system described in Patent Document 1 or the like, there are the following problems.
First, when the communication area is narrowed, the system described in Patent Document 1 or the like cannot detect the other car until another car enters the area. Therefore, when the detection of a car with a possibility of collision is delayed and the system alerts the driver, there is a possibility that the driver has no room to avoid the collision.
In addition, when the communication area is widened, the number of vehicles existing in the communication area increases, so that a large number of vehicles transmit response messages in response to communication messages transmitted by a certain vehicle. For this reason, there is a high possibility that collision between response messages frequently occurs, and detection of a car with a possibility of a collision may be delayed.
The present invention has been made in view of the above points, and an object thereof is to provide a mobile communication system, a transmission terminal, a reception terminal, a mobile communication method, and a program capable of suppressing the occurrence of collision.

本発明は上記の課題を解決するためになされたものであり、通信電文を送信する送信端末と、移動体に搭載され、前記通信電文を受信して前記受信した通信電文に対する応答電文を送信する受信端末とを備える移動体通信システムであり、前記送信端末は、所定の位置を示す位置条件を生成する位置条件生成部と、前記位置条件を付与した前記通信電文を送信する通信電文送信部と、を備え、前記受信端末は、前記通信電文を受信する通信電文受信部と、自端末の位置と移動速度と進行方向とに基づいて所定の時間後までに自端末が移動すると予想される進路を示す予想進路を算出する予想進路算出部と、前記受信した通信電文に付与された位置条件が示す位置と前記予想進路算出部が算出した予想進路との重なりの有無を判定する位置条件判定部と、前記位置条件判定部の判定結果に基づいて前記応答電文を送信する応答電文送信部と、を備えることを特徴とする。   The present invention has been made to solve the above-described problem, and is installed in a mobile terminal that transmits a communication message, and receives the communication message and transmits a response message to the received communication message. A mobile communication system comprising a receiving terminal, wherein the transmitting terminal generates a position condition generating unit that generates a position condition indicating a predetermined position, and a communication message transmitting unit that transmits the communication message to which the position condition is added The receiving terminal is a communication message receiving unit that receives the communication message, and a route in which the own terminal is expected to move by a predetermined time based on the position, moving speed, and traveling direction of the own terminal. A predicted route calculation unit that calculates a predicted route indicating the position, and a position condition that determines whether or not there is an overlap between the position indicated by the position condition given to the received communication message and the predicted route calculated by the predicted route calculation unit And tough, characterized in that it comprises, a response message transmitting unit that transmits the response message based on the position condition determination unit of the judgment result.

また、本発明は、通信電文を受信して前記受信した通信電文に対する応答電文を送信する受信端末に前記通信電文を送信する送信端末であり、所定の位置を示す位置条件を生成する位置条件生成部と、前記位置条件を付与した前記通信電文を送信する通信電文送信部と、を備えることを特徴とする。   In addition, the present invention is a transmission terminal that transmits a communication message to a receiving terminal that receives a communication message and transmits a response message to the received communication message, and generates a position condition indicating a predetermined position And a communication message transmission unit that transmits the communication message to which the position condition is added.

また、本発明は、送信端末から通信電文を受信して前記受信した通信電文に対する応答電文を送信する受信端末であり、前記通信電文を受信する通信電文受信部と、自端末の位置と移動速度と進行方向とに基づいて所定の時間後までに自端末が移動すると予想される進路を示す予想進路を算出する予想進路算出部と、前記受信した通信電文に付与された位置条件が示す位置と前記予想進路算出部が算出した予想進路との重なりの有無を判定する位置条件判定部と、前記位置条件判定部の判定結果に基づいて前記応答電文を送信する応答電文送信部と、を備えることを特徴とする。   Further, the present invention is a receiving terminal that receives a communication message from a transmitting terminal and transmits a response message to the received communication message, a communication message receiving unit that receives the communication message, a position and a moving speed of the own terminal And a predicted route calculation unit that calculates a predicted route indicating that the terminal is expected to move before a predetermined time based on the direction of travel and a position indicated by the position condition given to the received communication message A position condition determination unit that determines whether or not there is an overlap with the predicted route calculated by the predicted route calculation unit; and a response message transmission unit that transmits the response message based on a determination result of the position condition determination unit. It is characterized by.

また、本発明は、通信電文を送信する送信端末と、移動体に搭載され、前記通信電文を受信して前記受信した通信電文に対する応答電文を送信する受信端末とを備える移動体通信システムを用いた移動体通信方法であり、前記送信端末の位置条件生成部は、所定の位置を示す位置条件を生成し、前記送信端末の通信電文送信部は、前記位置条件を付与した前記通信電文を送信し、前記受信端末の通信電文受信部は、前記通信電文を受信し、前記受信端末の予想進路算出部は、自端末の位置と移動速度と進行方向とに基づいて所定の時間後までに自端末が移動すると予想される進路を示す予想進路を算出し、前記受信端末の位置条件判定部は、前記受信した通信電文に付与された位置条件が示す位置と前記予想進路算出部が算出した予想進路との重なりの有無を判定し、前記受信端末の応答電文送信部は、前記位置条件判定部の判定結果に基づいて前記応答電文を送信する、ことを特徴とする。   In addition, the present invention uses a mobile communication system that includes a transmission terminal that transmits a communication message, and a reception terminal that is mounted on a mobile body and that receives the communication message and transmits a response message to the received communication message. The position condition generation unit of the transmission terminal generates a position condition indicating a predetermined position, and the communication message transmission unit of the transmission terminal transmits the communication message to which the position condition is added. Then, the communication message receiving unit of the receiving terminal receives the communication message, and the expected course calculation unit of the receiving terminal automatically performs the predetermined time based on the position, moving speed, and traveling direction of the terminal. A predicted route indicating a route that the terminal is expected to move is calculated, and the position condition determination unit of the receiving terminal calculates the position indicated by the position condition given to the received communication message and the prediction calculated by the predicted route calculation unit. Career path Determines the presence of overlap, the response message transmitting unit of the receiving terminal transmits the response message based on the position condition determination unit of the judgment result, characterized in that.

また、本発明は、通信電文を受信して前記受信した通信電文に対する応答電文を送信する受信端末に前記通信電文を送信する送信端末を、所定の位置を示す位置条件を生成する位置条件生成部、前記位置条件を付与した前記通信電文を送信する通信電文送信部、として動作させるためのプログラムである。   In addition, the present invention provides a position condition generating unit that generates a position condition indicating a predetermined position of a transmitting terminal that transmits a communication message to a receiving terminal that receives the communication message and transmits a response message to the received communication message A program for operating as a communication message transmission unit that transmits the communication message to which the position condition is added.

また、本発明は、送信端末から通信電文を受信して前記受信した通信電文に対する応答電文を送信する受信端末を、前記通信電文を受信する通信電文受信部、自端末の位置と移動速度と進行方向とに基づいて所定の時間後までに自端末が移動すると予想される進路を示す予想進路を算出する予想進路算出部、前記受信した通信電文に付与された位置条件が示す位置と前記予想進路算出部が算出した予想進路との重なりの有無を判定する位置条件判定部、前記位置条件判定部の判定結果に基づいて前記応答電文を送信する応答電文送信部、として動作させるためのプログラムである。   The present invention also provides a receiving terminal that receives a communication message from a transmitting terminal and transmits a response message to the received communication message, a communication message receiving unit that receives the communication message, and the position and movement speed of the terminal itself. An expected route calculation unit that calculates an expected route indicating that the terminal is expected to move before a predetermined time based on a direction, a position indicated by a position condition given to the received communication message, and the predicted route A program for operating as a position condition determination unit that determines whether or not there is an overlap with the expected course calculated by the calculation unit, and a response message transmission unit that transmits the response message based on the determination result of the position condition determination unit .

本発明によれば送信端末は、所定の位置を示す位置条件を含む通信電文を送信し、受信端末は、自端末の予想進路と通信電文に含まれる位置条件との重なりの有無に基づいて応答電文を送信する。これにより、予想進路と位置条件との重なりがある受信端末が、予想進路位置条件との重なりがない受信端末よりも優先的に応答電文を送信することができるため、応答電文のコリジョンが発生する可能性を低減させることができる。
また、本発明によれば送信端末は、受信端末のＩＤではなく位置条件を含む通信電文を送信する。これにより、送信端末は、送信先の受信端末のＩＤを予め取得せずに周辺の受信端末と通信を行うことができる。 According to the present invention, the transmitting terminal transmits a communication message including a position condition indicating a predetermined position, and the receiving terminal responds based on the presence / absence of an overlap between the predicted route of the terminal and the position condition included in the communication message. Send a message. As a result, a receiving terminal that has an overlap between the expected course position and the position condition can transmit a response message with higher priority than a receiving terminal that does not have an overlap with the expected path position condition. The possibility can be reduced.
Further, according to the present invention, the transmitting terminal transmits a communication message including the location condition instead of the ID of the receiving terminal. Thereby, the transmitting terminal can communicate with surrounding receiving terminals without acquiring the ID of the receiving terminal as the transmission destination in advance.

（第１の実施形態）
以下、図面を参照しながら本発明の第１の実施形態について詳しく説明する。
図１は、本発明の第１の実施形態による移動体通信システムの構成図である。
移動体通信システムは、複数の車１０−１〜１０−Ｎと、車１０−１〜１０−Ｎにそれぞれ設置された通信端末２０−１〜２０−Ｎ（送信端末、受信端末）とを備える。
通信端末２０−１〜２０−Ｎは、他の通信端末２０−１〜２０−Ｎに通信電文を送信し、通信電文を受信した通信端末２０−１〜２０−Ｎは、受信した通信電文に対する応答電文を送信する。これにより、移動体通信システムは、車車間通信を可能とする。 (First embodiment)
Hereinafter, a first embodiment of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a configuration diagram of a mobile communication system according to a first embodiment of the present invention.
The mobile communication system includes a plurality of cars 10-1 to 10-N and communication terminals 20-1 to 20-N (transmission terminals and reception terminals) installed in the cars 10-1 to 10-N, respectively. .
The communication terminals 20-1 to 20-N transmit communication messages to the other communication terminals 20-1 to 20-N, and the communication terminals 20-1 to 20-N that have received the communication messages respond to the received communication messages. Send a response message. Thereby, the mobile communication system enables vehicle-to-vehicle communication.

図２は、通信端末の構成を示す概略ブロック図である。
通信端末２０−１〜２０−Ｎはそれぞれ、アンテナ２０１、車情報取得部２０２、予想進路算出部２０３（位置条件生成部）、通信電文送信部２０４、通信電文受信部２０５、位置条件判定部２０６、搬送波監視部２０７、応答電文送信部２０８、応答電文受信部２０９を備える。
車情報取得部２０２は、自端末が搭載されている車１０−１〜１０−Ｎの位置、移動速度、進行方向等の情報を取得する。
予想進路算出部２０３は、車情報取得部２０２が取得した情報から、ｔ秒後（所定の時間後）までに車１０−１〜１０−Ｎ及び自端末が移動すると予想される進路を示す予想進路（位置条件）を算出する。
通信電文送信部２０４は、予想進路算出部２０３が生成した予想進路を付与した通信電文を、アンテナ２０１を介して他の通信端末２０−１〜２０−Ｎに送信する。
通信電文受信部２０５は、アンテナ２０１を介して他の通信端末２０−１〜２０−Ｎが送信した通信電文を受信する。
位置条件判定部２０６は、通信電文受信部２０５が受信した通信電文に含まれる予想進路と予想進路算出部２０３が算出する自端末の予想進路との重なりの有無を判定する。
搬送波監視部２０７は、アンテナ２０１を介して、自端末の通信領域内において他の通信端末２０−１〜２０−Ｎが送信する搬送波を監視する。
応答電文送信部２０８は、位置条件判定部２０６が、自端末の予想進路と通信電文を送信した通信端末の予想進路とが重なっていると判定し、かつ搬送波監視部２０７が通信領域内に搬送波が無いと判定した場合に、アンテナ２０１を介して通信電文の送信元の通信端末２０−１〜２０−Ｎに応答電文を送信する。
応答電文受信部２０９は、アンテナ２０１を介して、他の通信端末２０−１〜２０−Ｎから応答電文を受信する。 FIG. 2 is a schematic block diagram showing the configuration of the communication terminal.
Each of the communication terminals 20-1 to 20-N includes an antenna 201, a vehicle information acquisition unit 202, an expected course calculation unit 203 (position condition generation unit), a communication message transmission unit 204, a communication message reception unit 205, and a position condition determination unit 206. A carrier wave monitoring unit 207, a response message transmission unit 208, and a response message reception unit 209.
The vehicle information acquisition unit 202 acquires information such as the position, moving speed, and traveling direction of the cars 10-1 to 10-N on which the terminal is mounted.
The predicted course calculation unit 203 indicates a predicted path from which the cars 10-1 to 10-N and the terminal are expected to move by t seconds (after a predetermined time) from the information acquired by the vehicle information acquisition unit 202. The course (position condition) is calculated.
The communication message transmission unit 204 transmits the communication message to which the predicted route generated by the predicted route calculation unit 203 is added to the other communication terminals 20-1 to 20 -N via the antenna 201.
The communication message receiving unit 205 receives communication messages transmitted from the other communication terminals 20-1 to 20 -N via the antenna 201.
The position condition determination unit 206 determines whether or not there is an overlap between the predicted route included in the communication message received by the communication message reception unit 205 and the predicted route of the own terminal calculated by the predicted route calculation unit 203.
The carrier wave monitoring unit 207 monitors the carrier wave transmitted from the other communication terminals 20-1 to 20 -N via the antenna 201 in the communication area of the own terminal.
The response message transmission unit 208 determines that the position condition determination unit 206 overlaps the expected route of the terminal itself and the expected route of the communication terminal that has transmitted the communication message, and the carrier wave monitoring unit 207 includes the carrier wave in the communication area. When it is determined that there is no response message, a response message is transmitted to the communication terminals 20-1 to 20-N that are the transmission source of the communication message via the antenna 201.
The response message receiving unit 209 receives response messages from the other communication terminals 20-1 to 20 -N via the antenna 201.

そして、本実施形態の移動体通信システムにおいては、ある通信端末の予想進路生成部２０３が所定の位置を示す位置条件を生成し、当該ある通信端末の通信電文送信部２０４が前記位置条件を付与した通信電文を送信する。
さらに、他の通信端末の通信電文受信部２０５が通信電文を受信し、当該他の通信端末の予想進路算出部２０３が自端末の位置と移動速度と進行方向とに基づいて所定の時間後までに自端末が移動すると予想される進路を示す予想進路を算出し、当該他の通信端末の位置条件判定部２０６は、受信した通信電文に付与された位置条件が示す位置と前記予想進路算出部が算出した予想進路とが重なるか否かを判定し、当該他の通信端末の応答電文送信部２０８は、位置条件判定部２０６の判定結果に基づいて受信した通信電文に対する応答電文を送信する。
これにより、予想進路と位置条件との重なりがある通信端末２０−１〜２０−Ｎが、予想進路と位置条件との重なりがない通信端末２０−１〜２０−Ｎよりも優先的に応答電文を送信することができるため、応答電文のコリジョンが発生する可能性を低減させることができる。 In the mobile communication system of the present embodiment, the predicted route generation unit 203 of a certain communication terminal generates a position condition indicating a predetermined position, and the communication message transmission unit 204 of the certain communication terminal gives the position condition. Send the communication message.
Further, the communication message reception unit 205 of another communication terminal receives the communication message, and the expected course calculation unit 203 of the other communication terminal until a predetermined time later based on the position, moving speed, and traveling direction of the own terminal. The position condition determination unit 206 of the other communication terminal calculates the position indicated by the position condition given to the received communication message and the predicted path calculation unit. The response message transmission unit 208 of the other communication terminal transmits a response message to the received communication message based on the determination result of the position condition determination unit 206.
As a result, the communication terminals 20-1 to 20-N having an overlap between the expected route and the position condition are given priority over the communication terminals 20-1 to 20-N having no overlap between the expected route and the position condition. Therefore, it is possible to reduce the possibility of collision of the response message.

次に、第１の実施形態における移動体通信システムの動作を説明する。
図３は、通信端末が通信電文を送信する動作を示す第１のフローチャートである。
図３は、第１の実施形態における通信端末２０−１〜２０−Ｎが通信電文を送信する際の動作を示している。
なお、ここでは、代表として通信端末２０−１について説明する。ただし、通信端末２０−２〜２０−Ｎについても通信端末２０−１と同一の動作を行うことは言うまでも無い。
まず、通信端末２０−１の車情報取得部２０２は、自端末を搭載する車１０−１から位置、速度、進行方向を含む車情報を取得する（ステップＳ１０１）。車１０−１の位置情報は、例えば、車１０−１が搭載する車載器のＧＰＳ（Global Positioning System、全地球測位システム）等から取得することができる。また、車の速度は、車１０−１が搭載する車載器のＧＰＳによる位置情報の変化や、速度センサ等から取得することができる。また、車１０−１の進行方向は、車１０−１のウィンカーの情報、ステアリングの角度、車載器による目的地までの誘導経路情報等から取得することができる。 Next, the operation of the mobile communication system in the first embodiment will be described.
FIG. 3 is a first flowchart illustrating an operation in which the communication terminal transmits a communication message.
FIG. 3 shows an operation when the communication terminals 20-1 to 20-N in the first embodiment transmit a communication message.
Here, the communication terminal 20-1 will be described as a representative. However, it goes without saying that the communication terminals 20-2 to 20-N perform the same operation as the communication terminal 20-1.
First, the vehicle information acquisition unit 202 of the communication terminal 20-1 acquires vehicle information including the position, speed, and traveling direction from the vehicle 10-1 equipped with the terminal (step S101). The position information of the car 10-1 can be acquired from, for example, a GPS (Global Positioning System) of the vehicle-mounted device mounted on the car 10-1. Further, the speed of the vehicle can be acquired from a change in position information by GPS of the vehicle-mounted device mounted on the vehicle 10-1, a speed sensor, or the like. Further, the traveling direction of the vehicle 10-1 can be acquired from the information on the winker of the vehicle 10-1, the steering angle, information on the guidance route to the destination by the vehicle-mounted device, and the like.

ステップＳ１により、車情報取得部２０２が車情報を取得すると、予想進路算出部２０３は、車情報取得部２０２が取得した車情報に基づいてｔ秒後までに車１０−１が移動すると予想される予想進路を算出する（ステップＳ１０２）。
予想進路は、例えば以下のように算出する。
まず、予想進路算出部２０３は、車情報に含まれる位置、速度、進行方向からｔ秒後の車１０−１の位置を算出し、現在の車１０−１の位置と算出したｔ秒後の車１０−１の位置とを結ぶベクトルを予想進路としても良い（予想進路１）。
また、例えば、予想進路算出部２０３は、進行方向の左右に所定の角度の誤差範囲を設定し、位置と速度と左右に誤差範囲を設定した進行方向とに基づいて左右の誤差を考慮したｔ秒後の車１０−１の位置を算出し、現在の車１０−１の位置と、左方向の誤差を考慮して算出したｔ秒後の車１０−１の位置と、右方向の誤差を考慮して算出したｔ秒後の車１０−１の位置とで囲まれる三角形、または進行方向の左右の誤差に加えて、車１０−１の幅を考慮した四角形の領域（例えば、車１０−１のフロントバンパーの左端の位置と、車１０−１のフロントバンパーの右端の位置と、左方向の誤差を考慮して算出したｔ秒後の車１０−１の位置と、右方向の誤差を考慮して算出したｔ秒後の車１０−１の位置とで囲まれる四角形の領域等）を予想進路としても良い（予想進路２）。
また、例えば、予想進路算出部２０３は、車情報に含まれる位置、速度、進行方向からｔ秒後の車１０−１の位置を算出し、現在の車１０−１の位置と算出したｔ秒後の車１０−１の位置とを結ぶベクトルを直径とする円の領域を予想進路として算出しても良い（予想進路３）。 When the vehicle information acquisition unit 202 acquires the vehicle information in step S1, the predicted course calculation unit 203 is expected to move the vehicle 10-1 by t seconds based on the vehicle information acquired by the vehicle information acquisition unit 202. An expected course is calculated (step S102).
The expected course is calculated as follows, for example.
First, the predicted course calculation unit 203 calculates the position of the car 10-1 after t seconds from the position, speed, and traveling direction included in the vehicle information, and the calculated position after the t second after the calculated position of the current car 10-1. A vector connecting the position of the car 10-1 may be used as the predicted course (predicted course 1).
Also, for example, the predicted course calculation unit 203 sets an error range of a predetermined angle on the left and right of the traveling direction, and considers the left and right errors based on the position, speed, and the traveling direction on which the error range is set on the left and right The position of the car 10-1 after 2 seconds is calculated, and the current position of the car 10-1, the position of the car 10-1 after t seconds calculated in consideration of the error in the left direction, and the error in the right direction are calculated. In addition to the triangle surrounded by the position of the car 10-1 after t seconds calculated in consideration, or the left and right errors in the traveling direction, a square area in consideration of the width of the car 10-1 (for example, the car 10- 1 The position of the left end of the front bumper, the position of the right end of the front bumper of the car 10-1, the position of the car 10-1 after t seconds calculated considering the error in the left direction, and the error in the right direction are considered. A square area surrounded by the position of the car 10-1 after t seconds It may be the route (predicted course 2).
Further, for example, the predicted course calculation unit 203 calculates the position of the car 10-1 after t seconds from the position, speed, and traveling direction included in the vehicle information, and calculates the current position of the car 10-1 for t seconds. A region of a circle having a diameter connecting to the position of the subsequent car 10-1 may be calculated as an expected route (expected route 3).

ステップＳ２により、予想進路算出部２０３が予想進路を算出すると、通信電文送信部２０４は、予想進路算出部２０３が算出した予想進路を含む通信電文を、アンテナ２０１を介してブロードキャストで送信する（ステップＳ１０３）。なお、通信端末２０−１は、断続的に（例えば１００ミリ秒に１度）通信電文を送信する。
通信電文送信部２０４が通信電文を送信すると、応答電文受信部２０９は、所定の時間通信電文に対する応答電文の受信を待機し、アンテナ２０１を介して応答電文を受信する（ステップＳ１０４）。 When the predicted route calculation unit 203 calculates the predicted route in step S2, the communication message transmitting unit 204 transmits a communication message including the predicted route calculated by the predicted route calculation unit 203 via the antenna 201 (step S2). S103). Note that the communication terminal 20-1 transmits a communication message intermittently (for example, once every 100 milliseconds).
When the communication message transmission unit 204 transmits a communication message, the response message reception unit 209 waits for reception of a response message for the communication message for a predetermined time, and receives the response message via the antenna 201 (step S104).

図４は、通信端末が応答電文を送信する動作を示す第１のフローチャートである。
図４は、第１の実施形態による通信端末２０−１〜２０−Ｎが応答電文を送信する際の動作を示している。
なお、ここでは、代表として通信端末２０−２について説明する。ただし、通信端末２０−１、２０−３〜２０−Ｎについても通信端末２０−２と同一の動作を行うことは言うまでも無い。
まず、通信端末２０−２の通信電文受信部２０５は、アンテナ２０１を介して通信端末２０−１が送信した通信電文を受信する（ステップＳ２０１）。通信電文受信部２０５が通信電文を受信すると、車情報取得部２０２は、車１０−２の車情報を取得する（ステップＳ２０２）。なお、車情報の取得は、上述したステップＳ１０１と同様の方法で行う。車情報取得部２０２が車情報を取得すると、予想進路算出部２０３は、車１０−２のｔ秒後までの予想進路を算出する（ステップＳ２０３）。なお、予想進路の算出は、上述したステップＳ１０２と同様の方法で行う。 FIG. 4 is a first flowchart showing an operation in which the communication terminal transmits a response message.
FIG. 4 shows an operation when the communication terminals 20-1 to 20-N according to the first embodiment transmit a response message.
Here, the communication terminal 20-2 will be described as a representative. However, it goes without saying that the communication terminals 20-1 and 20-3 to 20-N perform the same operation as the communication terminal 20-2.
First, the communication message receiving unit 205 of the communication terminal 20-2 receives the communication message transmitted from the communication terminal 20-1 via the antenna 201 (step S201). When the communication message receiving unit 205 receives the communication message, the vehicle information acquisition unit 202 acquires the vehicle information of the vehicle 10-2 (step S202). In addition, acquisition of vehicle information is performed by the method similar to step S101 mentioned above. When the vehicle information acquisition unit 202 acquires the vehicle information, the predicted course calculation unit 203 calculates the predicted course until t seconds after the vehicle 10-2 (step S203). Note that the expected course is calculated by the same method as in step S102 described above.

予想進路算出部２０３が予想進路を算出すると、位置条件判定部２０６は、通信電文受信部２０５が受信した通信電文に含まれる予想進路と、予想進路算出部２０３が算出した予想進路との重なりの有無を判定する（ステップＳ２０４）。
予想進路の重なりの有無は、例えば以下のようにして判定する。
まず、予想進路算出部２０３が算出した予想進路がベクトルである場合（予想進路１）、位置条件判定部２０６は、通信電文受信部２０５が受信した通信電文に含まれる予想進路のベクトルと、予想進路算出部２０３が算出した予想進路のベクトルとに交点（予想進路の重なり）が存在するか否かを計算する。
また、予想進路算出部２０３が算出した予想進路が進行方向の左右の誤差を考慮した三角形または四角形の領域である場合（予想進路２）、位置条件判定部２０６は、通信電文受信部２０５が受信した通信電文に含まれる予想進路の領域の各辺を示すベクトルと、予想進路算出部２０３が算出した予想進路の領域の各辺を示すベクトルとのいずれかに交点が存在するか否かを計算する。このとき、位置条件判定部２０６は、いずれかのベクトルに交点が存在する場合、予想進路の重なりがあると判定し、いずれのベクトルにも交点が存在しない場合、予想進路の重なりがないと判定する。
また、予想進路算出部２０３が算出した予想進路が円の領域である場合（予想進路３）、位置条件判定部２０６は、通信電文受信部２０５が受信した通信電文に含まれる予想進路の領域の中心点と、予想進路算出部２０３が算出した予想進路の領域の中心点との距離を計算する。次に、位置条件判定部２０６は、通信電文受信部２０５が受信した通信電文に含まれる予想進路の領域の半径、及び予想進路算出部２０３が算出した予想進路の領域の半径を計算する。そして、位置条件判定部２０６は、通信電文に含まれる予想進路と算出した予想進路との中心点の距離が、通信電文に含まれる予想進路の半径と算出した予想進路の半径との和以下である場合、予想進路の重なりがあると判定し、通信電文に含まれる予想進路と算出した予想進路との中心点の距離が、通信電文に含まれる予想進路の半径と算出した予想進路の半径との和を超える場合、予想進路の重なりが無いと判定する。 When the predicted route calculation unit 203 calculates the predicted route, the position condition determination unit 206 overlaps the predicted route included in the communication message received by the communication message reception unit 205 and the predicted route calculated by the predicted route calculation unit 203. The presence or absence is determined (step S204).
Presence / absence of the expected course is determined, for example, as follows.
First, when the predicted course calculated by the predicted course calculation unit 203 is a vector (predicted course 1), the position condition determination unit 206 predicts the predicted course vector included in the communication message received by the communication message reception unit 205, and the prediction It is calculated whether or not an intersection (predicted course overlap) exists in the predicted course vector calculated by the course calculation unit 203.
In addition, when the predicted course calculated by the predicted course calculation unit 203 is a triangular or quadrangular region in consideration of left and right errors in the traveling direction (predicted course 2), the position condition determination unit 206 receives the communication message reception unit 205. Calculate whether or not there is an intersection in either the vector indicating each side of the predicted course area included in the communication message and the vector indicating each side of the predicted course area calculated by the predicted course calculation unit 203 To do. At this time, the position condition determination unit 206 determines that there is an overlap of the expected courses if there is an intersection in any vector, and determines that there is no overlap in the expected courses if there is no intersection in any vector. To do.
In addition, when the predicted course calculated by the predicted course calculation unit 203 is a circle area (predicted course 3), the position condition determination unit 206 displays the expected course area included in the communication message received by the communication message reception unit 205. The distance between the center point and the center point of the predicted course area calculated by the predicted course calculation unit 203 is calculated. Next, the position condition determination unit 206 calculates the radius of the predicted route area included in the communication message received by the communication message reception unit 205 and the radius of the predicted route region calculated by the predicted route calculation unit 203. Then, the position condition determination unit 206 determines that the distance between the center point of the predicted route included in the communication message and the calculated predicted route is equal to or less than the sum of the radius of the predicted route included in the communication message and the calculated radius of the predicted route. In some cases, it is determined that there is an overlap of expected routes, and the distance between the center of the predicted route included in the communication message and the calculated predicted route is the radius of the predicted route included in the communication message and the calculated expected route radius. If the sum of the above is exceeded, it is determined that there is no overlap of expected courses.

ステップＳ２０４によって、位置条件判定部２０６が、予想進路の重なりが無いと判定した場合（ステップＳ２０４：ＮＯ）、通信端末２０−２は、処理を終了する。すなわち、車同士の衝突の危険性が少ないと判定した通信端末２０−１〜２０−Ｎは、応答電文の送信を行わない。これにより、応答電文を送信する通信端末２０−１〜２０−Ｎの量を減らすことができるため、コリジョンの発生を抑制することができる。   If the position condition determination unit 206 determines in step S204 that there is no overlap of expected courses (step S204: NO), the communication terminal 20-2 ends the process. That is, the communication terminals 20-1 to 20-N that have determined that the risk of collision between vehicles is small do not transmit a response message. Thereby, since the quantity of the communication terminals 20-1 to 20-N which transmit a response message | telegram can be reduced, generation | occurrence | production of a collision can be suppressed.

位置条件判定部２０６が、予想進路の重なりがあると判定した場合（ステップＳ２０４：ＹＥＳ）、応答電文送信部２０８は、応答電文の送信を行うまでの待機時間を設定する（ステップＳ２０４）。ここで待機時間を設定する理由を説明する。通信端末２０−１が送信した通信電文に対して通信端末２０−２〜２０−Ｎが同時に応答電文を送信した場合、コリジョンが発生し、通信端末２０−１は応答電文を受信することができない。そのため、通信端末２０−１〜２０−Ｎがランダム値×スロット時間で設定される待機時間後に応答電文を送信することで、コリジョンの発生を抑制するために、待機時間を設定している。
応答電文送信部２０８が待機時間を設定すると、搬送波監視部２０７は、設定された待機時間の間、アンテナ２０１を介して他の通信端末２０−３〜２０−Ｎが送信する搬送波の有無を判定する（ステップＳ２０５）。 When the position condition determination unit 206 determines that there is an overlap of expected courses (step S204: YES), the response message transmission unit 208 sets a waiting time until the response message is transmitted (step S204). Here, the reason for setting the standby time will be described. When the communication terminals 20-2 to 20-N transmit a response message simultaneously to the communication message transmitted by the communication terminal 20-1, a collision occurs and the communication terminal 20-1 cannot receive the response message. . Therefore, the communication terminal 20-1 to 20-N transmits a response message after a standby time set by random value × slot time, so that the standby time is set in order to suppress the occurrence of collision.
When the response message transmission unit 208 sets the standby time, the carrier wave monitoring unit 207 determines whether or not there is a carrier wave transmitted from the other communication terminals 20-3 to 20-N via the antenna 201 during the set standby time. (Step S205).

設定された待機時間の間に、位置条件判定部２０７が他の通信端末２０−３〜２０−Ｎが送信する搬送波を検出していた場合（ステップＳ２０５：ＹＥＳ）、通信端末２０−２は、処理を終了する。
設定された待機時間の間に、位置条件判定部２０７が他の通信端末２０−３〜２０−Ｎが送信する搬送波を検出していない場合（ステップＳ２０５：ＮＯ）、応答電文送信部２０８は、アンテナ２０１を介して応答電文を送信する（ステップＳ２０６）。 When the position condition determination unit 207 detects the carrier wave transmitted by the other communication terminals 20-3 to 20-N during the set standby time (step S205: YES), the communication terminal 20-2 The process ends.
When the position condition determination unit 207 does not detect the carrier wave transmitted by the other communication terminals 20-3 to 20-N during the set standby time (step S205: NO), the response message transmission unit 208 A response message is transmitted via the antenna 201 (step S206).

図５は、移動体通信システムが動作する環境の例を示す図である。
図５に示される例では、十字路を通行する車１０−１に搭載されている通信端末２０−１の通信領域内に、車１０−２〜１０−５が存在している。なお、車１０−２〜１０−５は、それぞれ通信端末２０−２〜２０−５を搭載している。
以下、図５に示す環境下での移動体通信システムの動作を説明する。 FIG. 5 is a diagram illustrating an example of an environment in which a mobile communication system operates.
In the example shown in FIG. 5, cars 10-2 to 10-5 exist in the communication area of the communication terminal 20-1 mounted on the car 10-1 that passes through the crossroads. The cars 10-2 to 10-5 are equipped with communication terminals 20-2 to 20-5, respectively.
The operation of the mobile communication system under the environment shown in FIG. 5 will be described below.

図６は、移動体通信システムの動作を示す第１のシーケンス図である。
図６は、第１の実施形態による移動体通信システムの、図５に示す環境下における動作を示している。
車１０−１に搭載された通信端末２０−１の通信電文送信部２０４は、通信領域内の通信端末２０−２〜２０４にブロードキャストで通信電文を送信する（ステップＳ３０１）。このとき、上述したステップＳ１０２で算出した予想進路は、進行方向の左右の誤差を考慮した四角形の領域で表されるものとする。
まず、車１０−２に搭載された通信端末２０−２の動作を説明する。
通信端末２０−１が通信電文を送信すると、通信端末２０−２の通信電文受信部２０５は、通信端末２０−１から通信電文を受信する（ステップＳ３０２−Ａ）。通信電文受信部２０５が通信電文を受信すると、位置条件判定部２０６は、予想進路算出部２０３が算出した予想進路と、受信した通信電文に含まれる予想進路との重なりの有無を判定する（ステップＳ３０３−Ａ）。このとき、図５に示すように、車１０−１の予想進路と車１０−２の予想進路に重なりがあるため、位置条件判定部２０６は、予想進路に重なりがあると判定する。 FIG. 6 is a first sequence diagram showing an operation of the mobile communication system.
FIG. 6 shows the operation of the mobile communication system according to the first embodiment under the environment shown in FIG.
The communication message transmission unit 204 of the communication terminal 20-1 mounted on the vehicle 10-1 transmits a communication message by broadcasting to the communication terminals 20-2 to 204 in the communication area (step S301). At this time, it is assumed that the predicted course calculated in step S102 described above is represented by a rectangular area in consideration of left and right errors in the traveling direction.
First, operation | movement of the communication terminal 20-2 mounted in the car 10-2 is demonstrated.
When the communication terminal 20-1 transmits a communication message, the communication message reception unit 205 of the communication terminal 20-2 receives the communication message from the communication terminal 20-1 (step S302-A). When the communication message receiving unit 205 receives the communication message, the position condition determination unit 206 determines whether or not there is an overlap between the predicted route calculated by the predicted route calculation unit 203 and the predicted route included in the received communication message (step). S303-A). At this time, as shown in FIG. 5, since there is an overlap between the expected course of the car 10-1 and the expected course of the car 10-2, the position condition determination unit 206 determines that there is an overlap between the expected paths.

位置条件判定部２０６が予想進路に重なりがあると判定すると、応答電文送信部２０８は、待機時間を設定する（ステップＳ３０４−Ａ）。ここで、待機時間は、１ミリ秒のスロット時間に０〜１５のランダム値を乗じた時間とする。この例では、位置条件判定部２０６が待機時間を４ミリ秒と設定した場合を説明する。
位置条件判定部２０６が待機時間を設定すると、搬送波監視部２０７は、アンテナ２０１を介して設定された待機時間の間（４ミリ秒間）搬送波を監視し、待機時間の間に搬送波を検出したか否かを判定する（ステップＳ３０５−Ａ）。この例では、搬送波監視部２０７が搬送波を検出していない場合を説明する。
搬送波監視部２０７が搬送波を検出していないと判定すると、応答電文送信部２０９は、通信端末２０−１に応答電文を送信する（ステップＳ３０６−Ａ）。 When the position condition determination unit 206 determines that there is an overlap in the expected course, the response message transmission unit 208 sets a waiting time (step S304-A). Here, the waiting time is a time obtained by multiplying a slot time of 1 millisecond by a random value of 0 to 15. In this example, a case will be described in which the position condition determination unit 206 sets the standby time to 4 milliseconds.
When the position condition determination unit 206 sets the standby time, the carrier wave monitoring unit 207 monitors the carrier wave during the standby time set via the antenna 201 (4 milliseconds), and detects the carrier wave during the standby time. It is determined whether or not (step S305-A). In this example, a case where the carrier wave monitoring unit 207 has not detected a carrier wave will be described.
If the carrier wave monitoring unit 207 determines that no carrier wave is detected, the response message transmission unit 209 transmits a response message to the communication terminal 20-1 (step S306-A).

次に、車１０−３に搭載された通信端末２０−３の動作を説明する。
通信端末２０−１が通信電文を送信すると、通信端末２０−３の通信電文受信部２０５は、通信端末２０−１から通信電文を受信する（ステップＳ３０２−Ｂ）。通信電文受信部２０５が通信電文を受信すると、位置条件判定部２０６は、予想進路算出部２０３が算出した予想進路と、受信した通信電文に含まれる予想進路との重なりの有無を判定する（ステップＳ３０３−Ｂ）。このとき、図５に示すように、車１０−１の予想進路と車１０−３の予想進路に重なりがあるため、位置条件判定部２０６は、予想進路に重なりがあると判定する。 Next, the operation of the communication terminal 20-3 mounted on the car 10-3 will be described.
When the communication terminal 20-1 transmits a communication message, the communication message reception unit 205 of the communication terminal 20-3 receives the communication message from the communication terminal 20-1 (step S302-B). When the communication message receiving unit 205 receives the communication message, the position condition determination unit 206 determines whether or not there is an overlap between the predicted route calculated by the predicted route calculation unit 203 and the predicted route included in the received communication message (step). S303-B). At this time, as shown in FIG. 5, since there is an overlap between the expected course of the car 10-1 and the expected course of the car 10-3, the position condition determination unit 206 determines that there is an overlap between the expected paths.

位置条件判定部２０６が予想進路に重なりがあると判定すると、応答電文送信部２０８は、待機時間を設定する（ステップＳ３０４−Ｂ）。この例では、位置条件判定部２０６が待機時間を１２ミリ秒と設定した場合を説明する。
位置条件判定部２０６が待機時間を設定すると、搬送波監視部２０７は、アンテナ２０１を介して設定された待機時間の間（１２ミリ秒間）搬送波を監視し、待機時間の間に搬送波を検出したか否かを判定する（ステップＳ３０５−Ｂ）。この例では、４ミリ秒経過した時点で通信端末２０−２が応答電文を送信しているため、搬送波監視部２０７は、搬送波を検出する。
搬送波監視部２０７が搬送波を検出したと判定すると、通信端末２０−３は応答電文の送信処理を行わずに、処理を終了する。ここで、応答電文の送信処理を行わない理由を説明する。搬送波を検出したということは、他の通信端末２０−１〜２０−Ｎ（この場合は２０−２）が応答電文を送信しているということを示している。従って、搬送波を検出した時点で応答電文を送信すると、通信端末２０−２が送信している応答電文と通信端末２０−３が送信する応答電文とのコリジョンが発生し、通信端末２０−１は通信端末２０−２、２０−３のどちらの応答電文も受信できなくなってしまうためである。 When the position condition determination unit 206 determines that there is an overlap in the expected course, the response message transmission unit 208 sets a waiting time (step S304-B). In this example, a case will be described in which the position condition determination unit 206 sets the standby time to 12 milliseconds.
When the position condition determination unit 206 sets the standby time, the carrier wave monitoring unit 207 monitors the carrier wave during the standby time set via the antenna 201 (12 milliseconds), and has the carrier wave detected during the standby time? It is determined whether or not (step S305-B). In this example, since the communication terminal 20-2 transmits a response message when 4 milliseconds have elapsed, the carrier wave monitoring unit 207 detects the carrier wave.
When the carrier wave monitoring unit 207 determines that the carrier wave has been detected, the communication terminal 20-3 ends the process without performing the response message transmission process. Here, the reason why the response message transmission process is not performed will be described. The detection of the carrier wave indicates that the other communication terminals 20-1 to 20-N (in this case, 20-2) are transmitting response messages. Accordingly, when a response message is transmitted when a carrier wave is detected, a collision between the response message transmitted by the communication terminal 20-2 and the response message transmitted by the communication terminal 20-3 occurs, and the communication terminal 20-1 This is because neither of the response messages of the communication terminals 20-2 and 20-3 can be received.

次に、車１０−４に搭載された通信端末２０−４、車２０−５に搭載された２０−５の動作を説明する。
通信端末２０−１が通信電文を送信すると、通信端末２０−４、２０４の通信電文受信部２０５は、通信端末２０−１から通信電文を受信する（ステップＳ３０２−Ｃ）。通信電文受信部２０５が通信電文を受信すると、位置条件判定部２０６は、予想進路算出部２０３が算出した予想進路と、受信した通信電文に含まれる予想進路との重なりの有無を判定する（ステップＳ３０３−Ｃ）。このとき、図５に示すように、車１０−１の予想進路と車１０−４、及び車１０−５の予想進路には重なりがないため、位置条件判定部２０６は、予想進路に重なりがないと判定し、通信端末２０−４、２０４は、処理を終了する。 Next, operations of the communication terminal 20-4 mounted on the car 10-4 and the operation 20-5 mounted on the car 20-5 will be described.
When the communication terminal 20-1 transmits a communication message, the communication message reception unit 205 of the communication terminals 20-4 and 204 receives the communication message from the communication terminal 20-1 (step S302-C). When the communication message receiving unit 205 receives the communication message, the position condition determination unit 206 determines whether or not there is an overlap between the predicted route calculated by the predicted route calculation unit 203 and the predicted route included in the received communication message (step). S303-C). At this time, as shown in FIG. 5, since there is no overlap between the expected course of the car 10-1 and the expected course of the car 10-4 and the car 10-5, the position condition determination unit 206 does not overlap the expected course. The communication terminals 20-4 and 204 end the process.

上述した例では、通信端末２０−３の待機時間が通信端末２０−２よりも長かったために、通信端末２０−３は、応答電文を送信できない場合を示したが、上述したように、通信端末２０−１は、断続的に通信電文を送信しており、通信端末２０−２、２０−３はその度に待機時間をランダムで設定する。そのため、次回以降の通信電文の受信時に、通信端末２０−３の待機時間が通信端末２０−２よりも短くなった場合、通信端末２０−３が応答電文を送信し、通信端末２０−２は、応答電文を送信しないこととなる。
また、上述した例では、通信端末２０−１が通信電文を送信する例を示したが、これに限られず、通信端末２０−２〜２０４が通信電文を送信しても良い。 In the above-described example, the communication terminal 20-3 cannot transmit a response message because the standby time of the communication terminal 20-3 is longer than that of the communication terminal 20-2. 20-1 is intermittently transmitting a communication message, and the communication terminals 20-2 and 20-3 set the standby time at random each time. Therefore, if the standby time of the communication terminal 20-3 becomes shorter than the communication terminal 20-2 at the time of receiving a communication message after the next time, the communication terminal 20-3 transmits a response message, and the communication terminal 20-2 The response message is not transmitted.
In the above-described example, the example in which the communication terminal 20-1 transmits the communication message has been described. However, the present invention is not limited to this, and the communication terminals 20-2 to 204 may transmit the communication message.

このように、本実施形態によれば、ある通信端末２０−１〜２０−Ｎの予想進路算出部２０３が、所定の位置を示す位置条件を生成し、ある通信端末２０−１〜２０−Ｎの通信電文送信部が、位置条件を付与した通信電文を送信する。
さらに、他の通信端末２０−１〜２０−Ｎの通信電文受信部２０５がある通信端末２０−１〜２０−Ｎから通信電文を受信し、他の通信端末２０−１〜２０−の予想進路算出部２０３が予想進路を算出し、他の通信端末２０−１〜２０−Ｎの位置条件判定部２０６が受信した通信電文に含まれる位置条件と算出した予想進路との重なりの有無を判定し、他の通信端末２０−１〜２０−Ｎの応答電文送信部２０８は、予想進路との重なりの有無に基づいて応答電文を送信する。
これにより、通信端末２０−１〜２０−Ｎは、予想進路の重なりに基づいて応答電文を送信することができるため、応答電文のコリジョンが発生する可能性を低減させることができる。 As described above, according to the present embodiment, the expected course calculation unit 203 of a certain communication terminal 20-1 to 20-N generates a position condition indicating a predetermined position, and the certain communication terminal 20-1 to 20-N. The communication message transmission unit transmits a communication message to which the position condition is added.
Furthermore, the communication message is received from the communication terminals 20-1 to 20-N in which the communication message receiving unit 205 of the other communication terminals 20-1 to 20-N exists, and the expected course of the other communication terminals 20-1 to 20- The calculation unit 203 calculates the expected route, and the position condition determination unit 206 of the other communication terminals 20-1 to 20-N determines whether or not the position condition included in the communication message received and the calculated predicted route overlap. The response message transmission unit 208 of the other communication terminals 20-1 to 20-N transmits a response message based on whether or not there is an overlap with the expected course.
Thereby, since the communication terminals 20-1 to 20-N can transmit the response message based on the overlap of the expected courses, it is possible to reduce the possibility of the response message collision occurring.

また、本実施形態によれば、通信端末２０−１〜２０−Ｎの予想進路算出部２０３は、自端末の位置と移動速度と進行方向とに基づいてｔ秒後までに自端末が移動すると予想される進路を示す予想進路を算出し、位置条件判定部２０６は、自端末の予想進路と他の通信端末２０−１〜２０−Ｎの予想進路とに重なりがある場合、すなわち自端末を搭載する車１０−１〜１０−Ｎと他の車１０−１〜１０−Ｎとが衝突する可能性がある場合に、応答電文を送信する。
これにより、通信端末２０−１〜２０−Ｎは、自端末を搭載する車１０−１〜１０−Ｎと衝突する可能性が高い他の車１０−１〜１０−Ｎが搭載する通信端末２０−１〜２０−Ｎとの通信を優先的に確保することができる。 Further, according to the present embodiment, the predicted course calculation unit 203 of the communication terminals 20-1 to 20-N moves when the own terminal moves within t seconds based on the position, the moving speed, and the traveling direction of the own terminal. An expected route indicating an expected route is calculated, and the position condition determination unit 206 determines that the predicted route of the own terminal overlaps with the expected route of the other communication terminals 20-1 to 20-N, that is, determines the own terminal. When there is a possibility that the mounted cars 10-1 to 10-N and other cars 10-1 to 10-N collide, a response message is transmitted.
As a result, the communication terminals 20-1 to 20-N are mounted on the other cars 10-1 to 10-N that are likely to collide with the cars 10-1 to 10-N on which the own terminals are mounted. Communication with -1 to 20-N can be secured with priority.

また、本実施形態によれば、通信端末２０−１〜２０−Ｎの応答電文送信部２０８は、位置条件判定部２０６が、通信電文に含まれる予想進路と自端末の予想進路とが重なると判定した場合にのみ応答電文を送信する。
これにより、応答電文を送信する通信端末２０−１〜２０−Ｎの数を減らすことができるため、応答電文のコリジョンが発生する可能性をより低減させることができる。 Further, according to the present embodiment, the response message transmission unit 208 of the communication terminals 20-1 to 20-N causes the position condition determination unit 206 to overlap the expected route included in the communication message and the expected route of the terminal itself. A response message is sent only when it is determined.
Thereby, since the number of the communication terminals 20-1 to 20-N that transmit the response message can be reduced, it is possible to further reduce the possibility of the response message collision.

なお、当該応答電文を受信した通信端末２０−１〜２０−Ｎは、応答電文を送信した通信端末２０−１〜２０−Ｎとの通信を行い、安全運転を支援する処理を実行する。例えば、通信端末２０−１が通信端末２０−２の応答信号を受信した場合、通信端末２０−１を搭載した車１０−１に搭載されるカーナビゲーションシステム等の車載器の表示部が通信端末１０−２を搭載した車１０−２の位置情報を表示したり、車載器のスピーカ部が衝突注意を促す音声を再生したりする処理が考えられる。   The communication terminals 20-1 to 20-N that have received the response message communicate with the communication terminals 20-1 to 20-N that have transmitted the response message, and execute a process that supports safe driving. For example, when the communication terminal 20-1 receives the response signal of the communication terminal 20-2, the display unit of the vehicle-mounted device such as a car navigation system mounted on the car 10-1 equipped with the communication terminal 20-1 is the communication terminal. A process of displaying the position information of the car 10-2 on which the vehicle 10-2 is mounted, or reproducing a sound that prompts the attention of the collision by the speaker unit of the vehicle-mounted device can be considered.

（第２の実施形態）
次に、本発明の第２の実施形態について説明する。
本発明の第２の実施形態による通信端末２０−１〜２０−Ｎは、応答電文送信部２０８の動作が第１の実施形態による通信端末２０−１〜２０−Ｎと異なるものである。
応答電文送信部２０８は、位置条件判定部２０６によって予想進路の重なりがないと判定された場合に、予想進路の重なりがあると判定された場合に応答電文を送信するタイミングよりも遅いタイミングで応答電文を送信する。 (Second Embodiment)
Next, a second embodiment of the present invention will be described.
The communication terminals 20-1 to 20-N according to the second embodiment of the present invention are different from the communication terminals 20-1 to 20-N according to the first embodiment in the operation of the response message transmission unit 208.
The response message transmission unit 208 responds at a timing later than the timing of transmitting the response message when it is determined by the position condition determination unit 206 that there is no overlap between the expected routes, when it is determined that there is an overlap between the expected routes. Send a message.

次に、本発明の第２の実施形態による通信端末２０−１〜２０−Ｎの動作を説明する。
図７は、通信端末が通信電文を送信する動作を示す第２のフローチャートである。
図７は、本発明の第２の実施形態による通信端末２０−１〜２０−Ｎが通信電文を送信する際の動作を示している。
なお、ここでは、代表として通信端末２０−１について説明する。ただし、通信端末２０−２〜２０−Ｎについても通信端末２０−１と同一の動作を行うことは言うまでも無い。
まず、通信端末２０−１の車情報取得部２０２は、自端末を搭載する車１０−１から位置、速度、進行方向を含む車情報を取得する（ステップＳ１１１）。
車情報取得部２０２が車情報を取得すると、予想進路算出部２０３は、車情報取得部２０２が取得した車情報に基づいてｔ秒後までに車１０−１が移動すると予想される予想進路を算出する（ステップＳ１１２）。
予想進路算出部２０３が予想進路を算出すると、通信電文送信部２０４は、予想進路算出部２０３が算出した予想進路を含む通信電文を、アンテナ２０１を介してブロードキャストで送信する（ステップＳ１１３）。
通信電文送信部２０４が通信電文を送信すると、応答電文受信部２０９は、所定の時間通信電文に対する応答電文の受信を待機し、アンテナ２０１を介して応答電文を受信する（ステップＳ１１４）。 Next, the operation of the communication terminals 20-1 to 20-N according to the second embodiment of the present invention will be described.
FIG. 7 is a second flowchart illustrating an operation in which the communication terminal transmits a communication message.
FIG. 7 shows an operation when the communication terminals 20-1 to 20-N according to the second embodiment of the present invention transmit a communication message.
Here, the communication terminal 20-1 will be described as a representative. However, it goes without saying that the communication terminals 20-2 to 20-N perform the same operation as the communication terminal 20-1.
First, the vehicle information acquisition unit 202 of the communication terminal 20-1 acquires vehicle information including a position, a speed, and a traveling direction from the vehicle 10-1 equipped with the terminal (step S111).
When the vehicle information acquisition unit 202 acquires the vehicle information, the expected course calculation unit 203 calculates the expected course that the car 10-1 is expected to move by t seconds based on the vehicle information acquired by the vehicle information acquisition unit 202. Calculate (step S112).
When the predicted route calculation unit 203 calculates the predicted route, the communication message transmission unit 204 broadcasts a communication message including the predicted route calculated by the predicted route calculation unit 203 via the antenna 201 (step S113).
When the communication message transmission unit 204 transmits a communication message, the response message reception unit 209 waits for reception of a response message for the communication message for a predetermined time, and receives the response message via the antenna 201 (step S114).

図８は、通信端末が応答電文を送信する動作を示す第２のフローチャートである。
図８は、第２の実施形態による通信端末２０−１〜２０−Ｎが応答電文を送信する際の動作を示している。
なお、ここでは、代表として通信端末２０−２について説明する。ただし、通信端末２０−１、２０−３〜２０−Ｎについても通信端末２０−２と同一の動作を行うことは言うまでも無い。
まず、通信端末２０−２の通信電文受信部２０５は、アンテナ２０１を介して通信端末２０−１が送信した通信電文を受信する（ステップＳ２１１）。通信電文受信部２０５が通信電文を受信すると、車情報取得部２０２は、車１０−２の車情報を取得する（ステップＳ２１２）。車情報取得部２０２が車情報を取得すると、予想進路算出部２０３は、車１０−２のｔ秒後までの予想進路を算出する（ステップＳ２１３）。 FIG. 8 is a second flowchart illustrating an operation in which the communication terminal transmits a response message.
FIG. 8 shows an operation when the communication terminals 20-1 to 20-N according to the second embodiment transmit a response message.
Here, the communication terminal 20-2 will be described as a representative. However, it goes without saying that the communication terminals 20-1 and 20-3 to 20-N perform the same operation as the communication terminal 20-2.
First, the communication message receiving unit 205 of the communication terminal 20-2 receives the communication message transmitted from the communication terminal 20-1 via the antenna 201 (step S211). When the communication message receiving unit 205 receives the communication message, the vehicle information acquisition unit 202 acquires the vehicle information of the vehicle 10-2 (step S212). When the vehicle information acquisition unit 202 acquires the vehicle information, the predicted route calculation unit 203 calculates the predicted route until t seconds after the vehicle 10-2 (step S213).

予想進路算出部２０３が予想進路を算出すると、位置条件判定部２０６は、通信電文受信部２０５が受信した通信電文に含まれる予想進路と、予想進路算出部２０３が算出した予想進路との重なりの有無を判定する（ステップＳ２１４）。
位置条件判定部２０６が、予想進路に重なりがあると判定した場合（ステップＳ２１４：ＹＥＳ）、通信端末２０−２は、応答電文送信部２０８は、応答電文の送信を行うまでの待機時間として、ランダム値×スロット時間を設定する（ステップＳ２１５）。他方、位置条件判定部２０６が、予想進路に重なりがないと判定した場合（ステップＳ２１４：ＮＯ）、通信端末２０−２は、応答電文送信部２０８は、応答電文の送信を行うまでの待機時間として、ランダム値×スロット時間＋付加時間を設定する（ステップＳ２１６）。このとき、付加時間は、ランダム値が取りうる最大の値×スロット時間とする。これにより、位置条件判定部２０６によって予想進路に重なりがあると判定された場合、予想進路に重なりがないと判定された他の通信端末２０−３〜２０−Ｎよりも早く応答電文の送信を行うことができる。
応答電文送信部２０８が待機時間を設定すると、搬送波監視部２０７は、設定された待機時間の間、アンテナ２０１を介して他の通信端末２０−３〜２０−Ｎが送信する搬送波の有無を判定する（ステップＳ２１７）。 When the predicted route calculation unit 203 calculates the predicted route, the position condition determination unit 206 overlaps the predicted route included in the communication message received by the communication message reception unit 205 and the predicted route calculated by the predicted route calculation unit 203. The presence or absence is determined (step S214).
When the position condition determination unit 206 determines that there is an overlap in the expected course (step S214: YES), the communication terminal 20-2 uses the response message transmission unit 208 as a waiting time until the response message is transmitted. Random value × slot time is set (step S215). On the other hand, when the position condition determination unit 206 determines that there is no overlap in the expected course (step S214: NO), the communication terminal 20-2 waits until the response message transmission unit 208 transmits the response message. As a result, random value × slot time + additional time is set (step S216). At this time, the additional time is the maximum value that the random value can take × slot time. Thereby, when it is determined by the position condition determination unit 206 that there is an overlap in the expected course, the response message is transmitted earlier than the other communication terminals 20-3 to 20-N that are determined to have no overlap in the expected course. It can be carried out.
When the response message transmission unit 208 sets the standby time, the carrier wave monitoring unit 207 determines whether or not there is a carrier wave transmitted from the other communication terminals 20-3 to 20-N via the antenna 201 during the set standby time. (Step S217).

設定された待機時間の間に、位置条件判定部２０７が他の通信端末２０−３〜２０−Ｎが送信する搬送波を検出していた場合（ステップＳ２１７：ＹＥＳ）、通信端末２０−２は、処理を終了する。
設定された待機時間の間に、位置条件判定部２０７が他の通信端末２０−３〜２０−Ｎが送信する搬送波を検出していない場合（ステップＳ２１７：ＮＯ）、応答電文送信部２０８は、アンテナ２０１を介して応答電文を送信する（ステップＳ２１８）。 When the position condition determination unit 207 detects the carrier wave transmitted by the other communication terminals 20-3 to 20-N during the set standby time (step S217: YES), the communication terminal 20-2 The process ends.
When the position condition determination unit 207 does not detect the carrier wave transmitted by the other communication terminals 20-3 to 20-N during the set standby time (step S217: NO), the response message transmission unit 208 A response message is transmitted via the antenna 201 (step S218).

次に、第２の実施形態による移動体通信システムの動作を説明する。
図９は、移動体通信システムの動作を示す第２のシーケンス図である。
図９は、第２の実施形態による移動体通信システムの、図５に示す環境下における動作を示している。
車１０−１に搭載される通信端末２０−１の通信電文送信部２０４は、通信領域内の通信端末２０−２〜２０−５にブロードキャストで通信電文を送信する（ステップＳ３１１）。このとき、上述したステップＳ１０２で算出した予想進路は、進行方向の左右の誤差を考慮した四角形の領域で表されるものとする。
まず、車１０−２に搭載される通信端末２０−２の動作を説明する。
通信端末２０−１が通信電文を送信すると、通信端末２０−２の通信電文受信部２０５は、通信端末２０−１から通信電文を受信する（ステップＳ３１２−Ａ）。通信電文受信部２０５が通信電文を受信すると、位置条件判定部２０６は、予想進路算出部２０３が算出した予想進路と、受信した通信電文に含まれる予想進路とに基づいて予想進路の重なりの有無を判定する（ステップＳ３１３−Ａ）。このとき、図５に示すように、車１０−１の予想進路と車１０−２の予想進路に重なりがあるため、位置条件判定部２０６は、予想進路の重なりがあると判定する。 Next, the operation of the mobile communication system according to the second embodiment will be described.
FIG. 9 is a second sequence diagram showing an operation of the mobile communication system.
FIG. 9 shows the operation of the mobile communication system according to the second embodiment under the environment shown in FIG.
The communication message transmission unit 204 of the communication terminal 20-1 mounted on the vehicle 10-1 transmits a communication message by broadcasting to the communication terminals 20-2 to 20-5 in the communication area (step S311). At this time, it is assumed that the predicted course calculated in step S102 described above is represented by a rectangular area in consideration of left and right errors in the traveling direction.
First, operation | movement of the communication terminal 20-2 mounted in the vehicle 10-2 is demonstrated.
When the communication terminal 20-1 transmits a communication message, the communication message reception unit 205 of the communication terminal 20-2 receives the communication message from the communication terminal 20-1 (step S312-A). When the communication message receiving unit 205 receives the communication message, the position condition determination unit 206 determines whether or not there is an overlap of the expected route based on the expected route calculated by the predicted route calculation unit 203 and the expected route included in the received communication message. Is determined (step S313-A). At this time, as shown in FIG. 5, since there is an overlap between the expected course of the car 10-1 and the expected course of the car 10-2, the position condition determination unit 206 determines that there is an overlap of the expected paths.

位置条件判定部２０６が予想進路の重なりがあると判定すると、応答電文送信部２０８は、待機時間を設定する（ステップＳ３１４−Ａ）。ここで、待機時間は、１ミリ秒のスロット時間に０〜７のランダム値を乗じた時間とする。この例では、位置条件判定部２０６が待機時間を４ミリ秒と設定した場合を説明する。
位置条件判定部２０６が待機時間を設定すると、搬送波監視部２０７は、アンテナ２０１を介して設定された待機時間の間（４ミリ秒間）搬送波を監視し、待機時間の間に搬送波を検出したか否かを判定する（ステップＳ３１５−Ａ）。この例では、搬送波監視部２０７が搬送波を検出していない場合を説明する。
搬送波監視部２０７が搬送波を検出していないと判定すると、応答電文送信部２０９は、通信端末２０−１に応答電文を送信する（ステップＳ３１６−Ａ）。 When the position condition determination unit 206 determines that there is an overlap of expected courses, the response message transmission unit 208 sets a standby time (step S314-A). Here, the waiting time is a time obtained by multiplying a slot time of 1 millisecond by a random value of 0 to 7. In this example, a case will be described in which the position condition determination unit 206 sets the standby time to 4 milliseconds.
When the position condition determination unit 206 sets the standby time, the carrier wave monitoring unit 207 monitors the carrier wave during the standby time set via the antenna 201 (4 milliseconds), and detects the carrier wave during the standby time. It is determined whether or not (step S315-A). In this example, a case where the carrier wave monitoring unit 207 has not detected a carrier wave will be described.
If the carrier wave monitoring unit 207 determines that no carrier wave is detected, the response message transmission unit 209 transmits a response message to the communication terminal 20-1 (step S316-A).

次に、通信端末２０−３の動作を説明する。
通信端末２０−１が通信電文を送信すると、通信端末２０−３の通信電文受信部２０５は、通信端末２０−１から通信電文を受信する（ステップＳ３１２−Ｂ）。通信電文受信部２０５が通信電文を受信すると、位置条件判定部２０６は、予想進路算出部２０３が算出した予想進路と、受信した通信電文に含まれる予想進路とに基づいて予想進路の重なりの有無を判定する（ステップＳ３１３−Ｂ）。このとき、図５に示すように、車１０−１の予想進路と車１０−３の予想進路に重なりがあるため、位置条件判定部２０６は、予想進路の重なりがあると判定する。 Next, the operation of the communication terminal 20-3 will be described.
When the communication terminal 20-1 transmits a communication message, the communication message reception unit 205 of the communication terminal 20-3 receives the communication message from the communication terminal 20-1 (step S312-B). When the communication message receiving unit 205 receives the communication message, the position condition determination unit 206 determines whether or not there is an overlap of the expected route based on the expected route calculated by the predicted route calculation unit 203 and the expected route included in the received communication message. Is determined (step S313-B). At this time, as shown in FIG. 5, since there is an overlap between the expected course of the car 10-1 and the expected course of the car 10-3, the position condition determination unit 206 determines that there is an overlap of the expected paths.

位置条件判定部２０６が予想進路の重なりがあると判定すると、応答電文送信部２０８は、待機時間を設定する（ステップＳ３１４−Ｂ）。この例では、位置条件判定部２０６が待機時間を５ミリ秒と設定した場合を説明する。
位置条件判定部２０６が待機時間を設定すると、搬送波監視部２０７は、アンテナ２０１を介して設定された待機時間の間（５ミリ秒間）搬送波を監視し、待機時間の間に搬送波を検出したか否かを判定する（ステップＳ３１５−Ｂ）。この例では、４ミリ秒経過した時点で通信端末２０−２が応答電文を送信しているため、搬送波監視部２０７は、搬送波を検出する。
搬送波監視部２０７が搬送波を検出したと判定すると、通信端末２０−３は応答電文の送信処理を行わずに、処理を終了する。 When the position condition determination unit 206 determines that there is an overlap of expected courses, the response message transmission unit 208 sets a waiting time (step S314-B). In this example, a case will be described in which the position condition determination unit 206 sets the standby time to 5 milliseconds.
When the position condition determination unit 206 sets the standby time, the carrier wave monitoring unit 207 monitors the carrier wave during the standby time set via the antenna 201 (5 milliseconds), and detects the carrier wave during the standby time. It is determined whether or not (step S315-B). In this example, since the communication terminal 20-2 transmits a response message when 4 milliseconds have elapsed, the carrier wave monitoring unit 207 detects the carrier wave.
When the carrier wave monitoring unit 207 determines that the carrier wave has been detected, the communication terminal 20-3 ends the process without performing the response message transmission process.

次に、通信端末２０−４の動作を説明する。
通信端末２０−１が通信電文を送信すると、通信端末２０−４の通信電文受信部２０５は、通信端末２０−１から通信電文を受信する（ステップＳ３１２−Ｃ）。通信電文受信部２０５が通信電文を受信すると、位置条件判定部２０６は、予想進路算出部２０３が算出した予想進路と、受信した通信電文に含まれる予想進路とに基づいて予想進路の重なりの有無を判定する（ステップＳ３１３−Ｃ）。このとき、図５に示すように、車１０−１の予想進路と車１０−４の予想進路には重なりがないため、位置条件判定部２０６は、予想進路の重なりがないと判定する。 Next, the operation of the communication terminal 20-4 will be described.
When the communication terminal 20-1 transmits a communication message, the communication message reception unit 205 of the communication terminal 20-4 receives the communication message from the communication terminal 20-1 (step S312-C). When the communication message receiving unit 205 receives the communication message, the position condition determination unit 206 determines whether or not there is an overlap of the expected route based on the expected route calculated by the predicted route calculation unit 203 and the expected route included in the received communication message. Is determined (step S313-C). At this time, as shown in FIG. 5, there is no overlap between the expected course of the car 10-1 and the expected course of the car 10-4, so the position condition determination unit 206 determines that there is no overlap between the expected paths.

位置条件判定部２０６によって予想進路の重なりがないと判定されると、応答電文送信部２０８は、待機時間を設定する（ステップＳ３１４−Ｃ）。ここで、予想進路の重なりがないと判定した場合の待機時間は、１ミリ秒のスロット時間に０〜７のランダム値を乗じた時間に、８ミリ秒の付加時間を加えた時間とする。この例では、ランダム値が３である場合を説明する。従って、位置条件判定部２０６は、待機時間を３＋８＝１１ミリ秒と設定する。
位置条件判定部２０６が待機時間を設定すると、搬送波監視部２０７は、アンテナ２０１を介して設定された待機時間の間（１１ミリ秒間）搬送波を監視し、待機時間の間に搬送波を検出したか否かを判定する（ステップＳ３１５−Ｃ）。この例では、４ミリ秒経過した時点で通信端末２０−２が応答電文を送信しているため、搬送波監視部２０７は、搬送波を検出する。
搬送波監視部２０７が搬送波を検出したと判定すると、通信端末２０−４は応答電文の送信処理を行わずに、処理を終了する。
通信端末２０−５は、通信端末２０−４と同様の処理を行うことで、応答電文の送信処理を行わずに、処理を終了する。 When the position condition determination unit 206 determines that there is no overlap in expected courses, the response message transmission unit 208 sets a waiting time (step S314-C). Here, the standby time when it is determined that there is no overlap of the expected courses is the time obtained by adding the additional time of 8 milliseconds to the time obtained by multiplying the slot time of 1 millisecond by the random value of 0 to 7. In this example, a case where the random value is 3 will be described. Therefore, the position condition determination unit 206 sets the standby time as 3 + 8 = 11 milliseconds.
When the position condition determination unit 206 sets the standby time, the carrier wave monitoring unit 207 monitors the carrier wave during the standby time set via the antenna 201 (11 milliseconds), and has the carrier wave detected during the standby time? It is determined whether or not (step S315-C). In this example, since the communication terminal 20-2 transmits a response message when 4 milliseconds have elapsed, the carrier wave monitoring unit 207 detects the carrier wave.
If the carrier wave monitoring unit 207 determines that the carrier wave has been detected, the communication terminal 20-4 ends the process without performing the response message transmission process.
The communication terminal 20-5 completes the process without performing the response message transmission process by performing the same process as the communication terminal 20-4.

上述した例では、予想進路の重なりがあると判定された通信端末２０−２、２０−３が存在するために、通信端末２０−４、２０−５は、応答電文を送信できない場合を示したが、通信端末２０−２、２０−３のような予想進路の重なりがあると判定された通信端末が存在しない場合、通信端末２０−４、２０−５のような予想進路の重なりがないと判定された通信端末が、応答電文を送信する。   In the above-described example, the communication terminals 20-4 and 20-5 cannot transmit a response message because there are communication terminals 20-2 and 20-3 that are determined to have overlapping expected routes. However, when there is no communication terminal that is determined to have an overlap of expected routes such as the communication terminals 20-2 and 20-3, there is no overlap of an expected route such as the communication terminals 20-4 and 20-5. The determined communication terminal transmits a response message.

本実施形態によれば、通信端末２０−１〜２０−Ｎの応答電文送信部２０８は、位置条件判定部２０６によって予想進路の重なりがないと判定された場合に、予想進路の重なりがあると判定された場合に応答電文を送信するタイミングよりも遅いタイミングで応答電文を送信する。
これにより、予想進路の重なりがあると判定した通信端末２０−１〜２０−Ｎが、予想進路の重なりがないと判定した通信端末２０−１〜２０−Ｎよりも優先的に応答電文を送信することができ、さらに、予想進路の重なりがあると判定した通信端末２０−１〜２０−Ｎが存在しない場合に、予想進路の重なりがないと判定した通信端末２０−１〜２０−Ｎが応答電文を送信することができる。 According to the present embodiment, if the response message transmission unit 208 of the communication terminals 20-1 to 20-N determines that there is no overlap between the expected routes when the position condition determination unit 206 determines that there is no overlap between the expected routes, When it is determined, the response message is transmitted at a timing later than the timing of transmitting the response message.
As a result, the communication terminals 20-1 to 20-N that are determined to have the expected route overlap transmit the response message with higher priority than the communication terminals 20-1 to 20-N that have been determined to have no expected route overlap. In addition, when there is no communication terminal 20-1 to 20-N that is determined to have an expected route overlap, the communication terminals 20-1 to 20-N that are determined to have no expected route overlap are A response message can be sent.

以上、図面を参照してこの発明の一実施形態について詳しく説明してきたが、具体的な構成は上述のものに限られることはなく、この発明の要旨を逸脱しない範囲内において様々な設計変更等をすることが可能である。
例えば、第１、第２の実施形態では、通信端末２０−１〜２０−Ｎが送信端末と受信端末とを兼ね備える例を説明したが、これに限られず、送信端末と受信端末とをそれぞれ別個に実装しても良い。 As described above, the embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to the above, and various design changes and the like can be made without departing from the scope of the present invention. It is possible to
For example, in the first and second embodiments, the communication terminals 20-1 to 20-N have been described as examples having both a transmission terminal and a reception terminal. However, the present invention is not limited to this, and the transmission terminal and the reception terminal are separately provided. May be implemented.

なお、第１、第２の実施形態では、予想進路算出部２０３が算出する予測進路（所定の位置）がベクトルやベクトルで囲まれた領域である場合を示したが、これに限られず、例えば、車１０−１が存在する位置を示す点としても良い。また、高速道路など、立体交差となっている道路を考慮すると、予測進路として、二次元のベクトルではなく、車１０−１がｔ秒間に移動すると予測される空間の三次元のベクトルを用いることが望ましい。   In the first and second embodiments, the case where the predicted course (predetermined position) calculated by the predicted course calculation unit 203 is a vector or a region surrounded by vectors is not limited to this. For example, It is good also as a point which shows the position where the car 10-1 exists. In consideration of a road that is a three-dimensional intersection, such as a highway, use a three-dimensional vector of a space in which the car 10-1 is predicted to move in t seconds instead of a two-dimensional vector as a predicted course. Is desirable.

なお、第１、第２の実施形態では、移動体通信システムを車車間通信に用いる例を説明したが、これに限られず、路車間通信（車両と路側機との通信）に用いても良い。
例えば、駐車場の管理端末（路側機）に通信端末２０−１〜２０−Ｎを実装し、管理端末に予め各駐車スペースの位置（所定の位置）を登録しておく。管理端末は、第１、第２の実施例による通信端末２０−１〜２０−Ｎが備える予測進路算出部２０３の代わりに各駐車スペースの位置を示す位置条件を生成する位置条件生成部を備える。管理端末の位置条件生成部は、位置条件を生成し、通信電文送信部２０４は、当該位置条件を含む通信電文を送る。
管理端末が通信電文を送信すると、通信端末２０−１の通信電文受信部２０５は、通信電文を受信する。予想進路算出部２０３は、車情報取得部２０２から車情報を取得する。このとき、車１０−１は駐車しているため、速度は０である。そのため、予想進路算出部２０３は、車１０−１が駐車している位置を予想進路として算出する。このとき、通信電文に含まれる位置条件が示す駐車スペースに車１０−１が駐車している場合、通信端末２０−１の応答電文送信部２０８は応答電文を送信し、位置条件が示す駐車スペースに車１０−１が駐車していない場合、通信端末２０−１の応答電文送信部２０８は応答電文を送信しない。これにより、車１０−１が駐車している駐車スペースからのみ応答電文を受信できるため、応答電文を受信できない駐車スペースには車１０−１が駐車していないことが分かる。管理端末の表示部は、応答電文を受信できない駐車スペースの情報を表示することで、空いている駐車スペースの情報を表示することができる。 In the first and second embodiments, the example in which the mobile communication system is used for vehicle-to-vehicle communication has been described. .
For example, the communication terminals 20-1 to 20-N are mounted on a parking lot management terminal (roadside machine), and the position (predetermined position) of each parking space is registered in advance in the management terminal. The management terminal includes a position condition generation unit that generates a position condition indicating the position of each parking space instead of the predicted course calculation unit 203 included in the communication terminals 20-1 to 20-N according to the first and second embodiments. . The position condition generation unit of the management terminal generates a position condition, and the communication message transmission unit 204 sends a communication message including the position condition.
When the management terminal transmits a communication message, the communication message reception unit 205 of the communication terminal 20-1 receives the communication message. The predicted course calculation unit 203 acquires vehicle information from the vehicle information acquisition unit 202. At this time, since the car 10-1 is parked, the speed is zero. Therefore, the predicted course calculation unit 203 calculates the position where the car 10-1 is parked as the predicted course. At this time, when the car 10-1 is parked in the parking space indicated by the position condition included in the communication message, the response message transmission unit 208 of the communication terminal 20-1 transmits the response message, and the parking space indicated by the position condition. When the car 10-1 is not parked, the response message transmission unit 208 of the communication terminal 20-1 does not transmit a response message. Thereby, since a response message can be received only from the parking space where the vehicle 10-1 is parked, it can be seen that the vehicle 10-1 is not parked in the parking space where the response message cannot be received. The display part of a management terminal can display the information of the empty parking space by displaying the information of the parking space which cannot receive a response message.

上述の通信端末２０−１〜２０−Ｎは内部に、コンピュータシステムを有している。そして、上述した各処理部の動作は、プログラムの形式でコンピュータ読み取り可能な記録媒体に記憶されており、このプログラムをコンピュータが読み出して実行することによって、上記処理が行われる。ここでコンピュータ読み取り可能な記録媒体とは、磁気ディスク、光磁気ディスク、ＣＤ−ＲＯＭ、ＤＶＤ−ＲＯＭ、半導体メモリ等をいう。また、このコンピュータプログラムを通信回線によってコンピュータに配信し、この配信を受けたコンピュータが当該プログラムを実行するようにしても良い。   The communication terminals 20-1 to 20-N described above have a computer system inside. The operation of each processing unit described above is stored in a computer-readable recording medium in the form of a program, and the above processing is performed by the computer reading and executing this program. Here, the computer-readable recording medium means a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. Alternatively, the computer program may be distributed to the computer via a communication line, and the computer that has received the distribution may execute the program.

また、上記プログラムは、前述した機能の一部を実現するためのものであっても良い。さらに、前述した機能をコンピュータシステムにすでに記録されているプログラムとの組み合わせで実現できるもの、いわゆる差分ファイル（差分プログラム）であっても良い。   The program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, and what is called a difference file (difference program) may be sufficient.

本発明の第１の実施形態による移動体通信システムの構成図である。1 is a configuration diagram of a mobile communication system according to a first embodiment of the present invention. 通信端末の構成を示す概略ブロック図である。It is a schematic block diagram which shows the structure of a communication terminal. 通信端末が通信電文を送信する動作を示す第１のフローチャートである。It is a 1st flowchart which shows the operation | movement which a communication terminal transmits a communication message | telegram. 通信端末が応答電文を送信する動作を示す第１のフローチャートである。It is a 1st flowchart which shows the operation | movement which a communication terminal transmits a response message. 移動体通信システムが動作する環境の例を示す図である。It is a figure which shows the example of the environment where a mobile communication system operate | moves. 移動体通信システムの動作を示す第１のシーケンス図である。It is a 1st sequence diagram which shows operation | movement of a mobile communication system. 通信端末が通信電文を送信する動作を示す第２のフローチャートである。It is a 2nd flowchart which shows the operation | movement which a communication terminal transmits a communication message | telegram. 通信端末が応答電文を送信する動作を示す第２のフローチャートである。It is a 2nd flowchart which shows the operation | movement which a communication terminal transmits a response message. 移動体通信システムの動作を示す第２のシーケンス図である。It is a 2nd sequence diagram which shows operation | movement of a mobile communication system.

符号の説明Explanation of symbols

１０−１〜１０−Ｎ…車 ２０−１〜２０−Ｎ…通信端末 ２０１…アンテナ ２０２…車情報取得部 ２０３…予想進路算出部 ２０４…通信電文送信部 ２０５…通信電文受信部 ２０６…位置条件判定部 ２０７…搬送波監視部 ２０８…応答電文送信部 ２０９…応答電文受信部   10-1 to 10-N ... car 20-1 to 20-N ... communication terminal 201 ... antenna 202 ... vehicle information acquisition unit 203 ... expected course calculation unit 204 ... communication message transmission unit 205 ... communication message reception unit 206 ... position condition Determination unit 207 ... carrier wave monitoring unit 208 ... response message transmission unit 209 ... response message reception unit

Claims (9)

通信電文を送信する送信端末と、移動体に搭載され、前記通信電文を受信して前記受信した通信電文に対する応答電文を送信する受信端末とを備える移動体通信システムであり、
前記送信端末は、
所定の位置を示す位置条件を生成する位置条件生成部と、
前記位置条件を付与した前記通信電文を送信する通信電文送信部と、
を備え、
前記受信端末は、
前記通信電文を受信する通信電文受信部と、
自端末の位置と移動速度と進行方向とに基づいて所定の時間後までに自端末が移動すると予想される進路を示す予想進路を算出する予想進路算出部と、
前記受信した通信電文に付与された位置条件が示す位置と前記予想進路算出部が算出した予想進路との重なりの有無を判定する位置条件判定部と、
前記位置条件判定部の判定結果に基づいて前記応答電文を送信する応答電文送信部と、
を備えることを特徴とする移動体通信システム。 A mobile communication system comprising: a transmission terminal that transmits a communication message; and a reception terminal that is mounted on a mobile body and that receives the communication message and transmits a response message to the received communication message.
The transmitting terminal is
A position condition generating unit that generates a position condition indicating a predetermined position;
A communication message transmission unit for transmitting the communication message with the position condition;
With
The receiving terminal is
A communication message receiver for receiving the communication message;
An expected route calculation unit that calculates an expected route indicating a route in which the terminal is expected to move by a predetermined time based on the position, the moving speed, and the traveling direction of the terminal;
A position condition determination unit that determines whether or not there is an overlap between the position indicated by the position condition given to the received communication message and the predicted route calculated by the predicted route calculation unit;
A response message transmission unit that transmits the response message based on the determination result of the position condition determination unit;
A mobile communication system comprising: 前記送信端末の位置条件生成部は、
自端末の位置と移動速度と進行方向とに基づいて所定の時間後までに自端末が移動すると予想される進路を算出し、当該進路を示す位置条件を生成する、
ことを特徴とする請求項１に記載の移動体通信システム。 The location condition generator of the transmitting terminal is
Based on the position of the own terminal, the moving speed, and the traveling direction, calculate a route that the own terminal is expected to move before a predetermined time, and generate a position condition indicating the route.
The mobile communication system according to claim 1. 前記受信端末の前記応答電文送信部は、
前記位置条件判定部によって前記受信した通信電文に付与された位置条件が示す位置と前記予想進路算出部が算出した予想進路とに重なりがあると判定された場合にのみ前記応答電文を送信する、
ことを特徴とする請求項１または２に記載の移動体通信システム。 The response message transmitter of the receiving terminal is:
The response message is transmitted only when it is determined that there is an overlap between the position indicated by the position condition given to the received communication message by the position condition determination unit and the expected route calculated by the predicted route calculation unit,
The mobile communication system according to claim 1 or 2. 前記受信端末の前記応答電文送信部は、
前記位置条件判定部によって前記受信した通信電文に付与された位置条件が示す位置と前記予想進路算出部が算出した予想進路とに重なりがないと判定された場合に、前記位置条件判定部によって前記受信した通信電文に付与された位置条件が示す位置と前記予想進路算出部が算出した予想進路とに重なりがあると判定された場合に前記応答電文を送信するタイミングよりも遅いタイミングで前記応答電文を送信する、
ことを特徴とする請求項１または２に記載の移動体通信システム。 The response message transmitter of the receiving terminal is:
When the position condition determination unit determines that there is no overlap between the position indicated by the position condition given to the received communication message and the predicted path calculated by the predicted path calculation unit, the position condition determination unit The response message at a timing later than the timing of transmitting the response message when it is determined that there is an overlap between the position indicated by the position condition given to the received communication message and the expected route calculated by the expected route calculation unit. Send,
The mobile communication system according to claim 1 or 2. 通信電文を受信して前記受信した通信電文に対する応答電文を送信する受信端末に前記通信電文を送信する送信端末であり、
所定の位置を示す位置条件を生成する位置条件生成部と、
前記位置条件を付与した前記通信電文を送信する通信電文送信部と、
を備えることを特徴とする送信端末。 A transmission terminal that receives the communication message and transmits the communication message to a reception terminal that transmits a response message to the received communication message;
A position condition generating unit that generates a position condition indicating a predetermined position;
A communication message transmission unit for transmitting the communication message with the position condition;
A transmission terminal comprising: 送信端末から通信電文を受信して前記受信した通信電文に対する応答電文を送信する受信端末であり、
前記通信電文を受信する通信電文受信部と、
自端末の位置と移動速度と進行方向とに基づいて所定の時間後までに自端末が移動すると予想される進路を示す予想進路を算出する予想進路算出部と、
前記受信した通信電文に付与された位置条件が示す位置と前記予想進路算出部が算出した予想進路との重なりの有無を判定する位置条件判定部と、
前記位置条件判定部の判定結果に基づいて前記応答電文を送信する応答電文送信部と、
を備えることを特徴とする受信端末。 A receiving terminal that receives a communication message from a transmitting terminal and transmits a response message to the received communication message;
A communication message receiver for receiving the communication message;
An expected route calculation unit that calculates an expected route indicating a route in which the terminal is expected to move by a predetermined time based on the position, the moving speed, and the traveling direction of the terminal;
A position condition determination unit that determines whether or not there is an overlap between the position indicated by the position condition given to the received communication message and the predicted route calculated by the predicted route calculation unit;
A response message transmission unit that transmits the response message based on the determination result of the position condition determination unit;
A receiving terminal comprising: 通信電文を送信する送信端末と、移動体に搭載され、前記通信電文を受信して前記受信した通信電文に対する応答電文を送信する受信端末とを備える移動体通信システムを用いた移動体通信方法であり、
前記送信端末の位置条件生成部は、所定の位置を示す位置条件を生成し、
前記送信端末の通信電文送信部は、前記位置条件を付与した前記通信電文を送信し、
前記受信端末の通信電文受信部は、前記通信電文を受信し、
前記受信端末の予想進路算出部は、自端末の位置と移動速度と進行方向とに基づいて所定の時間後までに自端末が移動すると予想される進路を示す予想進路を算出し、
前記受信端末の位置条件判定部は、前記受信した通信電文に付与された位置条件が示す位置と前記予想進路算出部が算出した予想進路との重なりの有無を判定し、
前記受信端末の応答電文送信部は、前記位置条件判定部の判定結果に基づいて前記応答電文を送信する、
ことを特徴とする移動体通信方法。 A mobile communication method using a mobile communication system, comprising: a transmission terminal that transmits a communication message; and a reception terminal that is mounted on a mobile body and that receives the communication message and transmits a response message to the received communication message. Yes,
The position condition generation unit of the transmission terminal generates a position condition indicating a predetermined position,
The communication message transmission unit of the transmission terminal transmits the communication message to which the position condition is given,
A communication message receiver of the receiving terminal receives the communication message;
The expected course calculation unit of the receiving terminal calculates an expected course indicating a course that the own terminal is expected to move by a predetermined time based on the position, the moving speed, and the traveling direction of the own terminal,
The position condition determination unit of the receiving terminal determines whether or not there is an overlap between the position indicated by the position condition given to the received communication message and the predicted path calculated by the predicted path calculation unit,
A response message transmission unit of the receiving terminal transmits the response message based on a determination result of the position condition determination unit;
A mobile communication method characterized by the above. 通信電文を受信して前記受信した通信電文に対する応答電文を送信する受信端末に前記通信電文を送信する送信端末を、
所定の位置を示す位置条件を生成する位置条件生成部、
前記位置条件を付与した前記通信電文を送信する通信電文送信部、
として動作させるためのプログラム。 A transmission terminal that transmits the communication message to a reception terminal that receives the communication message and transmits a response message to the received communication message;
A position condition generator for generating a position condition indicating a predetermined position;
A communication message transmission unit that transmits the communication message to which the position condition is given;
Program to operate as. 送信端末から通信電文を受信して前記受信した通信電文に対する応答電文を送信する受信端末を、
前記通信電文を受信する通信電文受信部、
自端末の位置と移動速度と進行方向とに基づいて所定の時間後までに自端末が移動すると予想される進路を示す予想進路を算出する予想進路算出部、
前記受信した通信電文に付与された位置条件が示す位置と前記予想進路算出部が算出した予想進路との重なりの有無を判定する位置条件判定部、
前記位置条件判定部の判定結果に基づいて前記応答電文を送信する応答電文送信部、
として動作させるためのプログラム。 A receiving terminal that receives a communication message from a transmitting terminal and transmits a response message to the received communication message,
A communication message receiver for receiving the communication message;
An expected course calculation unit that calculates an expected course indicating a course that the terminal is expected to move by a predetermined time based on the position, the moving speed, and the traveling direction of the terminal;
A position condition determination unit that determines whether or not there is an overlap between the position indicated by the position condition given to the received communication message and the predicted route calculated by the predicted route calculation unit;
A response message transmission unit that transmits the response message based on the determination result of the position condition determination unit;
Program to operate as.
JP2008314668A 2008-12-10 2008-12-10 Mobile communication system, transmission terminal, reception terminal, mobile communication method and program Active JP5138565B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2008314668A JP5138565B2 (en) 2008-12-10 2008-12-10 Mobile communication system, transmission terminal, reception terminal, mobile communication method and program

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2008314668A JP5138565B2 (en) 2008-12-10 2008-12-10 Mobile communication system, transmission terminal, reception terminal, mobile communication method and program

Publications (2)

Publication Number Publication Date
JP2010141516A true JP2010141516A (en) 2010-06-24
JP5138565B2 JP5138565B2 (en) 2013-02-06

Family

ID=42351263

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2008314668A Active JP5138565B2 (en) 2008-12-10 2008-12-10 Mobile communication system, transmission terminal, reception terminal, mobile communication method and program

Country Status (1)

Country Link
JP (1) JP5138565B2 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012088962A (en) * 2010-10-20 2012-05-10 Denso Corp Communication device for moving device and communication method between moving bodies
JP2016128943A (en) * 2015-01-09 2016-07-14 三菱電機株式会社 Vehicle periphery state acquisition device

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000276696A (en) * 1999-03-26 2000-10-06 Toyota Motor Corp Vehicle collision evading controller

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000276696A (en) * 1999-03-26 2000-10-06 Toyota Motor Corp Vehicle collision evading controller

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012088962A (en) * 2010-10-20 2012-05-10 Denso Corp Communication device for moving device and communication method between moving bodies
JP2016128943A (en) * 2015-01-09 2016-07-14 三菱電機株式会社 Vehicle periphery state acquisition device

Also Published As

Publication number Publication date
JP5138565B2 (en) 2013-02-06

Similar Documents

Publication Publication Date Title
JP6304223B2 (en) Driving assistance device
JP2018513504A (en) Proximity recognition system for automobiles
JP2000348299A (en) Mobile body communication equipment
JP2008065481A (en) Driving support system for vehicle
JP2013033324A (en) Surrounding vehicle information notifying device
EP2402925B1 (en) Road-installed driving supporting device, vehicle-mounted driving supporting device, and driving supporting system
JP2009276991A (en) Risk aversion system
KR20180096463A (en) System and method for vulnerable road user collision prevention
KR20130068159A (en) Method and apparatus for early waring of padastrian car crash using mobile device
JPWO2011024237A1 (en) Mobile radio communication apparatus and inter-vehicle communication method
JP3867700B2 (en) Inter-vehicle communication device
JP2005010938A (en) Traveling supporting system and on-vehicle terminal equipment
JP2008197740A (en) Collision prevention safety device for vehicle, collision prevention safety system and collision prevention safety information center
JP5582078B2 (en) Driving assistance device
JP5428611B2 (en) Driving support system, in-vehicle device, computer program, and information recording medium
JP2015064733A (en) Driving support device and driving support method
JP4164805B2 (en) Driving support system and in-vehicle terminal
JP2017123072A (en) Driving support apparatus and computer program
JP2009048547A (en) Inter-vehicle communication equipment
JP5138565B2 (en) Mobile communication system, transmission terminal, reception terminal, mobile communication method and program
JP2011237878A (en) In-vehicle machine
JP2008070987A (en) Operation support system
JP2019079454A (en) Vehicle control system, function notification apparatus, function notification method, and computer program
JP2015114931A (en) Vehicle warning device, server device and vehicle warning system
JP2008210198A (en) Information providing system for vehicle

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20110805

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20120712

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20120724

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20120921

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A821

Effective date: 20120924

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20121023

A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20121114

R151 Written notification of patent or utility model registration

Ref document number: 5138565

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R151

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20151122

Year of fee payment: 3

S111 Request for change of ownership or part of ownership

Free format text: JAPANESE INTERMEDIATE CODE: R313111

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350

S111 Request for change of ownership or part of ownership

Free format text: JAPANESE INTERMEDIATE CODE: R313114

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

S531 Written request for registration of change of domicile

Free format text: JAPANESE INTERMEDIATE CODE: R313531

S533 Written request for registration of change of name

Free format text: JAPANESE INTERMEDIATE CODE: R313533

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250