JP2012185758A - Movable body communication device and method for controlling transmission of movable body information - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a movable body communication device and a method for controlling transmission of movable body information which can prevent congestion in an ITS communication line without hindering safe driving assistance (congestion determination or traffic accident determination).SOLUTION: A movable body communication device is installed in each movable body. The device comprises: a communication unit which receives information including information indicating a current position of another movable body; and a control unit which acquires a current position of an own movable body detected by a current position detection unit, and based on the current position of the own movable body and the current position of the other movable body received by the communication unit, determines whether to perform transmission of movable body information via the communication unit in a normal control state or in a special control state.

Description

  The present invention relates to a mobile communication device, and in particular, paraphrased as mobile information (for example, a mobile body (pedestrian, vehicle, etc.) including the mobile communication device (having (possessing) the mobile communication device). (Information indicating current position, traveling direction, etc.)) to other communication devices, and a transmission control method for mobile information.

  Intelligent transportation systems (Intelligent Transport Systems, hereinafter referred to as “ITS”) for the purpose of solving road traffic problems such as traffic accidents and traffic jams by networking people, roads and vehicles with information using information communication technology. ) Has been researched and developed. The form of wireless communication for automobiles in the field dealing with the safe driving support system in ITS can be broadly divided into road-to-vehicle communication and vehicle-to-vehicle (walking) communication. In the road-to-vehicle communication, the roadside machine and the vehicle communicate information, whereas in the vehicle-to-vehicle (walk) communication, the vehicle and the vehicle (or pedestrian) directly communicate information.

  The information transmitted from the roadside unit to the vehicle by road-to-vehicle communication includes intersection information, traffic signal information, information indicating the type of moving object existing in the observation area and the number of each moving type (details will be described later). As intersection information, identification information for identifying an intersection, as traffic signal information, identification information for identifying a traffic signal, current signal display information (information indicating the display color of the traffic signal), next signal display information, Information such as information indicating the time until the signal display is changed is included.

  The information transmitted from the vehicle to the vehicle by the inter-vehicle communication includes information indicating the current position of the vehicle, the moving speed, the traveling direction, etc. The information transmitted from the pedestrian to the vehicle by the inter-vehicle communication includes the walking Information indicating the current position, movement speed, traveling direction, etc. of the person or the like is included (the same applies to inter-vehicle communication and inter-walk communication).

  The mobile communication device includes information (information indicating a current position, a traveling direction, a moving speed, etc.) of a mobile body (own vehicle) provided with (owned by) the mobile communication device, and ITS communication. Based on information (information indicating the current position, traveling direction, moving speed, etc.) of other moving bodies (other vehicles, pedestrians, etc.) provided with (possessed by) the other communication devices received from other communication devices If a traffic jam is detected and it is determined that there is a traffic jam, a traffic jam avoidance route is searched, or a traffic accident judgment is performed and a traffic accident is likely to occur. It contributes to the solution of the road traffic problem (for example, see the mobile communication device disclosed in Patent Document 1).

JP 2000-348299 A

  However, in ITS communication, all ITS communication terminals (on-board communication devices such as navigation devices, mobile communication terminals such as mobile phones possessed by pedestrians, roadside devices, etc.) transmit information periodically or irregularly. May get crowded.

  In particular, the frequency band when performing wireless communication in ITS is only the 700 MHz band, and communication is performed using only one channel. Therefore, in a place where many ITS communication terminals exist, the influence of line congestion is present. (Communication impossible, communication delay, communication collision, etc.) are likely to appear prominently.

  In view of the above-described problems, the present invention provides a mobile communication apparatus and mobile information transmission capable of preventing congestion of a line in ITS communication without hindering safe driving support (congestion determination and traffic accident determination). An object is to provide a control method.

  In order to achieve the above object, a mobile communication device of the present invention is provided in a mobile body, and is detected by a communication section that receives information including information indicating the current position of another mobile body, and a current position detection section. Obtaining the current position of the mobile object and transmitting the mobile object information via the communication unit based on the current position of the mobile object and the current position of the other mobile object received by the communication unit And a control unit that determines whether to perform in a normal control state or a special control state.

  Further, in the mobile communication device having the above-described configuration, the control unit has a current position of another mobile body received by the communication unit within a predetermined range from a current position of the mobile body detected by the current position detection unit. In some cases, it is desirable to determine that transmission of the mobile body information is performed in a special control state.

  Further, in the mobile communication device having the above-described configuration, the control unit has a current position of another mobile body received by the communication unit within a predetermined range from a current position of the mobile body detected by the current position detection unit. In addition, when the movement types of the moving body and the other moving body are the same, it is desirable to determine that transmission of the moving body information is performed in a special control state.

  Further, in the mobile communication device having the above-described configuration, the control unit further includes the mobile unit information when the current position of the mobile unit is not ahead of the current direction of the other mobile unit. It is desirable to decide to perform transmission in a special control state.

  In the mobile communication device having the above configuration, the information indicating the current position of the other mobile object is information indicating an observation area, and the communication unit is information indicating the presence or absence of another mobile object in the observation area. When the current position of the moving object detected by the current position detecting unit is within the observation area and another moving object exists in the observation area, It is desirable to perform transmission of the mobile object information in a special control state.

  In the mobile communication device having the above configuration, the special control state is at least one of not transmitting the mobile body information, delaying a transmission cycle, or reducing information transmitted as the mobile body information. It is desirable to include one.

  In order to achieve the above object, the mobile information transmission control method of the present invention includes a step of acquiring a current position of the mobile body, a step of acquiring information including information indicating a current position of another mobile body, Determining whether to transmit the mobile body information in a normal control state or a special control state based on a comparison result between the current position of the mobile body and the current position of the other mobile body. It is characterized by that.

  According to the present invention, it is possible to prevent congestion of a line in ITS communication without disturbing safe driving support (congestion determination or traffic accident determination).

These are block diagrams which show the structure of the navigation apparatus of this invention. These are 1st flowcharts which show the flow of the process which the control part of the navigation apparatus of this invention performs. These are 2nd flowcharts which show the flow of the process which the control part of the navigation apparatus of this invention performs. These are 3rd flowcharts which show the flow of the process which the control part of the navigation apparatus of this invention performs. These are 4th flowcharts which show the flow of the process which the control part of the navigation apparatus of this invention performs. These are 5th flowcharts which show the flow of the process which the control part of the navigation apparatus of this invention performs. These are the schematic diagrams which show an example of the observation area which a roadside machine observes.

  Embodiments of the present invention will be described below with reference to the drawings. However, the embodiment described below shows a navigation device which is an example of the mobile communication device of the present invention in order to embody the technical idea of the present invention, and the present invention is specified to this navigation device. And is equally applicable to other embodiments of the device falling within the scope of the claims. For example, a mobile communication terminal such as a device without a navigation function or a mobile phone may be used. In the following description, a case where the navigation device is attached to an automobile is illustrated, but a motorcycle, a pedestrian, or the like may be provided (held) with the navigation device. FIG. 1 is a block diagram showing the configuration of the navigation apparatus of the present invention. The navigation device 20 includes a control unit 1, a display unit 2, an operation unit 3, a current position detection unit 4, a speed detection unit 5, a map information storage unit 6, a battery 7, and a communication unit 8. Yes.

  The control unit 1 is a control unit that comprehensively controls the entire navigation device 20. The control unit 1 includes a CPU, a ROM, and a RAM (all not shown). The ROM stores a program executed by the control unit 1 and parameters and data necessary for executing the program. The CPU executes various programs stored in the ROM. The RAM temporarily stores data obtained during various processes and data obtained as a result of various processes. These CPU, RAM, ROM and the like are connected via a bus. Note that the CPU, ROM, and RAM may be partially or fully integrated on one chip. Further, the control unit 1 controls transmission of the moving body information of the own vehicle to other communication devices performed via the communication unit 8 (details will be described later).

  Based on an instruction from the control unit 1, the display unit 2 displays a map screen (route to the destination, vehicle equipped with the navigation device 20 (hereinafter, “vehicle equipped with the navigation device 20” is referred to as “own vehicle”). Display screen for displaying a map image including a mark indicating the current position) and a menu screen.

  The operation unit 3 is an input operation means for a user to input a destination or operate a menu. As the operation unit 3, various keys and buttons may be provided on the navigation device body, or a touch panel function may be added to the display unit 2. Further, a remote controller for remotely operating the navigation device 20 main body as the operation unit 3 may be used as the operation unit 3.

  The current position detection unit 4 detects the current position of the host vehicle and includes a GPS receiver, a self-contained navigation means, a position calculation CPU, and the like. The self-contained navigation means includes a steering angle sensor, an acceleration sensor, a distance sensor, a direction sensor, and the like, detects the travel distance and the traveling direction of the own vehicle, and obtains the current position based on these values. The GPS receiver receives radio waves transmitted from a plurality of GPS satellites with a GPS antenna and performs a three-dimensional positioning process or a two-dimensional positioning process to calculate the absolute position and traveling direction of the own vehicle. Here, the traveling direction is calculated based on the current vehicle position and the previous vehicle position. In addition, the detection method of the advancing direction is not specifically limited, For example, it is good also as detecting from the rotation direction of a tire, and you may detect using a direction sensor. Further, a traveling direction detection unit may be provided separately from the current position detection unit 4 to detect the traveling direction of the host vehicle.

  The speed detector 5 detects the moving speed of the own vehicle. The moving speed may be calculated from the output of the vehicle speed sensor or the acceleration sensor, or may be calculated from the difference between the travel distance between the GPS histories and the GPS reception time. In addition, it is good also as the present position detection part 4 detecting the moving speed of the own vehicle. When the current position detection unit 4 can detect the moving speed in addition to the current position of the host vehicle, the speed detection unit 5 can be omitted. In this case, the current position detection unit 4 includes the speed detection unit 5.

  The steering angle sensor, the acceleration sensor, the speed sensor, the azimuth sensor, and the like may be included in the navigation device 20, or the vehicle (own vehicle) includes the various sensors. The navigation device 20 includes the various sensors. It is good also as a structure provided with the interface which acquires these outputs.

  The map information storage unit 6 stores map information that is referred to when performing route search or guidance to the destination. The map information includes network data (node data, link data). As the map information storage unit 6, a NAND flash, an SD memory card, or the like can be suitably used. The map information storage unit 6 may be built in the navigation device 20 or may be configured to be detachable from the navigation device 20. The map information may include a map image, or a map image may be drawn on the display unit 2 based on network data (node data, link data) included in the map information. In addition to storing map information in advance in the map information storage unit 6, the communication unit 8 described later receives map information from a roadside machine or the like, and the received map information is stored in the map information storage unit 6. Also good.

  In the present invention, the network data includes road node data and link data. When the road on which the vehicle is currently traveling is specified, the control unit 1 detects the current position of the vehicle detected by the current position detection unit 4 (the traveling direction and the moving speed may be added), map information, Can be specified by performing a map matching process.

  The map matching process may be performed by the control unit 1 or the current position detection unit 4. That is, based on the current position detected using a GPS receiver and / or autonomous navigation means and map information, map matching processing is performed, and the current position where map matching processing has been performed is output to the control unit 1 as the current position. Also good. Alternatively, the current position detection unit 4 including the map matching process of the control unit 1 may be used.

  The battery 7 is a power supply means when the navigation device 20 is portable, and a secondary battery such as a lithium ion battery or a nickel metal hydride battery can be suitably used. Of course, as the battery 7, a primary battery such as an alkaline manganese dry battery or a manganese dry battery may be used, or a fuel cell may be used.

  The communication unit 8 transmits information to other communication devices that can communicate with the navigation device 20 (hereinafter referred to as “other communication devices”) and information transmitted from the other communication devices. A receiving unit (not shown) for receiving. The communication method is preferably non-contact communication such as wireless communication or infrared communication. The other communication device may be an in-vehicle communication device such as a navigation device mounted on another vehicle (when a pedestrian is on another vehicle, a mobile communication terminal such as a mobile phone held by the pedestrian may be used. ), Mobile communication terminals such as mobile phones possessed by roadside devices, pedestrians, etc. (pedestrians, bicycle drivers, etc.).

  The information received by the communication unit 8 from an in-vehicle communication device such as a navigation device mounted on another vehicle includes vehicle information of the other vehicle (information on the in-vehicle communication device (current position, moving speed, etc.). It can be rephrased as “moving body information of other vehicles”). In the moving body information of other vehicles, other vehicles equipped with in-vehicle communication devices such as navigation devices (hereinafter referred to as “other vehicles equipped with in-vehicle communication devices such as navigation devices” are referred to as “other vehicles”). Information indicating the current position, traveling direction, moving speed, and the like, and information indicating the movement type (that is, the vehicle) of another vehicle may be included.

  In addition, information received by the communication unit 8 from a mobile communication terminal such as a mobile phone carried by a pedestrian or the like includes mobile body information such as a pedestrian or the like. For mobile information such as pedestrians, pedestrians who have mobile communication terminals such as mobile phones (hereinafter referred to as “pedestrians who have mobile communication terminals such as mobile phones” are also referred to as “pedestrians”) Information indicating the current position, traveling direction, moving speed, and the like, and information indicating the type of movement such as a pedestrian (that is, a pedestrian or the like) may be included.

  The current position of other vehicles, pedestrians, etc. may be the current position after the map matching process, or the current position before the map matching process (current position measured by a GPS receiver or the like). Also good. If it is the current position before the map matching process, the control unit 1 (current position detection unit 4) may perform the map matching process.

  In the above description, the communication unit 8 receives the moving body information of another vehicle from another vehicle, but may receive it from a mobile communication terminal such as a roadside device or a mobile phone. The same applies to moving body information such as pedestrians.

    In addition, the mobile body information of other mobile bodies (other vehicles, pedestrians, etc.) transmitted from other communication devices (such as in-vehicle communication devices and roadside machines), and the own vehicle transmitted via the communication unit 8 The mobile object information will be described as being transmitted to the surroundings by broadcast.

  Here, the outline of the present invention will be briefly described.

  As described above, the navigation device 20 receives (acquires) moving body information of other moving bodies (other vehicles, pedestrians, etc.) via the communication unit 8, and the own vehicle via the communication unit 8. The moving body information (current position, etc.) is transmitted.

  Thereby, the navigation apparatus 20 can specify the current position and moving speed of other moving bodies (other vehicles, pedestrians, etc.), and the current position and moving speed of the specified other moving bodies and the moving body information of the own vehicle. Based on (current position, moving speed, etc.), it becomes possible to perform safe driving support (congestion judgment and traffic accident judgment).

  Similarly, in other communication devices (for example, in-vehicle communication devices such as navigation devices mounted on other vehicles) that have received the moving body information of the own vehicle transmitted via the communication unit 8, safe driving assistance (congestion) Determination and traffic accident determination).

  However, as described above, all ITS communication terminals (navigation device 20, in-vehicle communication device, mobile communication terminal, etc.) transmit mobile body information including the same information (current position, moving speed, etc.) in the same transmission cycle. Then, the line may be congested.

  By the way, for example, when two people A and B are walking side by side holding a mobile communication terminal, in order to perform safe driving support (congestion determination or traffic accident determination), A or B Mobile body information may be transmitted from any one of the mobile communication terminals.

  That is, in order to perform safe driving support (especially traffic accident determination), there is a person at a point where the third person is (current position included in the mobile body information transmitted from the mobile communication terminal held by A or B). In the case of walking side by side, the need to transmit mobile body information from the respective mobile communication terminals held by A and B is lower than when walking alone. Become.

  Therefore, in the present invention, the current position of the own vehicle (for example, the current position of A) and the current position (for example, the current position of B) of another moving body received via the communication unit 8 are within a predetermined range. In this case, it is determined that the transmission of the moving body information of the own vehicle (the moving body information of A) performed through the communication unit is performed in a special control state (details will be described later, such as transmission stoppage).

  That is, the fact that the current position (for example, the current position of B) of another moving body within the predetermined range from the current position of the own vehicle (for example, the current position of A) is received means that the surroundings of the other moving body (B) Other communication devices (substantially the same as other communication devices existing around the current position of the vehicle (the current position of A)), other mobile objects (B) B) is present (being broadcast).

  Therefore, even if it is determined that transmission of mobile body information of the own vehicle (mobile body information of A) is performed in a special control state (details will be described later, such as transmission stop), other communication existing around B (A) Since the device recognizes (receives) that B (pedestrian) exists at a certain point (current position included in the mobile body information transmitted from the mobile communication terminal held by B), it supports safe driving. It is possible to prevent congestion of lines in ITS communication without obstructing (congestion determination or traffic accident determination).

[First embodiment]
A first embodiment of the navigation device 20 of the present invention will be described with reference to FIG. FIG. 2 is a first flowchart showing a flow of processing executed by the control unit 1 of the navigation device 20 of the present invention.

  In step S01, the control unit 1 uses the current position of the host vehicle detected by the current position detection unit 4 and the current position detection unit 4 (or a travel direction detection unit when the navigation device 20 includes a travel direction detection unit). Information related to the host vehicle such as the detected traveling direction of the host vehicle and the moving speed of the host vehicle detected by the speed detector 5 is acquired.

  In step 02, the control unit 1 acquires the moving body information of one or more other moving bodies (other vehicles, pedestrians, etc.) received by the communication unit 8. In the present embodiment, the mobile body information of each other mobile body includes at least information indicating the current position of the other mobile body (for example, the mobile body information of the other vehicle A includes at least other mobile body information). Information indicating the current position of the vehicle A is included. In addition, information indicating the traveling direction of the other vehicle A and information indicating the moving speed of the other vehicle A may be included. The moving body information of the vehicle A includes only information related to the other vehicle A (for example, information related to the other vehicle B is not included).

In this embodiment, the control unit 1 acquires information about the own vehicle in step S01, and acquires moving body information of one or more other moving bodies in step S02. The order in which the information is acquired may not be the order shown in the flowchart. For example, the information may be acquired at the same time, or the moving body information of one or more other moving bodies may be acquired first. Also good.
In addition, in the present embodiment and the following embodiments, the timing at which the control unit 1 acquires information about the own vehicle and the moving body information of one or more other moving bodies is not limited to the timing. The information may be acquired regularly or irregularly, and when information is acquired a plurality of times regularly or irregularly, the latest information among the acquired information may be used.

  Next, in step S03, the control unit 1 determines whether or not the current position of the other moving body is within a predetermined range from the current position of the own vehicle. If the current position of the other moving body is within the predetermined range from the current position of the own vehicle (Y in step S03), the process proceeds to step S04, and the current position of the other moving body must be within the predetermined range from the current position of the own vehicle. (N in step S03), the process proceeds to step S06.

  In addition, the said determination is performed for every moving body information of another moving body, when the moving body information of several other moving bodies is acquired in step S02. After determination is made for each piece of moving body information of all other moving bodies, if at least one of the current positions of a plurality of other moving bodies is within a predetermined range from the current position of the host vehicle, the process proceeds to step S04. Shall proceed.

  The predetermined range from the current position of the host vehicle may be an arbitrary range set as appropriate. For example, a circle having a predetermined radius (5 m) centered on the current position of the host vehicle (depending on the movement type) The radius may be changed.), Or a quadrangle formed of the road width of the road on which the vehicle is traveling and a predetermined distance (5 m) centered on the current position of the vehicle. .

  Next, in step S04, the control unit 1 determines whether or not the movement type of the own vehicle is the same as the movement type of another moving body. In this step, the other moving body is another moving body determined in step S03 as being within a predetermined range from the current position of the own vehicle, and is determined to be within the predetermined range from the current position of the own vehicle. When there are a plurality of other mobile objects, the determination is made for each of the other mobile objects.

  If the movement type of the own vehicle and the movement type of the other moving body are the same (Y in step S04), the process proceeds to step S05, and the movement type of the own vehicle and the movement type of the other moving body are not the same ( N in step S04) The process proceeds to step S06.

  In addition, although the method of specifying the moving type of the own vehicle and the moving type of another moving body is not particularly limited, a method of specifying the moving type will be exemplified below. The first method for specifying the movement type of the host vehicle is that the user inputs the movement type using the operation unit 3 or the user uses the operation unit 3 to select the movement type from among a plurality of movement types displayed on the display unit 2. It is a method of specifying by selecting. Information indicating the identified movement type is stored in a memory (for example, RAM). In this case, since the information indicating the movement type specified by the user is stored in the memory, the control unit 1 can be rephrased as acquiring information indicating the movement type of the own vehicle as information about the own vehicle in step S01.

  The second method of specifying the movement type of the own vehicle is a method in which the control unit 1 specifies based on the moving speed of the own vehicle. Specifically, for example, when the moving speed is 30 km / h or more, the moving type is “vehicle”, and when the moving speed is less than 30 km / h, the moving type is “pedestrians”. In addition, when specifying based on moving speed, it is preferable to determine by whether the average of moving speed is 30 km / h or more.

  A third method for specifying the movement type of the host vehicle is a method in which the control unit 1 specifies based on the type of power supply of the navigation device 20. Specifically, if the navigation device 20 receives power supply (12V) from a battery mounted on the vehicle, the movement type is “vehicle”, and if the navigation device 20 receives power supply from the battery 7 included in the navigation device 20, the movement is performed. The type is “pedestrians”.

  The fourth method of specifying the movement type of the own vehicle is a method in which the control unit 1 specifies based on the output of a sensor or the like included in the vehicle (own vehicle). Specifically, for example, when the navigation device 20 includes an interface that acquires information indicating the lighting state of the headlight of the vehicle (own vehicle), information indicating whether the headlight is turned on or off is used as information about the own vehicle. If it is acquired, the movement type is “vehicle”, and if it is not acquired, the movement type is “pedestrian”.

  In addition, the movement type of the own vehicle can be specified from the current position. For example, based on the map information and the current position, the movement type may be “vehicle” if the current position is on a roadway, and the movement type may be “pedestrians” if the current position is on a sidewalk.

  The method for specifying the movement type of another mobile object is similar to the method for specifying the movement type of the own vehicle. If the received mobile object information of another mobile object includes information indicating the movement type, the movement type is determined. If the information indicating the type is specified and the information indicating the movement type is not included, the moving speed of the other moving body included in the received other moving body information or the other moving body is mounted. It can be specified based on the type of power source to which other communication devices are supplied with power, the presence or absence of information indicating the lighting state of headlights of other mobile units, and the like.

  In step S05, the control unit 1 performs transmission of mobile body information of the host vehicle in a special control state (details will be described later). In step S06, the control unit 1 performs normal control state (details of transmission of mobile body information of the host vehicle). (That is, it is determined whether transmission of moving body information of the vehicle is performed in a normal control state or a special control state).

  Here, the transmission of the moving body information of the own vehicle in the normal control state is generally the same as the moving body information of the vehicle transmitted from the in-vehicle device mounted on the vehicle to another communication device in the ITS communication. Information is transmitted via the communication unit 8. The mobile body information includes various information related to the vehicle (own vehicle), and what information to transmit as the mobile body information in the normal control state is set in advance. As information about the own vehicle, information indicating the movement type of the own vehicle, information indicating the ID of the own vehicle (terminal ID of the navigation device 20), information indicating the current position of the own vehicle, information indicating the traveling direction of the own vehicle, Examples include information indicating the moving speed of the host vehicle, information indicating the lighting state of the headlight, information indicating the operating state of the wiper, and the like.

  On the other hand, transmission of the moving body information of the own vehicle in the special control state is control different from the normal control state, for example, control for changing information on the own vehicle transmitted as moving body information of the own vehicle, The control which changes the transmission cycle of this mobile body information, the control which stops transmission of the mobile body information of the own vehicle, the control which combines these, etc. can be considered.

  In this embodiment, when changing the information about the own vehicle transmitted as the moving body information of the own vehicle, for example, in the normal control state, the information about the own vehicle described above (movement type, terminal ID, current position, traveling direction) , Movement speed, headlight lighting state, wiper operating state) is transmitted as the moving body information of the own vehicle, but in the special control state, only the information indicating the moving type of the own vehicle and the information indicating the current position of the own vehicle Is transmitted as moving body information of the own vehicle. That is, in the special control state, there is less information regarding the own vehicle transmitted as the moving body information of the own vehicle than in the normal control state.

  In addition, when changing the transmission cycle of the moving body information of the own vehicle, for example, the moving body information of the own vehicle is transmitted every 100 ms in the normal control state, and the moving body information of the own vehicle is changed every 200 ms in the special control state. Information shall be transmitted. In addition, when the transmission of the moving body information of the own vehicle is stopped, the moving body information of the own vehicle is transmitted in the normal control state, and the moving body information of the own vehicle is not transmitted in the special control state. . Furthermore, it is possible to combine them into a special control state.

  That is, “transmission of own vehicle information in a special control state” does not impose a burden on the communication line compared to “performs transmission of own vehicle information in a normal control state” ( Reducing information to be transmitted and / or reducing the number of times of transmission (not transmitting).

  Further, in the present embodiment, the control unit 1 is set in the special control state when another moving body having the same movement type as the own vehicle exists in the predetermined range. Based on the number of other moving bodies present (the number of other moving bodies having the same movement type as that of the own vehicle may be used, or the number of other moving bodies regardless of the moving body type). The contents of the special control state may be changed. In other words, if the number of other mobile objects present in the vicinity of the own vehicle is small, it is unlikely that the line will be congested. Since there is a high possibility that this will occur, the content of the special control state is changed based on the number of other moving objects present around the host vehicle.

  For example, when the transmission cycle of the moving body information of the own vehicle in the normal control state is 100 ms, the transmission cycle is set to 200 ms when one other moving body (one person, one person) exists around the own vehicle. The transmission cycle is set to 300 ms when two other mobile objects exist around the own vehicle, and the transmission is stopped when three other mobile objects exist around the own vehicle.

  According to this embodiment, when there is another moving body having the same movement type as the own vehicle within a predetermined range from the current position of the own vehicle, transmission of the moving body information of the own vehicle is performed in a special control state. Thus, it is possible to prevent congestion of the line in ITS communication without disturbing safe driving support (congestion judgment and traffic accident judgment).

In the present embodiment, it is determined whether or not the movement type of the own vehicle and the movement type of another moving body are the same, but it is not necessary to determine whether or not the movement type is the same. When it is determined that the current position of the other moving body is within a predetermined range from the current position of the own vehicle, it may be determined that transmission of the moving body information of the own vehicle is performed in the special control state.
[Second Embodiment]
A second embodiment of the navigation device 20 of the present invention will be described with reference to FIG. FIG. 3 is a second flowchart showing the flow of processing executed by the control unit 1 of the navigation device 20 of the present invention. In addition, since step S11-step S14 of this embodiment and step S16-step S17 are the same as step S01-step S04 of 1st Embodiment, and step S05-step S06, respectively, description is abbreviate | omitted.

  In step S15, the control unit 1 determines whether or not the traveling direction of the own vehicle and the traveling direction of another moving body are the same. In this step, the other moving body is another moving body (that is, another vehicle) determined to be the same as the moving type of the own vehicle in step S14, and is the same as the moving type of the own vehicle. When there are a plurality of other moving bodies (other vehicles) that are determined as follows, the determination is performed for each of the other moving bodies (other vehicles).

  The traveling direction of the host vehicle is the traveling direction of the host vehicle detected by the current position detection unit 4, and the traveling direction of the other moving body is the traveling direction of another moving body (other vehicle) received by the communication unit 8. The communication unit 8 receives the information indicating the current position (latitude, longitude) of the own vehicle detected by the current position detection unit 4 with respect to the traveling direction of the own vehicle and other moving objects. You may specify based on the information which shows the present position (latitude, longitude) of the other mobile body (other vehicle) to perform, and map information. That is, by identifying the lane in which the vehicle and other moving bodies (other vehicles) are traveling from the current positions of the own vehicle and other moving bodies (other vehicles), the traveling direction in the lane is identified. (The lane and the traveling direction in the lane are associated with each other).

  If the traveling direction of the own vehicle and the traveling direction of the other moving body (other vehicle) are the same (Y in step S15), the process proceeds to step S16, and the traveling direction of the own vehicle and the other moving body (other vehicle) If the traveling directions are not the same (N in step S15), the process proceeds to step S17. That is, if the traveling direction of the host vehicle and the traveling direction of another moving body (other vehicle) are not the same, the two may be in an oncoming vehicle relationship (that is, a vehicle traveling in an opposite lane). Transmission of the moving body information of the own vehicle is performed in the normal control state for driving support.

  When there are a plurality of other moving bodies (other vehicles) that are determined to be the same as the movement type of the own vehicle, all of the other moving bodies (other vehicles) are traveling directions of the own vehicle. The process proceeds to step S17 only when it is not the same.

  According to the present embodiment, the same effects as those of the first embodiment can be obtained. In addition, when the traveling direction of the host vehicle and the traveling direction of other moving bodies are not the same, transmission of the moving body information of the own vehicle is performed in a normal control state, so that safe driving such as avoiding a collision accident between oncoming vehicles is performed. Support (congestion judgment and traffic accident judgment) is not hindered.

  In addition, although it demonstrated that the other mobile body in step 15 is another mobile body (namely, other vehicle) determined to be the same as the movement type of the own vehicle in step S14, In step 13, it may be another moving body (that is, another vehicle) determined that the current position of the other moving body is within a predetermined range from the current position of the own vehicle.

That is, it is determined whether or not the movement type of the own vehicle is the same as the movement type of another moving body, but it is not necessary to determine whether or not the movement type is the same.
[Third embodiment]
A third embodiment of the navigation device 20 of the present invention will be described with reference to FIG. FIG. 4 is a third flowchart showing the flow of processing executed by the control unit 1 of the navigation device 20 of the present invention. In addition, since step S21-step S25 of this embodiment and step S27-step S28 are respectively the same as step S11-step S15 of 2nd Embodiment, and step S16-step S17, description is abbreviate | omitted.

  In step S <b> 26, the control unit 1 determines that the current position of the other moving body (other vehicle) is ahead of the current position of the own vehicle in the traveling direction of the own vehicle (in step S <b> 25, Since the traveling direction of the other vehicle (the other vehicle) is determined to be the same, it may be determined whether the traveling direction is ahead of the other moving body (other vehicle)).

  Whether or not the other moving body (other vehicle) is a forward vehicle (whether the current position of the other moving body (other vehicle) is ahead of the current position of the own vehicle or not) A), the current position (latitude, longitude) of the own vehicle detected by the current position detection unit 4, the current position (latitude, longitude) of the other mobile body (other vehicle) received by the communication unit 8, and the map information Can be identified based on. That is, from the current positions of the host vehicle and other moving bodies (other vehicles), the lane in which the host vehicle and other moving bodies (other vehicles) are traveling and the traveling direction in the lane are identified, and By comparing the current position with the current position of another moving body (other vehicle), it can be determined whether or not the other moving body (other vehicle) is a forward vehicle. Further, the other vehicle (other vehicle) based on the current position of the own vehicle, the current position of the other vehicle (other vehicle) and the traveling direction of the vehicle of the own vehicle or other vehicle (other vehicle). It is also possible to determine whether the vehicle is a forward vehicle, that is, since the direction from the traveling direction is known, the current position of the host vehicle and other moving bodies (other By comparing the current position of the vehicle), it can be determined whether or not the other moving body (other vehicle) is a forward vehicle.

  If the current position of the other moving body (other vehicle) is ahead of the current position of the own vehicle (Y in step S26), the process proceeds to step S27, and the other moving body (other vehicle) If the current position is not ahead of the current position of the host vehicle (N in step S26), the process proceeds to step S28. That is, if the current position of another moving body (other vehicle) having the same traveling direction is not ahead of the traveling direction of the own vehicle from the current position of the own vehicle, the own vehicle is traveling at the head in the lane. Since there is a possibility that a traffic accident may occur between another vehicle (for example, a vehicle running on the opposite lane or a pedestrian crossing the road) with a different traveling direction and the own vehicle, Information transmission is performed in a normal control state.

  According to the present embodiment, the same effects as those of the first embodiment can be obtained. In addition, when the current position of the other vehicle is not ahead of the current position of the vehicle (the other vehicle (other vehicle)), the normal control is performed for transmitting the vehicle information of the vehicle. Since it is performed in a state, it does not interfere with safe driving support (congestion judgment or traffic accident judgment) such as avoiding collision accidents where encounters occur.

Note that step 24 is not necessarily performed. That is, it is determined whether or not the movement type of the own vehicle is the same as the movement type of another moving body, but it is not necessary to determine whether or not the movement type is the same.
[Fourth embodiment]
4th Embodiment of the navigation apparatus 20 of this invention is described using FIG. FIG. 5 is a fourth flowchart showing the flow of processing executed by the control unit 1 of the navigation device 20 of the present invention. In addition, since step S31-step S36 of this embodiment and step S38-step S39 are respectively the same as step S21-step S26 of 3rd Embodiment, and step S27-step S28, description is abbreviate | omitted.

  In step S37, the control unit 1 determines that the third moving body (the third moving body) determined to be behind the traveling direction of the own vehicle (the traveling direction of the other moving body (other vehicle)) from the current position of the own vehicle. It is determined whether or not a vehicle exists. When there is a third moving body (third vehicle) that is determined to be behind the traveling direction of the own vehicle (the traveling direction of the other moving body (other vehicle)) from the current position of the own vehicle ( Y of step S37) The process proceeds to step S39, and the third moving body (the first moving body) determined to be behind the traveling direction of the own vehicle (the traveling direction of the other moving body (other vehicle)) from the current position of the own vehicle. If there is no vehicle (No. 3 vehicle) (N in step S37), the process proceeds to step S38.

  That is, as described above, when the receiving unit 8 receives moving body information of a plurality of other moving bodies, each determination is made for each moving body information of the other moving bodies. Accordingly, when it is determined in step S36 based on the moving body information of one other moving body, it is determined that the one other moving body is a front vehicle (the own vehicle is a rear vehicle) ( Even in step S36), as a result of determination based on the moving body information of another other moving body (third moving body), the other moving body (third moving body) is rearward. When it is determined that the vehicle is a vehicle (the vehicle is a front vehicle), the vehicle is sandwiched between two vehicles, and another moving body (third Since there is a possibility that a ball hitting accident may occur when the moving body) collides with the own vehicle, in such a case, transmission of the moving body information of the own vehicle is performed in the normal control state.

  However, even when the host vehicle is sandwiched between two vehicles, when another moving body (third moving body) is stopped or another moving body ( If the third moving body is traveling (moving) at the same moving speed (for example, an error in moving speed up to 1 km / h is referred to as “equivalent”), another moving body (the first moving body) 3), the transmission of the mobile body information of the own vehicle may be performed in a special control state. In other words, only when the moving speed of another moving body (third moving body) is faster than the moving speed of the own vehicle, the transmission of the moving body information of the own vehicle may be performed in the normal control state. Good.

  According to the present embodiment, the same effects as those of the first embodiment can be obtained. In addition, when the current position of the own vehicle is between the current position of the other moving body and the current position of the third moving body, transmission of the moving body information of the own vehicle is performed in a normal control state. Safe driving support such as avoiding traffic (judgment judgment and traffic accident judgment) is not disturbed.

Note that step 34 is not necessarily performed. That is, it is determined whether or not the movement type of the host vehicle is the same as the movement type of another moving body (including the third moving body), but it is not determined whether or not the movement type is the same. May be.
[Fifth Embodiment]
5th Embodiment of the navigation apparatus 20 of this invention is described using FIG. FIG. 6 is a fifth flowchart showing a flow of processing executed by the control unit 1 of the navigation device 20 of the present invention.

  In the present embodiment, the moving body information of another moving body transmitted from a roadside device or a communication device (for example, a communication device that has received the moving body information of another moving body transmitted from the roadside device) indicates an observation area. It is an embodiment in the case of comprising information and information indicating the movement type of other mobile objects existing in the observation area (in the observation area) and the number of each movement type (in the following description, the roadside unit is another type of movement) The case of transmitting the moving body information of the body will be described.

  The roadside device is installed, for example, near an intersection, and transmits moving body information (information indicating an observation area, etc.) of another moving body based on the output of a sensor installed near the intersection.

  Here, the sensor installed in the vicinity of the intersection can determine whether or not there is another moving body in at least the observation area, and various conventionally known sensors can be used. For example, it may be a camera, a weight sensor embedded in a road, a receiver for receiving moving body information transmitted from a communication device (such as the navigation device 20), or a sensor used for a sensing signal device. There may be. Note that it is preferable that the sensor is a sensor (for example, a camera that determines the type of movement and the number of movements by recognizing a captured image) that can know the type of movement of the other moving objects in the observation area and the number of each movement type. In the following description, the case where the movement types of other mobile bodies in the observation area and the number of each movement type are known will be described as an example.

  And when the navigation apparatus 20 (communication part 8) receives the moving body information of the other moving body transmitted from the roadside device, the received moving body information of the other moving body (in the received other moving body, If the vehicle is in one of the observation areas included (the vehicle may also be included) (the current position of the vehicle is within the observation area), one or more other movements in the observation area If the body exists, the necessity of transmitting the moving body information of the own vehicle is reduced.

  That is, the presence of the vehicle is detected (observation area, movement type, etc.) by sensors installed near the intersection, and the presence of the vehicle (the vehicle is in a certain observation area) is transmitted to the surroundings by the roadside device. (Or even if the presence of the vehicle is not detected by the sensor, the presence of a moving body in the observation area including the current position of the vehicle is transmitted to the surroundings), so the communication unit 8 It is determined that transmission of the moving body information of the own vehicle to be performed through the special control state.

  First, in step S41, as in step S01 of the first embodiment, the control unit 1 detects the current position of the host vehicle detected by the current position detection unit 4 and the current position detection unit 4 (the navigation device 20 detects the traveling direction). When the unit is provided, the traveling direction detection unit may be used) to acquire information related to the own vehicle such as the traveling direction of the own vehicle detected by the traveling direction detection unit and the moving speed of the own vehicle detected by the speed detection unit 5.

  In step S42, the control unit 1 acquires the moving body information of one or more other moving bodies (other vehicles, pedestrians, etc.) received by the communication unit 8. In the present embodiment, the moving body information of one or more other moving bodies is a roadside unit (for example, an in-vehicle communication device provided in another vehicle that has received the information from the roadside unit). Information indicating the observation area, and information indicating the movement types of the other mobile objects existing in the observation area and the number of each movement type. As a result, the number of movement types “vehicles” and the number of movement types “pedestrians” exist in a certain observation area. That is, the “observation area” is “the current position of another mobile object existing on the observation area”, and the “information indicating the observation area” is “another mobile object existing on the observation area”. Is information indicating the current position of ".

  Strictly speaking, it is considered that the moving body information of one or more other moving bodies received from the roadside machine includes the moving body information of the own vehicle, but the information received from the roadside machine includes the vehicle. If the information indicating the ID of the vehicle is not included, the control unit 1 cannot determine whether the moving body information of the own vehicle is included. Therefore, in this embodiment, it is assumed that the subsequent determination is performed on the assumption that all the information received from the roadside device is moving body information of other moving bodies. When the information received from the roadside machine includes information indicating the vehicle ID, if there is another moving body having the same ID as the own vehicle ID in the observation area, the process does not proceed to the subsequent steps. What is necessary is just to carry out in the special control state about transmission of the moving body information of the own vehicle (it progresses to step S46). This is because the presence of the own vehicle is detected by the sensor or the like (observation area, movement type, etc.), and the presence of the own vehicle (the vehicle is in a certain observation area) is transmitted to the surroundings by the roadside device.

  Hereinafter, a case will be described in which information indicating the movement types of other mobile objects existing in the observation area and the number of each movement type is received from the roadside device. In this embodiment, the observation area is an individual area that is a unit when the roadside device observes the movement type of the other mobile object and the number of each movement type. The movement types of other moving objects existing in the observation area are specified, and the number of each movement type is measured. The observation area is specified by two nodes (road start / end nodes, sidewalk end / start nodes, crosswalk start / end nodes, etc.) and area width (road width, sidewalk width, crosswalk width, etc.) As shown in FIG. 7, in the vicinity of the intersection, a vehicle standby area (area (A) to area (D)), a pedestrian standby area (area (E) to area) where vehicles, pedestrians, and other mobile objects are considered to be dense. (H)), a pedestrian crossing area (area (I) to area (L)) is set as an observation area.

  In step S43, the control unit 1 specifies the observation area to which the current position of the own vehicle belongs (the observation area where the current position of the own vehicle is in the observation area) based on the information indicating the observation area and the current position of the own vehicle. That is, as shown in FIG. 7, when there are a plurality of observation areas at the intersection, it is specified that the vehicle is in the observation area (A).

  In step S44, the control unit 1 determines whether one or more other moving objects exist on the observation area (observation area (A)) to which the vehicle belongs. When one or more other moving objects are present in the observation area to which the own vehicle belongs (when any of the number of movement types is one or more) (Y in step S44), the process proceeds to step S45. When one or more other moving bodies do not exist in the observation area to which the vehicle belongs (N in step S44), the process proceeds to step S47, and transmission of the moving body information of the own vehicle is performed in the normal control state.

  In step S45, the control unit 1 determines whether or not the movement type of another moving body existing on the observation area to which the own vehicle belongs is the same as the movement type of the own vehicle (that is, the vehicle).

  If the movement type of the other moving body existing on the observation area to which the own vehicle belongs is the same as the moving type of the own vehicle (Y in step S45), the process proceeds to step S46 and special control is performed for transmission of the moving body information of the own vehicle. If the movement type of the other moving body existing on the observation area to which the vehicle belongs is not the same as the movement type of the own vehicle (N in step S45), the roadside device does not transmit information about the own vehicle. Therefore, it progresses to step S47 and it performs in the normal control state about transmission of the moving body information of the own vehicle. The special control state and the normal control state may both be the same as the special control state and the normal control state in the first embodiment.

  According to the present embodiment, the same effects as those of the first embodiment can be obtained. In addition, in-vehicle communication devices such as navigation devices such as intersections and mobile communication terminals such as mobile phones are crowded and transmission of mobile body information of the vehicle is performed in a special control state in a place where the line is thought to be congested. Line congestion in ITS communication can be prevented without obstructing safe driving support (congestion judgment or traffic accident judgment).

  In the present embodiment, it has been described that the mobile body information of other mobile bodies transmitted by the roadside device includes information indicating the observation area (information indicating the current position). Even if the information to be shown (information indicating area (A) to area (L) in FIG. 7) is not transmitted, the information indicating the observation area in which another moving body exists on the observation area (only the own vehicle in FIG. 7 exists). In this case, only the information indicating the area (A) may be transmitted.

  In this case, if the current position of the host vehicle belongs to the observation area (if it is within the received observation area), one or more moving objects exist in the observation area, and therefore the determination in step S44 is not necessary.

  If the current position of the own vehicle does not belong to the observation area (if it is outside the received observation area), it is preferable to proceed to step S47 and perform transmission of the moving body information of the own vehicle in the normal control state.

Further, step 45 is not necessarily performed. That is, the movement type of the own vehicle is the same as any one of the movement types in which the number of the received movement types (the number of movement types associated with the observation area to which the current position of the own vehicle belongs) is 1 or more. It is not necessary to determine whether or not the movement types are the same.
<Modification>
The order of determination in the above embodiment may not be the order shown in the flowchart. For example, in the first embodiment, whether or not the movement type of the own vehicle and the movement type of another moving body are the same in step S03. In step S04, it may be determined whether or not the current position of another moving body having the same movement type as the own vehicle is within a predetermined range from the current position of the own vehicle.

  In the above embodiment, the pedestrian or the like includes a two-wheeled vehicle such as a bicycle, but the two-wheeled vehicle may be a different type of movement. Further, in a motorcycle, a motorcycle (bike) and a bicycle may be handled as different types of movement.

  In the above-described embodiment, the configuration of the navigation device 20 includes the configuration of the current position detection unit 4 and the display unit 2 that detect the current location. However, the present invention is not limited to this configuration. The current position may be acquired by performing wireless or wired communication with a communication device including the current position detection unit 4 mounted on the vehicle on which the vehicle 20 is mounted, and similarly, the communication device including the display unit 2 and wireless Alternatively, an image may be displayed on the display unit 2 by performing a display instruction via wired communication.

  Moreover, in the said Example, the case where the communication part 8 performed radio | wireless communication (transmission / reception of mobile body information) with the other communication apparatus (vehicle-mounted communication apparatus) with which other mobile bodies (other vehicles) were equipped was described. However, for example, the third communication device receives the moving body information of the other vehicle from the other communication device, and the communication unit 8 receives the moving body information of the other vehicle from the third communication device via wireless or wired communication. May be received. Similarly for transmission, the vehicle information of the own vehicle is transmitted from the communication unit 8 to the third communication device via wireless or wired communication, and the vehicle information of the own vehicle is transmitted from the third communication device to another communication device. May be sent.

  Further, in the above embodiment, the control unit 1 determines whether to transmit the moving body information of the own vehicle in the normal control state or the special control state, but is not limited to this. Similarly, when transmitting moving body information of other moving bodies (moving body information other than the moving body information of the own vehicle) to the surroundings, the current position of the received other moving body (source) and the current position of the own vehicle It is preferable to determine whether to perform the normal control state or the special control state based on the position.

  INDUSTRIAL APPLICABILITY The present invention can be used in a mobile communication device that transmits mobile information to another communication device and a mobile information transmission control method.

  DESCRIPTION OF SYMBOLS 1 ... Control part, 2 ... Display part, 3 ... Operation part, 4 ... Current position detection part, 5 ... Speed detection part, 6 ... Map information storage part, 7 ... -Battery, 8 ... communication unit, 20 ... navigation device

Claims (7)

Provided in the moving body,
A communication unit that receives information including information indicating the current position of another mobile unit;
The current position of the moving body detected by the current position detection unit is acquired, and based on the current position of the moving body and the current position of the other moving body received by the communication unit, via the communication unit A mobile communication device comprising: a control unit that determines whether transmission of mobile information to be performed is performed in a normal control state or a special control state.   When the current position of the other mobile body received by the communication section is within a predetermined range from the current position of the mobile body detected by the current position detection section, the control section transmits the mobile body information. 2. The mobile communication device according to claim 1, wherein the mobile communication device is determined to perform in a special control state.   The control unit is configured such that a current position of another moving body received by the communication unit is within a predetermined range from a current position of the moving body detected by the current position detecting unit, and the moving body and the The mobile communication device according to claim 1, wherein when the movement types of the other mobile bodies are the same, it is determined that transmission of the mobile body information is performed in a special control state.   The control unit further determines that transmission of the mobile object information is performed in a special control state when the current position of the mobile object is not ahead of the current movement position of the other mobile object. The mobile communication device according to claim 2, wherein the mobile communication device is a mobile communication device. The information indicating the current position of the other mobile object is information indicating an observation area, and the communication unit receives information indicating the presence or absence of another mobile object in the observation area,
When the current position of the moving object detected by the current position detecting unit is in the observation area and another moving object exists in the observation area, the control unit The mobile communication device according to claim 1, wherein the transmission is performed in a special control state.   The special control state includes at least one of not transmitting the mobile body information, delaying a transmission cycle, or reducing information transmitted as the mobile body information. The mobile communication device according to any one of claims 1 to 5. A mobile body information transmission control method performed by a mobile body communication device provided in a mobile body,
Obtaining a current position of the moving body;
Obtaining information including information indicating a current position of another mobile unit;
Determining whether to perform transmission of mobile body information in a normal control state or a special control state based on a comparison result between the current position of the mobile body and the current position of the other mobile body;
A method for controlling transmission of mobile information, comprising:

Images