JP2015149006A - Communication equipment for vehicle, communication equipment program for vehicle, and communication method for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To achieve support for more safer passage by trying to improve a communication environment in the case of performing inter-vehicle communication using visible light between a vehicle stopped ahead and a vehicle approaching the vehicle from behind even when an obstacle blocking a perspective between those vehicles exists.SOLUTION: A support information arithmetic device configured to, when determining that an own vehicle 8 is in a start beginning state, generate at least information indicating that the own vehicle 8 is in the start beginning state, and to allow a signal transmission device to transmit the information to a rear vehicle 9 outputs guidance information to guide the driver of the own vehicle 8 to allow the own vehicle 8 to travel forward when a scale RL1 of a rear vacant space RS is less than a reference rear vacant space, and a scale FL of a front vacant space FS is equal to or more than a reference front vacant space.

Description

  The present invention relates to a vehicle communication technology for performing communication between vehicles using visible light.

  Visible light communication technology for transmitting information using visible light is being put into practical use. Japanese Patent Laying-Open No. 2007-310476 (Patent Document 1) discloses an in-vehicle communication device that transmits information using visible light communication between vehicles. This in-vehicle communication device transmits to the succeeding vehicle that the preceding vehicle has changed its own behavior, for example, that it has been able to travel from the stopped state. The succeeding vehicle notifies the user (for example, the driver of the succeeding vehicle) based on this information regarding the preceding vehicle. The driver of the succeeding vehicle can perceive that the preceding vehicle will start before the preceding vehicle actually starts to move, so the preparation for starting the own vehicle (following vehicle) can proceed smoothly, and from the stop state It is possible to smoothly shift to the running state.

  In the in-vehicle communication device of Patent Document 1, when the vehicle train that travels mainly stops and the vehicle starts sequentially from the leading vehicle in the stopped state, the subsequent vehicle following the preceding vehicle smoothly travels from the stopped state to the traveling state. It is useful in that it can make a smooth transition. However, for other purposes, for example, when the preceding vehicle is stopped, the following vehicle can be assisted to travel with sufficient distance from the preceding vehicle, or the preceding vehicle can be There are no considerations for helping the car to pass safely. In addition, when the preceding vehicle to be overtaken is stopped and there are obstacles such as parked vehicles or road equipment behind the preceding vehicle, the view from the preceding vehicle to the following vehicle is blocked, and visible light communication is not possible. It may not be possible.

JP 2007-310476 A

  In view of the above-mentioned background, there is an obstacle that obstructs the line of sight between vehicles when performing vehicle-to-vehicle communication using visible light between a vehicle parked in front and a vehicle approaching from behind the vehicle. Even in such a case, it is desired to provide a technology that realizes support for safer traffic by trying to improve the communication environment.

In view of the above problems, the characteristic configuration of the vehicle communication device according to the present invention is as follows.
A vehicle communication device for communicating between vehicles using visible light,
A driving state detection device for detecting the driving state of the host vehicle;
A front and rear space detection device for detecting a front empty space and a rear empty space which are respective empty spaces in front and rear of the vehicle;
A support information calculation device that generates and outputs driving support information when the host vehicle starts from a stopped state based on the traveling state and the state of the empty space;
A signal transmission device that superimposes a communication signal including the driving support information on visible light and transmits it to a rear vehicle existing behind the host vehicle via a light emitting device, and
When determining that the host vehicle is in a start start state in which the host vehicle starts starting from the stopped state, the support information calculation device includes at least the driving state information indicating that the host vehicle is in the start start state. While generating the support information, the driving support information is transmitted to the vehicle behind the signal transmission device,
Furthermore, the support information calculation device is configured such that the size of the rear empty space is less than a predetermined reference rear empty space, and the size of the front empty space is equal to or larger than a predetermined reference front empty space. Is that guidance information for guiding the driver of the host vehicle to output the host vehicle until the size of the rear vacant space is equal to or larger than the reference rear vacant space.

  According to this configuration, when the vehicle stopped at the front (the host vehicle) starts, it is determined that the communication environment is not good when the driving support information is transmitted to the vehicle (rear vehicle) existing behind. In some cases, attempts are made to improve the communication environment. For example, when the size of the rear free space behind the host vehicle is less than the reference rear free space, it is possible to determine that the communication environment is not good due to poor visibility from the rear of the host vehicle to the rear vehicle. . Here, if the host vehicle moves forward with the size of the front empty space in front of the host vehicle being equal to or larger than the reference front empty space, the rear empty space is expanded after securing the front empty space. May improve. Further, when an obstacle that hinders visible light communication is present behind the host vehicle, there is a possibility that the driver's rear vision is also hindered. As shown in this configuration, when guidance information that guides the driver to advance the vehicle to improve the communication environment is output, it is implicit that the driver must be aware of the perspective of the rear view. It is also possible to make it. As described above, according to the present configuration, when performing vehicle-to-vehicle communication using visible light between a vehicle stopped in front and a vehicle approaching from the rear of the vehicle, the view between the two vehicles is blocked. Even if there are obstacles, it is possible to try to improve the communication environment and realize support for safer traffic.

  Further features and advantages of the present invention will become apparent from the following description of embodiments of the invention which will be described with reference to the drawings.

Explanatory drawing of the scene where vehicle-to-vehicle communication is performed between two vehicles Explanatory drawing illustrating one aspect of improving the communication environment between two vehicles Explanatory drawing of rear empty space and front empty space Explanatory drawing which shows an example of the relationship between a back empty area and visible light communication Explanatory drawing which shows an example of the relationship between a back empty area and visible light communication Block diagram schematically showing the system configuration of the vehicle Explanatory drawing which shows an example of a data structure of visible light communication typically Flow chart showing an example of a procedure for improving the communication environment Explanatory drawing illustrating another aspect of improving the communication environment between two vehicles

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The vehicle communication device and the vehicle communication system according to the present invention cooperate with a driving support system that supports a driver's driving operation, a vehicle control system that suppresses an erroneous operation of the driving operation by the driver, and the like. It is used so that it can be used safely. In the present embodiment, the vehicle communication device is configured as the visible light communication system 1 (see FIG. 6 and the like). It is also possible to construct a vehicle-to-vehicle communication system (vehicle communication system) using the visible light communication system 1 between a plurality of vehicles (not shown).

  In the present embodiment, as shown in FIG. 1, the preceding vehicle (front vehicle 8 (own vehicle)) is stopped at the end of the road R (for example, the shoulder), and the following vehicle (rear vehicle 9) is moved to the front vehicle 8. An explanation will be given using an example of adjusting the future behavior of both vehicles (8, 9) when approaching. The future behavior includes a case where the front vehicle 8 starts from the stop position on the travel path Rm and the rear vehicle 9 travels following the front vehicle 8 (a case where “C1” is prioritized), and the rear vehicle. In this case, the vehicle 9 overtakes the front vehicle 8 and the front vehicle 8 starts following the rear vehicle 9 after the rear vehicle 9 passes through the travel path Rm (a case where "C2" is prioritized).

  In such a scene, when adjusting the future behavior of both vehicles (8, 9), in this embodiment, information (for example, traveling state information of the front vehicle 8) is transmitted from the front vehicle 8 to the rear vehicle 9 by visible light communication. Is sent. In the present embodiment, the priority for traveling on the travel path Rm is determined in the rear vehicle 9 as the following vehicle, and the determination result is transmitted from the rear vehicle 9 to the front vehicle 8 using visible light communication. To do. In this embodiment, when information (running state information) is transmitted from the front vehicle 8 to the rear vehicle 9 by visible light communication, the front vehicle 8 determines the communication environment of the visible light communication, and the communication environment is not preferable. If it is determined, the improvement is attempted on the vehicle 8 side. In the present embodiment, an obstacle (rear obstacle OB (parked vehicle)) that blocks the line of sight between the two vehicles is illustrated as a factor that reduces the communication environment of visible light communication.

  As one aspect, on the front vehicle 8 (own vehicle) side, the size “RL” of the rear empty space RS that is an empty space behind the front vehicle 8 is less than a predetermined reference rear empty space. Is determined. When the size “RL” of the rear free space RS is less than the reference rear free space, it is determined that the communication environment is not preferable. Here, as shown in FIG. 2, when the front vehicle 8 (8a → 8b) is moved forward until the size of the rear empty space RS becomes equal to or larger than the reference rear empty space, the size “RL” of the rear empty space RS is , Spread from “RL1” to “RL2”. As a result, the view from the light emitting device (12) on the front vehicle 8 (8b) side to the light receiving device (11) on the rear vehicle 9 side is improved, and the communication environment is also improved.

  The reference rear space (RSS) is visible to the rear vehicle 9 even if there are obstacles such as other parked vehicles, road facilities, buildings, etc. behind the vehicle (here, the front vehicle 8 (own vehicle)). The conditions for enabling optical communication are set according to the arrangement of the light emitting device 12 mounted on the vehicle. This arrangement preferably includes the mounting height of the light emitting device 12. The reference rear space (RSS) is defined in advance so as to satisfy the space (for example, distance) between the rear obstacle (OB) when the vehicle is stopped. As one aspect, the reference back space (RSS) can be set as the distance from the end of the light emitting device 12 in the direction along the front-rear direction of the vehicle. In the example illustrated in FIG. 2, for example, “RL2” can be set as the reference rear empty space (RSS).

  When the front vehicle 8 is moved forward, the size “FL” of the front empty space FS that is an empty space ahead of the front vehicle 8 is required to be equal to or larger than a predetermined reference front empty space. For example, even if there are obstacles such as other parked vehicles, road facilities, buildings, etc. in front of the forward vehicle 8, the reference front empty space (FSS) is for the front vehicle 8 to start smoothly on the travel path Rm. It is set to a necessary and sufficient size. That is, the reference front empty space (FSS) is defined in advance so as to satisfy the space (for example, distance) between the front obstacle and the front obstacle. However, when it is used for the determination in the case where the forward vehicle 8 may be moved forward in order to improve the communication environment of visible light communication as in the present embodiment, the margin for the forward movement is included. It is preferable that a reference front empty space (FSS) is set.

  As shown in FIG. 3, when the front vehicle 8 is moved forward and the size “RL” of the rear free space RS is increased by “ΔL” from “RL1” to “RL2”, the size of the front free space FS is increased. “FL” decreases from “FL1” to “FL2” by “ΔL”. Therefore, when determining the size “FL” of the front empty space FS in order to improve the communication environment, “ΔL” is added to a size sufficient for the front vehicle 8 to start smoothly on the travel path Rm. The size is preferably set as a reference front empty space (FSS). That is, the reference front empty space (FSS) satisfies the reference rear empty space (RSS), and is a space (for example, distance) between the front obstacle (front obstacle OF (parked vehicle)) at the time of stopping. Is preferably set so as to satisfy the above.

  As one aspect, the reference front empty space (FSS) is a minimum necessary size for the front vehicle 8 to smoothly start on the travel path Rm (minimum front empty space FSSmin), and a reference rear empty space as a fixed value. A value obtained by adding the space (RSS) (FSS = FSSmin + RSS) can be used. As another aspect, the reference front empty space (FSS) may be a value that varies according to the above-described “ΔL” (FSS = FSSmin + ΔL). Since “ΔL” is a difference between the size “RL” of the rear empty space RS and the reference rear empty space (RSS), it varies according to “RL”. Accordingly, when the reference front empty space (FSS) is set to “FSSmin + ΔL”, the reference front empty space (FSS) becomes a variable value.

  By the way, in the description with reference to FIG. 1 to FIG. 3, the form in which the size “RL” of the rear empty space RS is defined by the distance (RL1 or RL2) is illustrated. However, the rear empty space RS is not limited to the form defined by the distance as long as the rear communication condition using visible light is satisfied. For example, in FIG. 4 and FIG. 5, the distance “RL1” between the front vehicle 8 and the rear obstacle OB is the same. That is, the size “RL” of the rear empty space RS defined by the distance is “RL1”. However, in FIG. 4, the central axes of the parked vehicle as the rear obstacle OB and the front vehicle 8 are substantially the same, whereas in FIG. 5, the central axis is shifted in the vehicle width direction. In particular, as shown in FIG. 5, when the rear obstacle OB is shifted from the shoulder of the road (on the side opposite to the travel path Rm), the rear view is widened on the travel path Rm side. In the case as shown in FIG. 4, light from the tail lamp 12t (lighting device) of the front vehicle 8 serving as the light emitting device 12 for visible light communication is blocked by the rear obstacle OB. On the other hand, in the case of FIG. 5, at least a part of the light from the tail lamp 12t is irradiated backward without being blocked by the rear obstacle OB. Therefore, the rear empty space standard is not limited to the one-dimensional distance in the longitudinal direction of the vehicle, but is set as a value that defines a two-dimensional space including the width direction and a three-dimensional space including the vertical direction. May be.

  Hereinafter, a preferred embodiment for determining the quality of a communication environment as described above and improving the communication environment as necessary will be described. First, an in-vehicle system including the visible light communication system 1 will be described. Here, it is assumed that both the front vehicle 8 (own vehicle) and the rear vehicle 9 are provided with the same in-vehicle system.

  As shown in FIG. 6, the visible light communication system 1 constitutes a part of an in-vehicle system in a vehicle (a front vehicle 8 and a rear vehicle 9), and includes a travel control system 30, a driving support system 50, a distance measuring system 60, image processing Cooperate with other in-vehicle systems such as system 70. The travel control system 30 is a system that controls a vehicle drive device (not shown) such as an internal combustion engine or a rotating electrical machine. As shown in FIG. 6, the travel control system 30 cooperates with various sensors (31 to 36) in addition to the drive device control system 40 that controls the drive of the vehicle drive device, so that the vehicle (8, 9) travels. Control. In the present embodiment, as various sensors, an accelerator sensor 31 that detects an operation amount of an accelerator pedal (accelerator operation unit), a brake sensor 32 that detects an operation amount of a brake pedal (brake operation unit), and an operation amount of a steering wheel are detected. A steering angle sensor 33 that detects the rotational speed and direction of the traveling wheel, an acceleration sensor 35 that detects the acceleration of the vehicle, a shift position sensor 36 that detects the position of the shift lever, and the like.

  The drive device control system 40 controls the drive of the vehicle drive device based on the detection results of these sensors (31 to 36). Specifically, the drive device control system 40 detects the detection results of the sensors that detect the operation amount of these driving devices, the rotation sensor 34 that detects the rotational speed and direction of the traveling wheels, and the acceleration that detects the acceleration of the vehicle. Based on the detection result of the sensor 35, the azimuth sensor (not shown) or the like that detects the behavior of the vehicle, the travel command value is calculated and the vehicle drive device is controlled. The traveling control system 30 executes comprehensive control related to traveling of the vehicle, including whether the control of the vehicle drive device based on the traveling command value is appropriate. For example, when there is a safety problem in the vehicle, the traveling control system 30 restricts the driving of the vehicle driving device regardless of the traveling command value, thereby reducing the traveling speed of the vehicle or stopping the vehicle. It is also possible to execute control such as The traveling control system 30 can also limit the amount of operation of the steering wheel.

  The driving support system 50 is a system that supports driving operation by a driver, and includes, for example, a parking support system that supports driving operation during parking, a driving support system that supports driving operation so as to achieve efficient driving, and the like. System. In the present embodiment, the driving support system 50 provides support for driving the vehicle (the forward vehicle 8) in order to improve the communication environment. In addition, the driving support system 50 supports the driver so that the driver can be alerted according to the situation around the vehicle, and safer driving can be performed. In the present embodiment, information is displayed by characters or images via the display 51, or information is provided by voice via the speaker 52. The driving support system 50 may be integrated with a navigation system that provides the driver with route information to the destination, vehicle surrounding information, traffic information, and the like.

  The distance measuring system 60 is a system for measuring the distance to other objects around the vehicle (8, 9). The ranging system 60 includes a laser radar 61 and a sonar (not shown). For example, the distance (inter-vehicle distance) with other vehicles in front of the vehicles (8, 9), the distance with other vehicles approaching from the rear (inter-vehicle distance), front / rear / side obstacles (walls, parked vehicles) , Measure the distance (clearance) to the road equipment, etc.). The driving support system 50 and the travel control system 30 can perform control according to the measurement result by the distance measuring system 60. In the present embodiment, the distance measuring system 60 can function as the front-rear space detector 25 described later. At this time, it is preferable that the ranging system 60 functions as the front and rear space detection device 25 in cooperation with the information processing device 15 and the image processing system 70 described later.

  The image processing system 70 is a system that performs image recognition or synthesizes a wide-angle image or a bird's-eye view image based on captured images around the vehicle (8, 9). The image processing system 70 includes a front camera 71 that captures a front scene of the vehicle (8, 9), a rear camera 72 that captures a rear scene, a side camera (not shown) that captures a side scene, and the like. It is configured. In the present embodiment, the image processing system 70 can function as the front-rear space detector 25 described later. At this time, it is preferable that the image processing system 70 functions as the front and rear space detection device 25 in cooperation with the information processing device 15 described later and the distance measurement system 60 described above.

  As shown in FIG. 6, each system including the visible light communication system 1 and various sensors are connected via the in-vehicle network 100 and are configured to be able to transmit information to each other. In addition, the connection form via this in-vehicle network 100 is typical, and each system and each sensor may be directly or indirectly connected without being limited to the form of FIG.

  As shown in FIG. 6, the visible light communication system 1 includes a light receiving device 11, a signal receiving device 13, an information processing device 15, a signal transmitting device 14, and a light emitting device 12 (lighting device). Here, it is sufficient that these devices are provided (or provided) in the vehicle as long as they are provided in the vehicle at least when these devices are used (when operating as the visible light communication system 1). In other words, these devices do not always need to be fixedly mounted on the vehicle, and include a form in which the device is installed in a vehicle or brought in only when used by being mounted on a portable terminal or the like. .

  The light emitting device 12 is not a dedicated device for visible light communication. For example, a lighting device of a vehicle (8, 9) (headlight (headlight), front and rear width lights, tail lamp 12t, stop lamp) A lamp, a fog lamp, a blinker, etc.) are preferably used. In visible light communication, a communication signal is superimposed on visible light projected from a lighting device or the like. Therefore, it is preferable that the light emitting device 12 is configured using a light source having high response to modulation, such as a light emitting diode (LED) or a xenon lamp, as a light source. For example, the LED can be controlled to blink at a high speed that is not felt by human eyes. By forming a digital signal according to the blinking state of light, a communication signal by visible light can be transmitted.

  FIG. 7 schematically illustrates an example of a data configuration of a communication signal in visible light communication. The communication signal includes control data indicating the start and end of communication, attribute data indicating a light source attribute, information data indicating communication contents, and the like. The attribute data further includes light source attribute data indicating the attributes of the light source itself (facility lighting, vehicle lighting device, etc.), and mother attribute data indicating the host body (building, facility, vehicle, etc.) provided with the light source. included. For example, the base attribute data preferably includes vehicle identification information that is individual information (for example, a chassis number or a vehicle registration symbol number) set for each vehicle. The vehicle identification information is information that can identify the vehicle. Here, the pulse width modulation form in which the data value is formed by the width of the pulse formed by turning on and off the light source is exemplified, but this prevents other modulation methods such as amplitude modulation from being applied. It is not a thing.

  The communication signal is superimposed on visible light by the signal transmission device 14. In other words, the signal transmission device 14 uses the lighting device control pattern obtained by superimposing the communication signal, which is a digital signal, on the lighting control pattern for lighting the light source with a predetermined brightness. Device). That is, the signal transmission device 14 uses visible light as a carrier wave and carries the modulated communication signal on the carrier wave. The light emitting device 12 (lighting device) blinks in the lighting device control pattern, emits light of a predetermined brightness, and transmits a communication signal. The lighting control pattern is generated by a lighting control device (not shown).

  The light receiving device 11 includes a light receiving element such as a photodiode, a phototransistor, or an image sensor. In the present embodiment, these light receiving elements are elements having sensitivity to at least light in the visible light region. The signal reception device 13 detects a communication signal that is a communication signal when a communication signal of a predetermined format is superimposed on the visible light received by the light receiving device 11. Such a light receiving device 11 may be incorporated in the lighting device of the vehicle (8, 9). 2 and 9 also illustrate a configuration in which the light receiving device 11 is built in the headlight 11h of the rear vehicle 9.

  The signal receiving device 13 uses visible light as a carrier wave and demodulates the communication signal which is modulated and carried by the carrier wave. Accordingly, the signal receiving device 13 preferably processes an analog signal processing circuit that processes an analog signal output from the light receiving element, an A / D converter that digitally converts the output of the analog signal processing circuit, and processes a digitally converted signal. A digital signal processing circuit is provided. The communication signal superimposed on visible light may be extracted from an analog signal or may be extracted from a digital signal.

  The information processing device 15 is, for example, guidance information that guides the driver of the forward vehicle 8 to advance the forward vehicle 8, communication state information (guidance information) that informs the driver that transmission to the backward vehicle 9 is not possible, The priority (priority information) for traveling on the road Rm, alerting information, and other driving support information are output. For example, the traveling state information (information indicating that the vehicle is in the start state) detected in the preceding vehicle 8 is transmitted to the other vehicle (the light transmitting device 12) via the signal transmission device 14 and the lighting device (light emitting device 12) of the preceding vehicle 8. Preferably it is output to the forward vehicle 8). Further, the guidance information for guiding the driver to advance the host vehicle (the forward vehicle 8) until the size “RL” of the rear free space RS becomes equal to or larger than the reference rear free space is the driving support system 50 through the in-vehicle network 100 and the like. Output to other systems. The driving support system 50 notifies the driver via the display 51 and the speaker 52.

  In addition, when the information processing device 15 of the rear vehicle 9 that has received the traveling state information from the front vehicle 8 determines the priority of traveling between the front vehicle 8 and the rear vehicle 9, the priority is determined by the rear vehicle 9. The signal is output to another vehicle (preferably the preceding vehicle 8) via the signal transmission device 14 and the lighting device (light emitting device 12, such as a headlight). In the forward vehicle 8 that has received the priority, the priority information is output to another system such as the driving support system 50 through the in-vehicle network 100. The driving support system 50 notifies the driver via the display 51 and the speaker 52. Further, such information output from the information processing device 15 of the rear vehicle 9 can be output to another system through the in-vehicle network 100 of the rear vehicle 9. For example, the priority is transmitted to the traveling control system 30 of the rear vehicle 9 to limit the increase in speed, or the alert information is transmitted to the driving support system 50, and the rear vehicle 9 is monitored via the display 51 or the speaker 52. The driver may be informed.

  The information processing apparatus 15 is configured with a logical operation processor such as a microcomputer as a core, and realizes various functions by cooperation of hardware such as the processor and software such as a program. The information processing apparatus 15 configured with the logical operation processor as the core can function as the core of the visible light communication system 1. For example, it is preferable that the information processing device 15 also has a function of controlling the signal reception device 13. For example, the information processing device 15 performs timing control of the sample hold circuit included in the analog signal processing circuit, control of conversion timing of the A / D converter, provision of calculation commands and calculation parameters to the digital signal processing circuit, and the like. May be. Further, the information processing device 15 may be configured to control the light receiving device 11 such as adjustment of sensitivity of the light receiving device 11. Similarly, the information processing device 15 can also control the signal transmission device 14 and the lighting device (light emitting device 12).

  By the way, as shown in FIG. 6, the information processing device 15 includes a traveling state detection device 23, a front and rear space detection device 25, and a support information calculation device 27. The front and rear space detection device 25 detects a front free space FS and a rear free space RS, which are free spaces in front and rear of the host vehicle (here, the forward vehicle 8). As described above, at least a part of the front and rear space detection device 25 may be configured by the ranging system 60 or the image processing system 70. The traveling state detection device 23 is a functional unit that detects the traveling state of the vehicle (8, 9). The traveling state is, for example, a shift position or a traveling speed, and is preferably provided from the traveling control system 30. Naturally, at least a part of the traveling state detection device 23 may be configured by the traveling control system 30. The traveling state information of the front vehicle 8 includes information indicating that the front vehicle 8 is in a start start state in which the start starts from the stop state.

  The assistance information calculation device 27 generates and outputs driving assistance information when the preceding vehicle 8 starts from the stop state based on the traveling state and the empty space state. As described above, the output driving assistance information is transmitted to other systems in the vehicle via the in-vehicle network 100, or transmitted to other vehicles via the signal transmission device 14 and the light emitting device 12 (lighting device). Or As one preferable aspect, when the support information calculation device 27 determines that the front vehicle 8 is in the start start state in which the start is started from the stopped state, at least traveling state information indicating that the front vehicle 8 is in the start start state. Is generated, and the driving support information is transmitted to the rear vehicle 9 via the signal transmission device 14. The signal transmission device 14 superimposes a communication signal including driving support information on visible light and transmits it to the rear vehicle 9 existing behind the front vehicle 8 via the light emitting device 12 (lighting device).

  Further, the support information calculation device 27 has a reference front empty space in which the size “RL” of the rear empty space RS is less than the predetermined reference rear empty space and the size “FL” of the front empty space FS is predetermined. If it is larger than the space, the guidance information that guides the driver of the host vehicle to advance the host vehicle (here, the forward vehicle 8) until the size “RL” of the rear vacant space RS becomes equal to or larger than the reference rear vacant space. Is output. The output guidance information is transmitted to the driving support system 50 of the host vehicle (here, the preceding vehicle 8) via the in-vehicle network 100, and the driving support system 50 uses the display 51 and the speaker 52 to transmit the guidance information to the driver. To inform. For example, the driving support system 50 displays “forward” or the like on the display 51, and sends a message such as “Visible light communication with the vehicle behind is not possible. Go straight ahead” from the speaker 52.

  On the other hand, in the case where the size of the rear empty space RS is less than the reference rear empty space and the size of the front empty space “FS” “FL” is also less than the reference front empty space, the support information computing device 27 Then, guidance information (communication state information) for notifying the driver of the front vehicle 8 that transmission to the rear vehicle 9 cannot be performed is output. The output guidance information is transmitted to the driving support system 50 of the host vehicle (here, the preceding vehicle 8) via the in-vehicle network 100, and the driving support system 50 uses the display 51 and the speaker 52 to transmit the guidance information to the driver. To inform. For example, the driving support system 50 displays “starting caution” or the like on the display 51 and sends a message such as “Visible light communication with the vehicle behind is not possible. .

  Incidentally, the information processing device 15 includes, for example, a front vehicle detection device, a front vehicle stop state determination device, a priority determination device, and the like in addition to the functional units illustrated in FIG. ). As described above, the front vehicle 8 and the rear vehicle 9 are described as having the same in-vehicle system, but here, these functional units (not shown) are at least the rear vehicle 9. A case where the information processing device 15 is provided and functions effectively in the rear vehicle 9 will be described as an example. The forward vehicle detection device detects a vehicle (for example, the forward vehicle 8) that exists in front of the vehicle (for example, the rear vehicle 9). At least a part of the forward vehicle detection device may be configured by the distance measuring system 60 or the image processing system 70.

  The forward vehicle stop state determination device is a functional unit that determines whether or not another vehicle existing ahead (for example, the forward vehicle 8 viewed from the rear vehicle 9) is in a stopped state. At least a part of the forward vehicle stop state determination device may be configured by the distance measuring system 60 or the image processing system 70. For example, on the rear vehicle 9 side, the position of the front vehicle 8 can be obtained by detection by the ranging system 60 or image recognition by the image processing system 70. Whether the front vehicle 8 is moving based on the traveling speed of the rear vehicle 9 and the inter-vehicle distance between the rear vehicle 9 and the front vehicle 8. It can be determined whether or not. Further, as described above, when the traveling state information of the front vehicle 8 can be received from another vehicle (in this case, the forward vehicle 8) by inter-vehicle communication, the front vehicle stop state determination device receives the received traveling. You may determine whether the said vehicle (front vehicle 8) has stopped based on state information.

  The priority determination device of the information processing device 15 for the rear vehicle 9 includes the determination result by the front vehicle stop state determination device, the inter-vehicle distance between the front vehicle 8 and the rear vehicle 9 detected by the front vehicle detection device, and travel. Based on the traveling speed of the rear vehicle 9 detected by the state detection device, priority information indicating which of the rear vehicle 9 and the front vehicle 8 is prioritized is determined and output. That is, when it is determined by the front vehicle stop state determination device that the front vehicle 8 is in a stopped state, the priority determination device is given priority, for example, “C1” or “C2” in FIG. Determine the priority. The priority is determined based on at least the traveling speed of the rear vehicle 9 and the inter-vehicle distance between the rear vehicle 9 and the front vehicle 8. As described above, when the traveling state information can be received from the other vehicle (in this case, the preceding vehicle 8) by inter-vehicle communication, the priority is further set according to the traveling state level “L” of the other vehicle. Once determined, it is preferred.

  Here, a case where the traveling state information (forward vehicle traveling state information) of the forward vehicle 8 transmitted from the forward vehicle 8 to the backward vehicle 9 includes a shift position, a side brake state, and a foot brake state will be described as an example. To do. The initial value of the running state level “L” is “0”. If it is determined that the shift position of the forward vehicle 8 is not the neutral or reverse position based on the shift position information included in the forward vehicle travel state information, the forward vehicle 8 can start from the stop state. The running state level “L” is “1”.

  Further, it is determined whether or not the side brake is released based on the information on the state of the side brake included in the front vehicle traveling state information. When the side brake is released, it is determined that the forward vehicle 8 is in a state where it can further start, and the running state level “L” becomes “2”. Subsequently, it is determined whether or not the foot brake is released based on the information on the state of the foot brake included in the front vehicle traveling state information. When the foot brake is released, it is determined that the forward vehicle 8 is in a state where it can further start, and the running state level “L” becomes “3”. Thus, the running state level “L” is determined to be any one of “0” to “3”, for example.

  The condition for determining the running state level “L” is not limited to the shift position, the state of the side brake, and the state of the foot brake, and may be less than these, or other conditions may be added. Further, in the above description, the mode in which the running state level “L” is increased by “1” evenly when each condition is met is illustrated. However, the increasing number of the running state level “L” may be different depending on each condition. For example, if the foot brake is released in a vehicle with an automatic transmission, the vehicle moves forward by a creep phenomenon. Therefore, when the foot brake is released, the running state level “L” may be increased by “2” to “3” instead of “1”. The same applies to other conditions.

  Further, here, a mode in which the traveling state level “L” of the front vehicle 8 is determined by the priority determination device of the rear vehicle 9 or the front vehicle stop state determination device is illustrated. However, the traveling state detection device 23 of the forward vehicle 8 may determine the traveling state level “L” of the forward vehicle 8. In this case, it is preferable that at least a part of the forward vehicle travel state information transmitted from the forward vehicle 8 and received by the backward vehicle 9 is the travel state level “L” of the forward vehicle 8.

  The priority determination device is based on the determination result (running state level “L”) of the front vehicle stop state determination device, the inter-vehicle distance between the front vehicle 8 and the rear vehicle 9, and the travel speed of the rear vehicle 9. For example, priority (priority information) is determined and output. For example, when the traveling speed of the rear vehicle 9 is 40 [km / h] or more, “C2” in FIG. 1 is given priority regardless of the inter-vehicle distance and the traveling state level “L”. That is, since the traveling speed of the rear vehicle 9 is relatively high, “C2” is prioritized in consideration of the risk of another vehicle (the front vehicle 8) appearing in front of the rear vehicle 9. As a form of priority, for example, a form in which the priority of “C1” is determined as “0” and the priority of “C2” is determined as “1” may be used.

  When the traveling speed of the rear vehicle 9 is, for example, less than 40 [km / h] or more than 20 [km / h], the priority is determined according to the inter-vehicle distance and the traveling state level “L”. If the inter-vehicle distance is 30 [m] or more and the traveling state level “L” is “3”, “C1” in FIG. 1 is prioritized. In other words, when the inter-vehicle distance is relatively long and the preparation for starting the front vehicle 8 is almost complete, the start of the front vehicle 8 is given priority. On the other hand, even if the inter-vehicle distance is 30 [m] or more, if the traveling state level “L” is “2” or less, “C2” in FIG. 1 is given priority. That is, even if the inter-vehicle distance is relatively long, if the preparation for starting the front vehicle 8 is not completely completed, priority is given to the passage of the rear vehicle 9. When the inter-vehicle distance is less than 30 [m], “C2” in FIG. 1 is given priority regardless of the driving state level “L”. That is, the distance between the vehicles is relatively short, and “C2” is prioritized in consideration of the risk of another vehicle (front vehicle 8) appearing in front of the rear vehicle 9.

  Even when the traveling speed of the rear vehicle 9 is less than 20 [km / h], the priority is determined according to the inter-vehicle distance and the traveling state level “L”. If the inter-vehicle distance is 15 [m] or more and the traveling state level “L” is “2” or more, “C1” in FIG. 1 is prioritized. In general, the stop distance from when the driver operates the foot brake until the vehicle stops stops longer as the traveling speed of the vehicle increases. The stopping distance is the distance that the vehicle travels between the time when the driver is conscious of trying to operate the foot brake and the actual operation, and the braking distance from when the foot brake is operated to when the brake starts to stop And the sum. If the time until the driver operates is constant, the free running distance becomes longer in proportion to the running speed. On the other hand, since the braking distance becomes longer in proportion to the square of the traveling speed, the stopping distance tends to become longer as the traveling speed increases. For this reason, when the traveling speed of the rear vehicle 9 is less than 20 [km / h], the stopping distance is shorter than when the traveling speed is less than 40 [km / h] and 20 [km / h] or more. Therefore, even if the traveling state level “L” is “2” which is lower, “C1” in FIG. 1 is prioritized. On the other hand, even if the traveling speed of the rear vehicle 9 is less than 20 [km / h], if the inter-vehicle distance is less than 15 [m], the "" in FIG. C2 "is prioritized.

  The priority determination device outputs the priority (priority information) determined by the procedure as described above to the other systems of the rear vehicle 9 and the front vehicle 8. For example, when priority information indicating that “C1” in FIG. 1 is given priority is output, the driving support system 50 displays “Forefront collision warning” on the display 51, for example. Please drive carefully. ”Is output. Moreover, the traveling control system 30 may control the drive device control system 40 so as to prevent the rear vehicle 9 from accelerating.

  In the front vehicle 8 that has received priority information from the rear vehicle 9 by visible light communication, for example, the driving support system 50 displays, for example, “rear warning” on the display 51, while the speaker 52 indicates “the vehicle approaches from behind. "Please start carefully." Is output. The traveling control system 30 and the distance measuring system 60 of the front vehicle 8 detect for brake assist in case the start of the front vehicle 8 is delayed or the rear vehicle 9 approaches a speed faster than expected. Preparations may be made to increase accuracy.

  On the other hand, when the priority information that “C2” in FIG. 1 is given priority is output, in the rear vehicle 9, the driving support system 50 displays on the display 51, for example, “Caution for Stopped Vehicle” The speaker 52 outputs a message “Please pay attention to the vehicle in front of you”. The traveling control system 30 and the ranging system 60 may make preparations to increase the detection accuracy for brake assist in preparation for a case where the preceding vehicle 8 suddenly starts against the arbitration based on the priority information. .

  In the front vehicle 8 that has received the priority information that “C2” is given priority by the visible light communication from the rear vehicle 9, the driving support system 50 displays “returning to the vehicle” on the display 51, for example, Please let the vehicle approaching from pass first. "Message is output. Furthermore, the traveling control system 30 of the front vehicle 8 may control the drive device control system 40 of the front vehicle 8 so as to suppress acceleration of the front vehicle 8.

  When priority information is received from the rear vehicle 9 by visible light communication, it is preferable that the priority determination device of the front vehicle 8 transmits information to another in-vehicle system. This information is often information for the driving support system 50 and the travel control system 30 as exemplified above. Therefore, the priority determination device for the forward vehicle 8 substantially functions as the support information calculation device 27. Similarly, it can be said that the function of determining the priority in the rear vehicle 9 is substantially equivalent to the function of driving support. Therefore, it is also preferable that the support information calculation device 27 includes the function of the priority determination device.

  In addition, in the above, the form in which the rear vehicle 9 determines the priority is illustrated, but naturally, the traveling state information of the rear vehicle 9 is acquired from the rear vehicle 9, and the priority is determined in the front vehicle 8, The determined priority may be transmitted to the rear vehicle 9. The rear vehicle traveling state information indicating the traveling state of the rear vehicle 9 includes at least the traveling speed of the rear vehicle 9 and the inter-vehicle distance between the rear vehicle 9 and the front vehicle 8. The signal receiving device 13 of the front vehicle 8 detects rear vehicle traveling state information that is transmitted from the rear vehicle 9 and indicates the traveling state of the rear vehicle 9. Then, the support information calculation device 27 (priority determination device) determines which of the front vehicle 8 and the rear vehicle 9 based on the front vehicle travel state information indicating the travel state of the front vehicle 8 and the rear vehicle travel state information. A priority level indicating whether to give priority to driving is determined, and driving support information including the priority level is generated and output.

  Hereinafter, processing procedures in the forward vehicle 8 until the driving support information is transmitted from the forward vehicle 8 to the backward vehicle 9 or until the driver of the forward vehicle 8 is notified that transmission is not possible depending on the communication state. This will be briefly described with reference to the flowchart of FIG. First, traveling state information (forward vehicle traveling state information) of the front vehicle 8 is acquired (# 1: traveling state detection function / process). This information is sequentially detected and updated. Next, the front vacant space FS and the rear vacant space RS which are respective vacant spaces in front and rear of the front vehicle 8 are detected (# 2: front and rear space detection function / process). The front empty space FS and the rear empty space RS are also sequentially detected and updated. The running state detection function / step (# 1) and the front / rear space detection function / step (# 2) may be executed in the reverse order.

  Subsequently, when the preceding vehicle 8 starts from the stop state based on the traveling state and the empty space state acquired in the traveling state detection function / step (# 1) and the front and rear space detection function / step (# 2). Is generated and output (# 10: support information calculation function / process). In this support information calculation function / step (# 10), when it is determined that the front vehicle 8 is in a start start state starting from a stop state, at least traveling state information indicating that the front vehicle 8 is in a start start state is obtained. In addition to generating driving support information, a process for transmitting the driving support information to the rear vehicle 9 via the signal transmission device 14 is executed (# 20: signal transmission function / step).

  In the support information calculation function / step (# 10), it is first determined whether or not the rear empty space RS satisfies the standard (# 3: rear empty space determination step / function). As one aspect, it is determined whether or not the size “RL” of the rear empty space RS is greater than or equal to a predetermined reference rear empty space. When the standard is satisfied (for example, when it is equal to or larger than the standard rear space), the driving support information is transmitted to the rear vehicle 9 (# 20: signal transmission function / process). That is, a signal transmission function / step (# 20) is executed in which a communication signal including driving support information is superimposed on visible light and transmitted to the rear vehicle 9 existing behind the front vehicle 8 via the light emitting device 12. .

  If it is determined in the rear empty space determining step / function (# 3) that the rear empty space RS does not satisfy the standard, it is next determined whether or not the front empty space FS satisfies the standard ( # 4: Front empty space determination step / function). As one aspect, it is determined whether or not the size “FL” of the front empty space FS is greater than or equal to a predetermined reference front empty space. When the standard is satisfied (when it is equal to or larger than the standard front empty space), guidance information is generated to advance the forward vehicle 8 in order to widen the rear empty space RS, and is sent to the driver via the driving support system 50. Notification is made (# 5: forward guidance process). That is, in the support information calculation function / step (# 10), the size “RL” of the rear empty space RS is less than the predetermined reference rear empty space, and the size “FL” of the front empty space FS is predetermined. When the above-described reference front empty space is equal to or larger than this, guidance information for guiding the driver of the front vehicle so as to advance the front vehicle 8 until the size of the rear empty space RS becomes equal to or larger than the reference rear empty space is output. (# 3- # 5).

  In addition, after outputting the guidance information, by repeating “# 1 to # 5”, the size of the rear empty space RS approaches the reference rear empty space as the front vehicle 8 moves forward, and reaches the reference rear empty space. By shifting from “# 3 → # 20” at this point, the driving support information can be transmitted to the rear vehicle 9. That is, in the signal transmission function / step (# 20), the communication signal including the driving support information is superimposed on the visible light and transmitted to the rear vehicle 9 existing behind the front vehicle 8 via the light emitting device 12. .

  On the other hand, when it is determined in the front empty space determination step / function (# 4) that the standard is not satisfied, guidance information for notifying the driver that transmission to the rear vehicle 9 is impossible is generated and output. (# 7: Communication failure determination function / process). That is, in the support information calculation function / step (# 10), when the size “RL” of the rear empty space RS is less than the reference rear empty space and the size of the front empty space FS is also less than the reference front empty space. Then, guidance information for notifying the driver that transmission to the rear vehicle 9 cannot be performed is output (# 3, # 4, # 7). For example, the guidance information is notified to the driver via the driving support system 50 (# 30: communication failure notification function / process).

  By the way, in the above description, the tail lamp 12t installed at the rear portion of the vehicle is exemplified as the light emitting device 12 that transmits the communication signal to the rear vehicle 9 in cooperation with the signal transmission device 14. However, the lighting device as the light emitting device 12 is not limited to the tail lamp 12t. For example, a side lighting device 12s such as a side mirror, a winker arranged on the side of the vehicle, or a vehicle width lamp arranged at the corner of the vehicle can also be used as the light emitting device 12 that transmits a communication signal to the rear vehicle 9. . When a lighting device installed at the rear part of the vehicle such as the tail lamp 12t is used as the light emitting device 12, when the size “RL” of the rear free space RS is less than the reference rear free space, the size of the front free space FS. On the condition that “FL” is equal to or larger than the reference front empty space, guidance information is output so that the front vehicle 8 moves forward until the size of the rear empty space RS becomes equal to or larger than the reference rear empty space. When the signal transmission device 14 can transmit a communication signal via the side lighting device 12s that can project light to the side of the host vehicle (the preceding vehicle 8), the support information calculation device 27 is as follows. It is preferable to output the guidance information. Hereinafter, a description will be given with reference to FIG.

  That is, when the size “RL” of the rear empty space RS is less than the reference rear empty space and the size “FL” of the front empty space FS is also less than the reference front empty space, Guidance information for guiding the driver of the host vehicle so as to advance the host vehicle (here, the forward vehicle 8) with steering is output. The output guidance information is transmitted to the driving support system 50 of the host vehicle (here, the preceding vehicle 8) via the in-vehicle network 100, and the driving support system 50 uses the display 51 and the speaker 52 to transmit the guidance information to the driver. To inform. For example, the driving support system 50 displays “starting caution” or the like on the display 51, and sends a message such as “turn the handle to the right direction while paying attention to the back and move forward slowly” from the speaker 52. . By steering, one side surface of the front vehicle 8 comes out in the direction of the travel path Rm, so that the rear obstacle 9 is avoided and a view to the rear vehicle 9 is opened, and the communication environment is improved. The support information calculation device 27 may output only “straight ahead” as guidance information to be output when the size “RL” of the rear empty space RS is less than the reference rear empty space, and if the conditions are satisfied, In addition to “straight forward”, “forward with steering” may be output.

[Outline of Embodiment of the Present Invention]
Hereafter, the outline | summary of the communication apparatus (1) for vehicles in embodiment of this invention demonstrated above is demonstrated easily.

The characteristic configuration of the vehicle communication device (1) according to the present invention in view of the above problems is as follows.
A vehicle communication device (1) for performing communication between vehicles using visible light,
A traveling state detection device (23) for detecting the traveling state of the host vehicle (8);
A front and rear space detection device (25) for detecting a front empty space (FS) and a rear empty space (RS) which are respective empty spaces in front and rear of the host vehicle (8);
A support information calculation device (27) that generates and outputs driving support information when the host vehicle (8) starts from a stop state based on the traveling state and the state of the empty space (FS, RS);
A signal transmission device (14) for transmitting a communication signal including the driving support information to visible light and transmitting it to a rear vehicle (9) existing behind the host vehicle (8) via a light emitting device (12); With
When the support information calculation device (27) determines that the host vehicle (8) is in a start start state in which start is started from the stop state, at least the host vehicle (8) is in the start start state. In addition to generating the driving support information including the driving state information shown, the driving support information is transmitted to the rear vehicle (9) via the signal transmission device,
Further, the support information calculation device (27) is configured such that the size (RL) of the rear empty space (RS) is less than a predetermined reference rear empty space, and the size of the front empty space (FS) (FL) ) Is equal to or larger than a predetermined reference empty space, the host vehicle (8) is moved forward until the size (RL) of the rear empty space (RS) becomes equal to or larger than the reference empty space. The point is that guidance information for guiding the driver of the vehicle (8) is output.

  According to this configuration, when driving assistance information is transmitted to a vehicle (rear vehicle (9)) that is present in the rear when the vehicle that stops at the front (host vehicle (8)) starts, the communication environment is If it is determined that the communication environment is not good, an attempt is made to improve the communication environment. For example, when the size (RL) of the rear vacant space (RS) behind the host vehicle (8) is less than the reference rear vacant space, the view from the rear of the host vehicle (8) to the rear vehicle (9) It can be determined that the communication environment is not good. Here, when the host vehicle (8) moves forward on the condition that the size (FL) of the front free space (FS) in front of the host vehicle (8) is equal to or larger than the reference front free space (FS), the front free space (FS) ) Is secured and the rear empty space (RS) is widened, which may improve the communication environment. Further, when an obstacle (OB) that hinders visible light communication is present behind the host vehicle (8), the driver's rear vision may also be hindered. When the guidance information for guiding the driver to advance the host vehicle (8) is output to improve the communication environment as in this configuration, it is implicit that it is necessary to pay attention to the perspective of the rear view. It is also possible to make the driver conscious. Thus, according to this configuration, vehicle-to-vehicle communication using visible light is performed between the vehicle (8) parked in front and the vehicle (9) approaching from behind the vehicle (8). At that time, even if there is an obstacle (OB) that obstructs the line of sight between the two vehicles, it is possible to try to improve the communication environment and realize support for safer traffic.

  In the information processing device (15) of the vehicle communication device (1) according to the embodiment of the present invention, the size (RL) of the rear empty space (RS) is less than the reference rear empty space, and the front empty space When the size (FL) of the space (FS) is also less than the reference front empty space, it is preferable to output the guidance information that notifies the driver that transmission to the rear vehicle (9) is not possible. . When the front free space (FS) is not sufficiently large, the host vehicle (8) cannot be advanced to widen the rear free space (RS). In other words, since the improvement of the communication environment cannot be expected, it is possible to alert the driver that confirmation by the five senses of the driver is important without relying on communication from the own vehicle (8) to the rear vehicle (9). it can. Therefore, when performing vehicle-to-vehicle communication, safer traffic can be realized even when there is an obstacle (OB) that blocks the line of sight between the two vehicles.

  In the vehicle communication device (1) according to the embodiment of the present invention, the communication signal is transmitted via the lighting device (12s) in which the signal transmission device (14) can project light to the side of the host vehicle (8). If the support information calculation device (15) outputs the following guidance information, it is preferable. That is, in the support information calculation device (15), the size (RL) of the rear empty space (RS) is less than the reference rear empty space, and the size (FL) of the front empty space (FS) is When it is less than the reference front empty space, it is preferable to output guidance information for guiding the driver of the host vehicle (8) so as to advance the host vehicle (8) with steering. By steering, one side surface of the front vehicle (8) is displaced so as to face the rear vehicle (9), so that a view to the rear vehicle (9) can be avoided by avoiding the rear obstacle (OB), and the communication environment Is improved.

  The vehicle communication device (1) according to the embodiment of the present invention further includes: a light receiving device (11) capable of receiving visible light; and a signal receiving device (13) that detects a communication signal superimposed on the visible light. When provided, it is preferable that the support information calculation device (27) generates and outputs the following driving support information. That is, the signal receiving device (11) detects rear vehicle traveling state information transmitted from the rear vehicle (9) and indicating a traveling state of the rear vehicle (9), and the rear vehicle traveling state information is at least , The travel speed of the rear vehicle (9), and the inter-vehicle distance between the rear vehicle (9) and the host vehicle (8), and the support information calculation device (27) Based on the front vehicle travel state information indicating the travel state and the rear vehicle travel state information, a priority indicating which of the own vehicle (8) and the rear vehicle (9) is prioritized is determined. It is preferable that the driving support information including the priority is generated and output. Detailed driving support information can be provided from the front vehicle (8) to the rear vehicle (9), and safer traffic can be realized.

  The various technical features of the vehicle communication device (1) according to the embodiment of the present invention described above can be applied to a vehicle communication program and a vehicle communication method. For example, the vehicle communication program can cause a computer to execute various processes (functions) having the characteristics of the vehicle communication device (1) described above. The typical aspect is illustrated below. As a matter of course, such a vehicle communication program can also provide the effects of the vehicle communication device described above. Furthermore, various additional features exemplified as a preferred mode of the vehicle communication device (1) can be incorporated into the vehicle communication program, and the program also has an effect corresponding to each additional feature. be able to. The same applies to the vehicle communication method.

In this case, a preferred aspect of the vehicle communication program is
A vehicle communication program for communicating between vehicles using visible light,
A running state detection function (# 1) for detecting the running state of the host vehicle (8);
A front and rear space detection function (# 2) for detecting a front empty space (FS) and a rear empty space (RS) which are empty spaces in front and rear of the host vehicle (8);
A support information calculation function (# 10) for generating and outputting driving support information when the host vehicle (8) starts from a stop state based on the traveling state and the free space (FS, RS) state; ,
A signal transmission function (# 20) that causes a communication signal including the driving support information to be superimposed on visible light and transmitted to the rear vehicle (9) existing behind the host vehicle (8) via the light emitting device (12). Is realized on a computer,
When the support information calculation function (# 10) determines that the host vehicle (8) is in a start start state in which start is started from the stopped state, at least the host vehicle (8) is in the start start state. Generating the driving support information including the driving state information indicating that the rear vehicle (9) transmits the driving support information by the signal transmission function (# 20),
Further, in the support information calculation function (# 10), the size (RL) of the rear empty space (RS) is less than a predetermined standard rear empty space, and the size of the front empty space (FS) ( When (FL) is greater than or equal to a predetermined reference front empty space, the host vehicle (8) is advanced until the rear empty space (RS) is larger (RL) than the reference rear empty space. The point of outputting guidance information for guiding the driver of the host vehicle (8).

In this case, a preferred aspect of the vehicle communication method is
A vehicle communication method for performing communication between vehicles using visible light,
A running state detecting step (# 1) for detecting the running state of the host vehicle (8);
A front and rear space detection step (# 2) for detecting a front empty space (FS) and a rear empty space (RS) which are respective empty spaces in front and rear of the host vehicle (8);
A support information calculation step (# 10) for generating and outputting driving support information when the host vehicle (8) starts from a stop state based on the traveling state and the state of the empty space;
A signal transmission step (# 20) of transmitting a communication signal including the driving support information to the rear vehicle (9) existing behind the host vehicle (8) via the light emitting device (12) by superimposing the communication signal on the visible light. And comprising
In the support information calculation step (# 10), when it is determined that the host vehicle (8) is in a start start state starting from the stop state, at least the host vehicle (8) is in the start start state. The driving support information is generated including the driving state information indicating that the driving support information is transmitted to the rear vehicle (9) by the signal transmission step (# 20),
Further, in the support information calculation step (# 10), the size (RL) of the rear empty space (RS) is less than a predetermined standard rear empty space, and the size of the front empty space (FS) ( If FL) is equal to or larger than a predetermined reference empty space, the host vehicle (8) is moved forward until the size (RL) of the rear empty space (RS) becomes equal to or larger than the reference empty space. Thus, the guidance information for guiding the driver of the host vehicle (8) is output.

[Other Embodiments]
Hereinafter, other embodiments of the present invention will be described. Note that the configuration of each embodiment described below is not limited to being applied independently, and can be applied in combination with the configuration of other embodiments as long as no contradiction arises.

(1) Although not shown in FIG. 6 and the like, the front vehicle 8 and the rear vehicle 9 are preferably provided with a GPS (global positioning system) receiver. And the position information by GPS may be contained in the front vehicle running state information and the rear vehicle running state information. In the front vehicle 8 and the rear vehicle 9, based on the positional information by GPS of the front vehicle 8 and the rear vehicle 9, the calculation of the inter-vehicle distance, the determination of whether the partner vehicle is moving, The speed may be calculated.

(2) In the above description, a mode in which a communication signal is transmitted using an existing lighting device as the light emitting device 12 has been exemplified. However, this does not prevent the visible light communication system 1 from being configured to include the dedicated light emitting device 12 for visible light communication.

  INDUSTRIAL APPLICABILITY The present invention can be used for a vehicle communication device and a vehicle communication system for performing communication between vehicles using visible light.

1: Visible light communication system (vehicle communication device)
8: Front vehicle (own vehicle)
9: Rear vehicle 11: Light receiving device 12: Light emitting device 12s: Side lighting device (light emitting device)
12t: Tail lamp (light emitting device)
13: Signal receiving device 14: Signal transmitting device 23: Traveling state detecting device 25: Space detecting device 27: Support information computing device FS: Front empty space RS: Back empty space

Claims (6)

A vehicle communication device for communicating between vehicles using visible light,
A driving state detection device for detecting the driving state of the host vehicle;
A front and rear space detection device for detecting a front empty space and a rear empty space which are respective empty spaces in front and rear of the vehicle;
A support information calculation device that generates and outputs driving support information when the host vehicle starts from a stopped state based on the traveling state and the state of the empty space;
A signal transmission device that superimposes a communication signal including the driving support information on visible light and transmits it to a rear vehicle existing behind the host vehicle via a light emitting device, and
When determining that the host vehicle is in a start start state in which the host vehicle starts starting from the stopped state, the support information calculation device includes at least the driving state information indicating that the host vehicle is in the start start state. While generating the support information, the driving support information is transmitted to the vehicle behind the signal transmission device,
Furthermore, the support information calculation device is configured such that the size of the rear empty space is less than a predetermined reference rear empty space, and the size of the front empty space is equal to or larger than a predetermined reference front empty space. Is a vehicle communication device that outputs guidance information that guides the driver of the host vehicle so that the host vehicle moves forward until the size of the rear space becomes equal to or larger than the reference rear space.   When the size of the rear empty space is less than the reference rear empty space and the size of the front empty space is also less than the reference front empty space, the support information calculation device transmits to the rear vehicle. The vehicle communication device according to claim 1, wherein the guidance information for notifying the driver of the inability to output is output. The signal transmission device can transmit the communication signal via a lighting device capable of projecting to the side of the host vehicle.
If the size of the rear empty space is less than the reference rear empty space, and the size of the front empty space is also less than the reference front empty space, the support information calculation device is adapted to steer the vehicle. The vehicle communication device according to claim 1, wherein guide information for guiding a driver of the host vehicle is output so as to advance the vehicle. A light receiving device capable of receiving visible light, and a signal receiving device for detecting a communication signal superimposed on the visible light,
The signal receiving device detects rear vehicle traveling state information transmitted from the rear vehicle and indicating a traveling state of the rear vehicle,
The rear vehicle traveling state information includes at least a traveling speed of the rear vehicle, and an inter-vehicle distance between the rear vehicle and the host vehicle,
The support information calculation device indicates which of the host vehicle and the rear vehicle is prioritized based on the forward vehicle travel state information indicating the travel state of the host vehicle and the rear vehicle travel state information. The vehicle communication device according to any one of claims 1 to 3, wherein priority is determined, and the driving support information including the priority is generated and output. A vehicle communication program for communicating between vehicles using visible light,
A driving state detection function for detecting the driving state of the host vehicle;
Front and rear space detection function for detecting a front empty space and a rear empty space that are respective empty spaces in front and rear of the vehicle,
A support information calculation function for generating and outputting driving support information when the host vehicle starts from a stop state based on the running state and the state of the empty space;
A signal transmission function for causing a computer to transmit a communication signal including the driving support information to a rear vehicle existing behind the host vehicle through a light emitting device by superimposing the communication signal on visible light,
When the support information calculation function determines that the host vehicle is in a start start state in which start is started from the stop state, the driving information including at least the driving state information indicating that the host vehicle is in the start start state is included. While generating support information, the driving support information is transmitted to the rear vehicle by the signal transmission function,
Further, in the support information calculation function, when the size of the rear empty space is less than a predetermined reference rear empty space, and the size of the front empty space is equal to or larger than a predetermined reference front empty space. Is a vehicle communication program that outputs guidance information that guides the driver of the host vehicle so that the host vehicle moves forward until the size of the rear space becomes equal to or greater than the reference rear space. A vehicle communication method for performing communication between vehicles using visible light,
A running state detecting step for detecting the running state of the host vehicle;
A front and rear space detection step for detecting a front empty space and a rear empty space that are respective empty spaces in front and rear of the vehicle,
A support information calculation step of generating and outputting driving support information when the host vehicle starts from a stop state based on the running state and the state of the empty space;
A signal transmission step of superimposing a communication signal including the driving support information on visible light and transmitting it to a rear vehicle existing behind the host vehicle through a light emitting device, and
In the support information calculation step, when it is determined that the host vehicle is in a start start state in which start is started from the stop state, at least the driving state information including the travel state information indicating that the host vehicle is in the start start state is included. While generating the support information, the driving support information is transmitted to the rear vehicle by the signal transmission step,
Further, in the support information calculation step, when the size of the rear empty space is less than a predetermined reference rear empty space, and the size of the front empty space is equal to or larger than a predetermined reference front empty space. The communication method for vehicles which outputs the guidance information which guides the driver of the self-vehicle so that the self-vehicle is advanced until the size of the back free space becomes more than the reference back empty space.

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