JP2016001499A - Terminal unit and processor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a terminal unit and a processor capable of stably supporting an operator.SOLUTION: A first determination section 76 makes a temporal determination of a collision or non-collision between a vehicle and another vehicle together with a piece of position information of the vehicle and a piece of position information of the other vehicle. When a previous determination result is a non-collision and when the temporal determination results of collision continuously exceeds N times, a second determination section 78 changes the determination result to collision; when the previous determination result is a collision and when the temporal determination results of non-collision continuously exceeds M times, the second determination section 78 changes the determination result to non-collision. Here, "N" is smaller than "M".

Description

  The present invention relates to communication technology, and more particularly to a terminal device and a processing device that receive a signal including predetermined information.

  The inter-vehicle wireless communication device communicates between traveling vehicles to exchange vehicle information such as a traveling state. The inter-vehicle wireless communication device receives the incoming information signal, detects the presence of another vehicle that is estimated to arrive near the predicted arrival point of the vehicle almost simultaneously with the vehicle based on the information signal, and The presence of another detected vehicle is notified (see, for example, Patent Document 1).

JP 2000-348299 A

  When determining whether or not the courses of the vehicle and other vehicles cross each other at a constant cycle, the determination of collision and non-collision is frequently changed depending on the relative positions of the two. As a result, the content of notification to the driver is frequently changed, and sufficient support for the driver is not provided.

  This invention is made | formed in view of such a condition, The objective is to provide the technique which stabilizes the assistance to a driver | operator.

  In order to solve the above problems, a wireless device according to an aspect of the present invention is a wireless device that can be mounted on a vehicle, is a packet signal from another wireless device, and is mounted with the other wireless device. A receiving unit that receives at least a packet signal including position information of another vehicle, an acquisition unit that acquires position information of a vehicle on which the wireless device is mounted, position information acquired by the acquisition unit, and a receiving unit Based on the position information included in the received packet signal, a first determination unit that temporarily determines collision or non-collision between the vehicle and another vehicle, and a temporary determination result in the first determination unit over the past And a second determination unit that collects a plurality and determines a collision or non-collision between the vehicle and another vehicle.

  Another aspect of the present invention is a processing apparatus. This processing device is a packet signal from another wireless device received by a wireless device that can be mounted on a vehicle, and a packet signal that includes at least position information of another vehicle on which the other wireless device is mounted. An acquisition unit for acquiring a provisional determination result of a collision or non-collision between a vehicle and another vehicle based on the included position information and the position information of the vehicle on which the wireless device is mounted; A determination unit that collects a plurality of provisional determination results acquired in the unit over the past and determines a collision or non-collision between the vehicle and another vehicle.

  Yet another aspect of the present invention is a processing system. The processing system includes a wireless device that can be mounted on a vehicle and a processing device connected to the wireless device. The wireless device includes a receiving unit that receives a packet signal from another wireless device and includes at least position information of another vehicle on which the other wireless device is mounted, and the wireless device An acquisition unit that acquires position information of the vehicle to be operated. The wireless device or the processing device temporarily detects a collision or non-collision between the vehicle and another vehicle based on the position information acquired by the acquisition unit and the position information included in the packet signal received by the reception unit. A first determination unit for determining. The processing device includes a second determination unit that collects a plurality of provisional determination results in the first determination unit over the past and determines a collision or non-collision between the vehicle and another vehicle.

  It should be noted that any combination of the above-described constituent elements and a conversion of the expression of the present invention between a method, an apparatus, a system, a recording medium, a computer program, etc. are also effective as an aspect of the present invention.

  According to the present invention, support for the driver can be stabilized.

It is a figure which shows the structure of the communication system which concerns on Example 1 of this invention. It is a figure which shows the structure of the base station apparatus of FIG. FIGS. 3A to 3D are diagrams showing frame formats defined in the communication system of FIG. It is a figure which shows the structure of the terminal device of FIG. It is a figure which shows the data structure of the management list memorize | stored in the 2nd determination part of FIG. FIGS. 6A to 6B are diagrams illustrating the temporary determination result and the determination result in the terminal device of FIG. It is a flowchart which shows the determination procedure by the terminal device of FIG. It is a flowchart which shows the update procedure by the terminal device of FIG. It is a flowchart which shows another update procedure by the terminal device of FIG. It is a figure which shows the structure of the processing system which concerns on Example 3 of this invention. It is a figure which shows another structure of the processing system which concerns on Example 3 of this invention. It is a figure which shows another structure of the processing system which concerns on Example 3 of this invention.

(Example 1)
Prior to specific description of the embodiments of the present invention, the underlying knowledge will be described. Embodiment 1 of the present invention relates to a communication system that executes vehicle-to-vehicle communication between terminal devices mounted on a vehicle and also executes road-to-vehicle communication from a base station device installed at an intersection or the like to a terminal device. Such a communication system is also called ITS (Intelligent Transport Systems). The communication system uses an access control function called CSMA / CA (Carrier Sense Multiple Access Collision Aviation), as well as a wireless LAN (Local Area Network) compliant with a standard such as IEEE 802.11. Therefore, the same radio channel is shared by a plurality of terminal devices. On the other hand, in ITS, it is necessary to transmit information to an unspecified number of terminal devices. In order to efficiently perform such transmission, the communication system broadcasts a packet signal.

  That is, as inter-vehicle communication, the terminal device broadcasts a packet signal that stores information such as the speed or position of the vehicle. In addition, the other terminal device receives the packet signal and recognizes the approach of the vehicle based on the above-described information. Here, in order to reduce interference between road-vehicle communication and vehicle-to-vehicle communication, the base station apparatus repeatedly defines a frame including a plurality of subframes. The base station apparatus selects any of a plurality of subframes for road-to-vehicle communication, and broadcasts a packet signal in which control information and the like are stored during the period of the head portion of the selected subframe.

  The control information includes information related to a period for the base station apparatus to broadcast the packet signal (hereinafter referred to as “road vehicle transmission period”). The terminal device specifies a road and vehicle transmission period based on the control information, and broadcasts a packet signal by the CSMA method in a period other than the road and vehicle transmission period (hereinafter referred to as “vehicle transmission period”). As a result, road-to-vehicle communication and vehicle-to-vehicle communication are time-division multiplexed. Note that a terminal device that cannot receive control information from the base station device, that is, a terminal device that exists outside the area formed by the base station device transmits a packet signal by the CSMA method regardless of the frame configuration.

  The collision determination and the non-collision determination are frequently changed depending on the positions where the terminal device and other terminal devices are arranged. For the driver, if the determination result changes frequently, stable assistance cannot be obtained. In order to cope with this, the terminal device according to the first embodiment provisionally determines a collision or a non-collision as before. In addition, when a temporary determination result different from the previous determination results continues for a plurality of times, the terminal device changes the temporary determination result to a determination result. For example, when the determination result is non-collision and the temporary determination result of the collision is continued a plurality of times, the terminal device changes the determination result to collision.

  FIG. 1 shows a configuration of a communication system 100 according to Embodiment 1 of the present invention. This corresponds to a case where one intersection is viewed from above. The communication system 100 includes a base station device 10, a first vehicle 12a, a second vehicle 12b, a third vehicle 12c, a fourth vehicle 12d, a fifth vehicle 12e, a sixth vehicle 12f, and a seventh vehicle 12g, collectively referred to as a vehicle 12. , The eighth vehicle 12h, and the network 202. Here, only the first vehicle 12 a is shown, but each vehicle 12 is equipped with a terminal device 14. An area 212 is formed around the base station apparatus 10, and an outside area 214 is formed outside the area 212.

  As shown in the drawing, the road that goes in the horizontal direction of the drawing, that is, the left and right direction, intersects the vertical direction of the drawing, that is, the road that goes in the up and down direction, at the center. Here, the upper side of the drawing corresponds to the direction “north”, the left side corresponds to the direction “west”, the lower side corresponds to the direction “south”, and the right side corresponds to the direction “east”. The intersection of the two roads is an “intersection”. The first vehicle 12a and the second vehicle 12b are traveling from left to right, and the third vehicle 12c and the fourth vehicle 12d are traveling from right to left. Further, the fifth vehicle 12e and the sixth vehicle 12f are traveling from the top to the bottom, and the seventh vehicle 12g and the eighth vehicle 12h are traveling from the bottom to the top.

  In the communication system 100, the base station apparatus 10 is fixedly installed at an intersection. The base station device 10 controls communication between terminal devices. The base station apparatus 10 receives a frame including a plurality of subframes based on a signal received from a GPS (Global Positioning System) satellite (not shown) or a frame formed by another base station apparatus 10 (not shown). Generate repeatedly. Here, the road vehicle transmission period can be set at the head of each subframe.

  The base station apparatus 10 selects a subframe in which the road and vehicle transmission period is not set by another base station apparatus 10 from among a plurality of subframes in the frame. The base station apparatus 10 sets a road and vehicle transmission period at the beginning of the selected subframe. The base station apparatus 10 notifies the packet signal in the set road and vehicle transmission period. In the road and vehicle transmission period, a plurality of packet signals may be notified. The packet signal includes, for example, accident information, traffic jam information, signal information, and the like. Note that the packet signal also includes information related to the timing when the road and vehicle transmission period is set and control information related to the frame.

  As described above, the terminal device 14 is mounted on the vehicle 12 and is movable. When receiving the packet signal from the base station apparatus 10, the terminal apparatus 14 estimates that the terminal apparatus 14 exists in the area 212. When the terminal device 14 exists in the area 212, the terminal device 14 generates a frame based on the control information included in the packet signal, in particular, the information on the timing when the road and vehicle transmission period is set and the information on the frame. As a result, the frame generated in each of the plurality of terminal devices 14 is synchronized with the frame generated in the base station device 10. The terminal device 14 notifies the packet signal in the vehicle transmission period that is a period different from the road and vehicle transmission period. Here, CSMA / CA is executed in the vehicle transmission period. On the other hand, when it is estimated that the terminal apparatus 14 exists outside the area 214, the terminal apparatus 14 notifies the packet signal by executing CSMA / CA regardless of the frame configuration. The terminal device 14 recognizes the approach of the vehicle 12 on which the other terminal device 14 is mounted based on the packet signal from the other terminal device 14. Details of the recognition will be described later.

  FIG. 2 shows the configuration of the base station apparatus 10. The base station apparatus 10 includes an antenna 20, an RF unit 22, a modem unit 24, a processing unit 26, a control unit 28, and a network communication unit 30. Further, the processing unit 26 includes a frame defining unit 32, a selecting unit 34, and a generating unit 36.

  The RF unit 22 receives a packet signal from a terminal device 14 (not shown) or another base station device 10 by the antenna 20 as a reception process. The RF unit 22 performs frequency conversion on the received radio frequency packet signal to generate a baseband packet signal. Further, the RF unit 22 outputs a baseband packet signal to the modem unit 24. In general, baseband packet signals are formed by in-phase and quadrature components, so two signal lines should be shown, but here only one signal line is shown for clarity. Shall be shown. The RF unit 22 includes an LNA (Low Noise Amplifier), a mixer, an AGC, and an A / D conversion unit.

  As a transmission process, the RF unit 22 performs frequency conversion on the baseband packet signal input from the modem unit 24 to generate a radio frequency packet signal. Further, the RF unit 22 transmits a radio frequency packet signal from the antenna 20 during the road-vehicle transmission period. The RF unit 22 also includes a PA (Power Amplifier), a mixer, and a D / A conversion unit.

  The modem unit 24 demodulates the baseband packet signal from the RF unit 22 as a reception process. Further, the modem unit 24 outputs the demodulated result to the processing unit 26. The modem unit 24 also modulates the data from the processing unit 26 as a transmission process. Further, the modem unit 24 outputs the modulated result to the RF unit 22 as a baseband packet signal. Here, since the communication system 100 corresponds to an OFDM (Orthogonal Frequency Division Multiplexing) modulation scheme, the modem unit 24 also performs FFT (Fast Fourier Transform) as reception processing and IFFT (Inverse Fast Forward) as transmission processing. Also execute.

  The frame defining unit 32 receives a signal from a GPS satellite (not shown), and acquires time information based on the received signal. In addition, since a well-known technique should just be used for acquisition of the information of time, description is abbreviate | omitted here. The frame defining unit 32 generates a plurality of frames based on the time information. For example, the frame defining unit 32 generates ten “100 msec” frames by dividing the “1 sec” period into ten on the basis of the timing indicated by the time information. By repeating such processing, the frame is defined to be repeated. The frame defining unit 32 may detect control information from the demodulation result and generate a frame based on the detected control information. Such processing corresponds to generating a frame synchronized with the timing of the frame formed by another base station apparatus 10.

  3A to 3D show frame formats defined in the communication system 100. FIG. FIG. 3A shows the structure of the frame. The frame is formed of N subframes indicated as the first subframe to the Nth subframe. This can be said that the terminal device 14 forms a frame by multiplexing a plurality of subframes that can be used for notification for a plurality of hours. For example, when the frame length is 100 msec and N is 8, a subframe having a length of 12.5 msec is defined. N may be other than 8. The description of FIGS. 3B to 3D will be described later and returns to FIG.

  The selection part 34 selects the sub-frame which should set a road and vehicle transmission period among several sub-frames contained in the flame | frame. More specifically, the selection unit 34 receives a frame defined by the frame defining unit 32. The selection unit 34 receives an instruction regarding the selected subframe via an interface (not shown). The selection unit 34 selects a subframe corresponding to the instruction. Apart from this, the selection unit 34 may automatically select a subframe. At this time, the selection unit 34 inputs a demodulation result from another base station device 10 or the terminal device 14 (not shown) via the RF unit 22 and the modem unit 24. The selection part 34 extracts the demodulation result from the other base station apparatus 10 among the input demodulation results. The selection unit 34 specifies the subframe that has not received the demodulation result by specifying the subframe that has received the demodulation result.

  This corresponds to specifying a subframe in which the road and vehicle transmission period is not set by another base station apparatus 10, that is, an unused subframe. When there are a plurality of unused subframes, the selection unit 34 selects one subframe at random. When there are no unused subframes, that is, when each of a plurality of subframes is used, the selection unit 34 acquires reception power corresponding to the demodulation result, and gives priority to subframes with low reception power. Select

  FIG. 3B shows a configuration of a frame generated by the first base station apparatus 10a (not shown). The first base station apparatus 10a sets a road and vehicle transmission period at the beginning of the first subframe. Moreover, the 1st base station apparatus 10a sets a vehicle transmission period following the road and vehicle transmission period in a 1st sub-frame. The vehicle transmission period is a period during which the terminal device 14 can notify the packet signal. That is, the first base station apparatus 10a can notify the packet signal in the road and vehicle transmission period which is the first period of the first subframe, and the terminal apparatus in the vehicle and vehicle transmission period other than the road and vehicle transmission period in the frame. It is specified that 14 can broadcast the packet signal. Furthermore, the first base station apparatus 10a sets only the vehicle transmission period from the second subframe to the Nth subframe.

  FIG. 3C shows a configuration of a frame generated by the second base station apparatus 10b (not shown). The second base station apparatus 10b sets a road and vehicle transmission period at the beginning of the second subframe. Also, the second base station apparatus 10b sets the vehicle transmission period from the first stage of the road and vehicle transmission period in the second subframe, from the first subframe and the third subframe to the Nth subframe. FIG. 3D shows a configuration of a frame generated by a third base station apparatus 10c (not shown). The third base station apparatus 10c sets a road and vehicle transmission period at the beginning of the third subframe. In addition, the third base station apparatus 10c sets the vehicle transmission period from the first stage of the road and vehicle transmission period in the third subframe, the first subframe, the second subframe, and the fourth subframe to the Nth subframe. As described above, the plurality of base station apparatuses 10 select different subframes, and set the road and vehicle transmission period at the head portion of the selected subframe. Returning to FIG. The selection unit 34 outputs the selected subframe number to the generation unit 36.

  The generation unit 36 receives a subframe number from the selection unit 34. The generation unit 36 sets a road and vehicle transmission period in the subframe of the received subframe number, and generates a packet signal to be notified during the road and vehicle transmission period. When a plurality of packet signals are transmitted in one road and vehicle transmission period, the generation unit 36 generates them. The packet signal is composed of control information and a payload. The control information includes a subframe number in which a road and vehicle transmission period is set. The payload includes, for example, accident information, traffic jam information, signal information, and the like. These data are acquired from the network 202 (not shown) by the network communication unit 30. The processing unit 26 broadcasts the packet signal to the modem unit 24 and the RF unit 22 during the road and vehicle transmission period. The control unit 28 controls processing of the entire base station device 10.

  This configuration can be realized in terms of hardware by a CPU, memory, or other LSI of any computer, and in terms of software, it can be realized by a program loaded in the memory, but here it is realized by their cooperation. Draw functional blocks. Accordingly, those skilled in the art will understand that these functional blocks can be realized in various forms only by hardware, or by a combination of hardware and software.

  FIG. 4 shows the configuration of the terminal device 14. The terminal device 14 includes an antenna 50, an RF unit 52, a modem unit 54, a processing unit 56, and a control unit 58. The processing unit 56 includes a timing specifying unit 60, a transfer determining unit 62, a position information acquiring unit 64, a generating unit 66, a first determining unit 76, a second determining unit 78, and a notifying unit 70. The timing specifying unit 60 is an extraction unit. Part 72 and carrier sense part 74. The terminal device 14 can be mounted on the vehicle 12 as described above. The antenna 50, the RF unit 52, and the modem unit 54 execute the same processing as the antenna 20, the RF unit 22, and the modem unit 24 in FIG. Here, the difference will be mainly described.

  The modem unit 54 and the processing unit 56 receive a packet signal from another terminal device 14 or the base station device 10 (not shown) in the reception process. As described above, the modem unit 54 and the processing unit 56 receive a packet signal from the base station apparatus 10 during the road-to-vehicle transmission period, and receive packet signals from other terminal apparatuses 14 during the vehicle-to-vehicle transmission period. To do. The packet signal from the other terminal device 14 includes at least the presence position, traveling direction, moving speed, etc. (hereinafter collectively referred to as “position information”) of the other vehicle 12 on which the other terminal device 14 is mounted. It is. Since a known technique may be used for acquiring the position information in the other terminal device 14, the description thereof is omitted here.

  When the demodulation result from the modem unit 54 is a packet signal from the base station apparatus 10 (not shown), the extraction unit 72 specifies the timing of the subframe in which the road and vehicle transmission period is arranged. In that case, the extraction part 72 estimates that it exists in the area 212 of FIG. The extraction unit 72 generates a frame based on the timing of the subframe and the content of the message header of the packet signal, specifically, the content of the road and vehicle transmission period length. Note that the generation of the frame only needs to be performed in the same manner as the frame defining unit 32 described above, and thus the description thereof is omitted here. As a result, the extraction unit 72 generates a frame synchronized with the frame formed in the base station device 10. When the notification source of the packet signal is another terminal device 14, the extraction unit 72 omits the generation process of the synchronized frame, but extracts the position information included in the packet signal, and first determines the position information. To the unit 76.

  On the other hand, when the extraction unit 72 has not received a packet signal from the base station apparatus 10, the extraction unit 72 estimates that the extraction unit 72 exists outside the area 214 in FIG. When it is estimated that the extraction unit 72 exists in the area 212, the extraction unit 72 selects the vehicle transmission period. When it is estimated that the extraction unit 72 exists outside the area 214, the extraction unit 72 selects a timing unrelated to the frame configuration. When the vehicle transmission period is selected, the extraction unit 72 outputs information on the frame and subframe timing and the vehicle transmission period to the carrier sense unit 74. When selecting the timing unrelated to the frame configuration, the extraction unit 72 instructs the carrier sense unit 74 to execute carrier sense.

  The carrier sense unit 74 receives information about the timing of the frames and subframes and the vehicle transmission period from the extraction unit 72. The carrier sense unit 74 determines the transmission timing by starting CSMA / CA within the vehicle transmission period. On the other hand, when the carrier sense unit 74 is instructed by the extraction unit 72 to execute carrier sense not related to the frame configuration, the carrier sense unit 74 performs transmission timing by executing CSMA / CA without considering the frame configuration. To decide. The carrier sense unit 74 notifies the modem unit 54 and the RF unit 52 of the determined transmission timing, and broadcasts the packet signal.

  The transfer determination unit 62 controls transfer of control information. The transfer determination unit 62 extracts information to be transferred from the control information. The transfer determination unit 62 generates information to be transferred based on the extracted information. Here, the description of this process is omitted. The transfer determination unit 62 outputs information to be transferred, that is, a part of the control information, to the generation unit 66.

  The position information acquisition unit 64 includes a GPS receiver, a gyroscope, a vehicle speed sensor, and the like (not shown), and the presence position of the vehicle 12 (not shown), that is, the vehicle 12 on which the terminal device 14 is mounted, by data supplied from them. The traveling direction, the moving speed, and the like (collectively referred to as “position information” as described above) are acquired. The existence position is indicated by latitude and longitude. Since a known technique may be used for these acquisitions, description thereof is omitted here. The position information acquisition unit 64 outputs the position information to the generation unit 66 and the first determination unit 76.

  The generation unit 66 receives position information from the position information acquisition unit 64 and receives part of the control information from the transfer determination unit 62. The generation unit 66 generates a packet signal including these, and broadcasts the generated packet signal via the modem unit 54, the RF unit 52, and the antenna 50 at the transmission timing determined by the carrier sense unit 74. To do. This corresponds to inter-vehicle communication.

  The first determination unit 76 inputs the position information from the position information acquisition unit 64 and also inputs the position information from the extraction unit 72. The former corresponds to the position information of the other vehicle 12, and the latter corresponds to the position information of the present vehicle 12. The first determination unit 76 temporarily determines the collision or non-collision between the vehicle 12 and the other vehicle 12 based on the position information of the vehicle 12 and the position information of the other vehicle 12. A known technique may be used for provisional determination of collision or non-collision. For example, the future location is estimated from the current location of the vehicle 12 in consideration of the travel direction and the travel speed, and the travel direction and travel speed is considered from the current location of the other vehicle 12. Thus, the future location is estimated. The first determination unit 76 temporarily determines a collision when both future locations are close to each other, and otherwise temporarily determines a non-collision. Proximity corresponds to the case where the future location of both approaches closer than the threshold value, and non-proximity corresponds to other cases. Such provisional determination is made periodically, for example, at 100 msec intervals of the frame period. The first determination unit 76 outputs the temporary determination result to the second determination unit 78.

  The second determination unit 78 inputs the temporary determination result from the first determination unit 76. The second determination unit 78 collects a plurality of provisional determination results over the past, and determines the collision or non-collision between the vehicle 12 and the other vehicle 12. More specifically, the second determination unit 78 changes the determination result to “collision” if the past determination result is “non-collision” and the temporary determination result of collision exceeds N times. On the other hand, when the past determination result is “collision”, the second determination unit 78 changes the determination result to “non-collision” when the temporary determination result of non-collision exceeds M times. Here, “N” is assumed to be smaller than “M”. For example, N = 3 and M = 4. This is to make it easier to determine a collision (= assistance occurs) from the viewpoint of fail-safe.

  In executing such determination, the second determination unit 78 summarizes the temporary determination results in a table (hereinafter referred to as “management list”). That is, the second determination unit 78 updates the management list when the provisional determination result is input. When the update list satisfies the above-described condition, the second determination unit 78 changes the determination result.

  FIG. 5 shows the data structure of the management list stored in the second determination unit 78. “ID” indicates an identification number for identifying another vehicle 12, and “update flag” indicates whether or not the update is performed at intervals of 100 msec. The “instantaneous determination result” indicates the latest temporary determination result in the first determination unit 76 and is “collision” or “non-collision”. In addition, “the number of consecutive collision determinations” indicates the number of times that the tentative determination result of the collision is continuous, and “the number of consecutive non-collision determinations” indicates the number of times that the tentative determination result of the non-collision is continuous. "Indicates a determination result.

  6A to 6B show temporary determination results and determination results in the terminal device 14. In particular, FIG. 6A shows a temporary determination result in the first determination unit 76. FIG. 6B shows a determination result in the second determination unit 78 when N = 3 and M = 4. Returning to FIG. The second determination unit 78 outputs the determination result to the notification unit 70.

  The notification unit 70 displays the contents of the received packet signal on a display (not shown) or the like. The notification unit 70 inputs the determination result from the second determination unit 78. The notification unit 70 notifies the determination result to the driver via a monitor or a speaker. Furthermore, the notification unit 70 also notifies the driver of information included in the packet signal from the base station device 10 via a monitor or a speaker.

  The operation of the communication system 100 configured as above will be described. FIG. 7 is a flowchart illustrating a determination procedure performed by the terminal device 14. The position information acquisition unit 64 acquires own vehicle information (position / speed / traveling direction) (S10), and the extraction unit 72 acquires other vehicle information (position / speed / traveling direction) (S12). The first determination unit 76 performs a temporary collision determination (S14). When the information on the vehicle exists in the management list (Y in S16), the second determination unit 78 updates the information on the vehicle in the management list (S18). On the other hand, when the vehicle information does not exist in the management list (N in S16), the second determination unit 78 adds the vehicle information to the management list (S20). This is because the temporary collision judgment result is put into the judgment result, “0” is put into the continuous collision temporary judgment number, “0” is put into the non-collision temporary judgment continuous number, and the temporary collision judgment result is put into the judgment result after stabilization This corresponds to registering “done” in the update flag. Further, the second determination unit 78 updates the information of the vehicle that is in the management list but has not received the packet signal (S22). The second determination unit 78 updates the all update flag of the management list to “not yet” (S26). If the process is continued (Y in S26), the process returns to Step 10. If the process is not continued (N in S26), the process is terminated.

  FIG. 8 is a flowchart illustrating an update procedure performed by the terminal device 14. This corresponds to the processing of step 18 in FIG. When the collision tentative determination result is a post-stabilization determination result (Y in S50), the second determination unit 78 puts the collision tentative determination result into the determination result and changes the update flag to “done”. Is updated (S52). The determination result after stabilization corresponds to the determination results so far. When the collision tentative determination result is not a post-stabilization determination result (N in S50), the collision tentative determination result is a collision (Y in S54). The 2 determination unit 78 updates the management list (S58). Specifically, the second determination unit 78 sets the continuous collision temporary determination number to “0”, sets the non-collision temporary determination continuous number to “0”, sets the post-stabilization determination result to “collision”, and sets the update flag. Change to "Done". If the number of consecutive collision determinations + 1> N (N in S56), the second determination unit 78 adds 1 to the number of consecutive collision determinations and changes the update flag to “done”. Update (S60).

  If the collision tentative determination result is not a collision (N in S54), if the non-collision tentative determination continuous number + 1> M (Y in S62), the second determination unit 78 updates the management list (S64). More specifically, the second determination unit 78 sets the continuous collision temporary determination number to “0”, the non-collision temporary determination continuous number to “0”, the post-stabilization determination result to “non-collision”, and the update flag. Change to “Done”. If the non-collision tentative determination continuous number + 1> M (N in S62), the second determination unit 78 adds 1 to the non-collision tentative determination continuous number and manages the update flag to be changed to “Done”. The list is updated (S66).

  FIG. 9 is a flowchart illustrating another update procedure performed by the terminal device 14. This corresponds to the process of step 22 in FIG. If the determination result after stabilization is a collision (Y in S80), if the number of consecutive non-collision determinations is +1> M (Y in S82), the second determination unit 78 updates the management list (S84). More specifically, the second determination unit 78 sets the continuous collision temporary determination number to “0”, the non-collision temporary determination continuous number to “0”, the post-stabilization determination result to “non-collision”, and the update flag. Change to “Done”. If the non-collision tentative determination continuous number +1> M is not satisfied (N in S82), the second determination unit 78 performs management so as to add 1 to the non-collision tentative determination continuous number and change the update flag to “done”. The list is updated (S86). If the determination result after stabilization is not a collision (N in S80), the second determination unit 78 updates the management list so as to delete the data (S88).

  According to the embodiment of the present invention, when a plurality of provisional determination results are continuously the same, the determination result is changed, so that a situation in which the determination result is frequently changed can be avoided. In addition, since the situation where the determination result is frequently changed is avoided, the assistance to the driver can be stabilized. Moreover, since N is made smaller than M, it is possible to suppress the occurrence of a situation that is erroneously determined as non-collision. Moreover, since the occurrence of a situation that is erroneously determined as non-collision is suppressed, the occurrence of a vehicle collision accident can be suppressed.

(Example 2)
Next, a second embodiment of the present invention will be described. Similarly to the first embodiment, the second embodiment also relates to a terminal device that determines a collision or non-collision with another vehicle on which the other terminal device is mounted based on a packet signal received from the other terminal device. . When the same provisional determination result continues, the terminal device according to the first embodiment uses the provisional determination result as a determination result. On the other hand, when the ratio of the provisional determination result included in the predetermined number of times is larger than the threshold value, the terminal device according to the second embodiment uses the provisional determination result as the determination result. The communication system 100 according to the second embodiment is the same type as that in FIG. 1, the base station apparatus 10 according to the second embodiment is the same type as that in FIG. 2, and the terminal apparatus 14 according to the second embodiment is This is the same type as 4, and here, the difference will be mainly described.

  In FIG. 4, the second determination unit 78 inputs the provisional determination result from the first determination unit 76. Similar to the first embodiment, the second determination unit 78 collects a plurality of provisional determination results over the past, and determines the collision or non-collision between the vehicle 12 and the other vehicle 12. More specifically, when the past determination result is “non-collision”, the second determination unit 78 determines the determination result when the proportion of collisions included in the plurality of temporary determination results is greater than the first threshold value. Change to “collision”. Here, the plurality of provisional determination results are the latest predetermined number of provisional determination results. The predetermined number of times is set as “10”, for example. On the other hand, when the past determination result is “collision” and the non-collision ratio included in the plurality of provisional determination results is greater than the second threshold value, the second determination unit 78 sets the determination result to “non-collision”. Change to Here, the first threshold value is made smaller than the second threshold value.

  According to the embodiment of the present invention, since the determination result is changed when the ratio of the same temporary determination result included in the predetermined number of times is high, a situation in which the determination result is frequently changed can be avoided. Moreover, since the first threshold value is made smaller than the second threshold value, it is possible to suppress the occurrence of a situation that is erroneously determined as non-collision.

(Example 3)
Next, a third embodiment of the present invention will be described. As in the first and second embodiments, the third embodiment also relates to a terminal device that receives packet signals from other terminal devices. In the first and second embodiments, the terminal device determines whether or not there is a collision or non-collision with another vehicle on which another terminal device is mounted, and notifies it. On the other hand, in the third embodiment, a processing device provided outside the terminal device executes these functions. The communication system 100 according to the third embodiment is the same type as that in FIG. 1, and the base station apparatus 10 according to the third embodiment is the same type as that in FIG. 2, and here, differences will be mainly described.

  FIG. 10 shows a configuration of a processing system 300 according to the third embodiment of the present invention. The processing system 300 includes a terminal device 14 and a processing device 310. The terminal device 14 includes an antenna 50, an RF unit 52, a modem unit 54, a processing unit 56, and a control unit 58, and the processing unit 56 includes an output unit 320. The processing device 310 includes an acquisition unit 330, a second determination unit 78, and a notification unit 70, and the acquisition unit 330 includes an input unit 332 and a first determination unit 76.

  The terminal device 14 and the processing device 310 are connected by a wired cable, wireless communication, or the like. Since a known technique may be used for these connections, description thereof is omitted here. The terminal device 14 does not include the first determination unit 76, the second determination unit 78, and the notification unit 70, as compared with the terminal device 14 of FIG. The processing unit 56 includes an output unit 320. The output unit 320 outputs the information extracted by the extraction unit 72, for example, the position information included in the packet signal, to the processing device 310. The output unit 320 also outputs position information of the vehicle 12 to the processing device 310.

  The processing device 310 is a vehicle-mounted device such as a car navigation device and is mounted on the vehicle 12. The input unit 332 receives information from the output unit 320 and outputs the received information to the first determination unit 76. Such a first determination unit 76 can be said to be a provisional determination unit. Since the processing contents in the first determination unit 76, the second determination unit 78, and the notification unit 70 are the same as before, the description thereof is omitted here.

  FIG. 11 shows another configuration of the processing system 300 according to the third embodiment of the present invention. The processing system 300 includes a terminal device 14 and a processing device 310. The terminal device 14 includes an antenna 50, an RF unit 52, a modem unit 54, a processing unit 56, and a control unit 58, and the processing unit 56 includes a first determination unit 76 and an output unit 320. The processing device 310 includes an acquisition unit 330, a second determination unit 78, and a notification unit 70.

  The terminal device 14 does not include the second determination unit 78 and the notification unit 70 as compared with the terminal device 14 of FIG. The processing unit 56 includes a first determination unit 76 and an output unit 320. The first determination unit 76 performs the temporary determination as before, and outputs the temporary determination result to the output unit 320. The output unit 320 outputs the temporary determination result to the processing device 310. The acquisition unit 330 receives the temporary determination result from the output unit 320 and outputs the temporary determination result to the second determination unit 78. Since the processing contents in the second determination unit 78 and the notification unit 70 are the same as before, the description thereof is omitted here.

  FIG. 12 shows still another configuration of the processing system 300 according to the third embodiment of the present invention. The processing system 300 includes a terminal device 14 and a processing device 310. The terminal device 14 includes an antenna 50, an RF unit 52, a modem unit 54, a processing unit 56, and a control unit 58. The processing unit 56 includes a first determination unit 76, a second determination unit 78, and an output unit 320. The processing device 310 includes a notification unit 70.

  The terminal device 14 does not include the notification unit 70 as compared with the terminal device 14 of FIG. The processing unit 56 includes a first determination unit 76, a second determination unit 78, and an output unit 320. The first determination unit 76 and the second determination unit 78 execute the process as before and output the determination result to the output unit 320. The output unit 320 outputs the determination result to the processing device 310. The notification unit 70 receives the determination result from the output unit 320 and executes notification as before.

  According to the embodiment of the present invention, since the first determination unit, the second determination unit, and the notification unit are provided in the external processing device, the configuration of the terminal device can be simplified. In addition, since the second determination unit and the notification unit are provided in the external processing device, the configuration of the terminal device can be simplified. In addition, since the notification unit is provided in the external processing device, the degree of freedom in configuration can be improved.

  In the above, this invention was demonstrated based on the Example. This embodiment is an exemplification, and it will be understood by those skilled in the art that various modifications can be made to each of those constituent elements or combinations of processing processes, and such modifications are also within the scope of the present invention. .

  In the first and third embodiments of the present invention, a threshold value for changing the non-collision determination result to the collision determination result is defined as N. Here, N = 1 may be set. According to this modification, a collision can be notified immediately.

  In the first to third embodiments of the present invention, the second determination unit 78 determines a determination result based on a plurality of provisional determination results. However, the present invention is not limited to this. For example, when a plurality of temporary determination results are not collected at the start of the process, the second determination unit 78 may output the temporary determination results as they are as determination results. According to this modification, the determination result can be output early.

  In the first to third embodiments of the present invention, the communication system 100 is used in an encounter collision prevention support system. However, the present invention is not limited thereto, and for example, the communication system 100 may be used for service-in / out determination and on-route determination in emergency vehicle passage assistance. According to this modification, the application range of the communication system 100 can be expanded.

  The outline of one embodiment of the present invention is as follows. A wireless device according to an aspect of the present invention is a wireless device that can be mounted on a vehicle, is a packet signal from another wireless device, and includes position information of another vehicle on which the other wireless device is mounted. Included in the reception unit that receives at least the packet signal included, the acquisition unit that acquires the position information of the vehicle on which the wireless device is mounted, the position information acquired in the acquisition unit, and the packet signal received in the reception unit Based on the position information, a first determination unit that temporarily determines collision or non-collision between the vehicle and another vehicle, and a plurality of temporary determination results in the first determination unit are collected over the past, A second determination unit that determines a collision or non-collision with the vehicle.

  According to this aspect, since the determination is made based on a plurality of provisional determination results, the assistance to the driver can be stabilized.

  When the past determination result is non-collision, the second determination unit changes the determination result to collision when the temporary determination result of the collision exceeds N times, and (2) the past determination result is In the case of a collision, when the non-collisional temporary determination result exceeds M consecutive times, the determination result is changed to non-collision, and N in the second determination unit is smaller than M. In this case, since N is made smaller than M, it is possible to suppress the occurrence of a situation that is erroneously determined as non-collision.

  The second determination unit (1) when the past determination result is non-collision, and the ratio of the collision included in the plurality of temporary determination results is greater than the first threshold, the determination result is changed to collision, (2) When the past determination result is a collision and the non-collision ratio included in the plurality of provisional determination results becomes larger than the second threshold value, the determination result is changed to non-collision, and the second determination unit The first threshold value is smaller than the second threshold value. In this case, since the first threshold value is made smaller than the second threshold value, it is possible to suppress the occurrence of a situation that is erroneously determined as non-collision.

  Another aspect of the present invention is a processing apparatus. This processing device is a packet signal from another wireless device received by a wireless device that can be mounted on a vehicle, and a packet signal that includes at least position information of another vehicle on which the other wireless device is mounted. An acquisition unit for acquiring a provisional determination result of a collision or non-collision between a vehicle and another vehicle based on the included position information and the position information of the vehicle on which the wireless device is mounted; A determination unit that collects a plurality of provisional determination results acquired in the unit over the past and determines a collision or non-collision between the vehicle and another vehicle.

  According to this aspect, since the determination is made based on a plurality of provisional determination results, the assistance to the driver can be stabilized.

  The acquisition unit is a packet signal from another wireless device received by the wireless device that can be mounted on the vehicle, and is included in the packet signal including at least position information of the other vehicle on which the other wireless device is mounted. Based on the input unit for inputting the received position information, the position information of the vehicle on which the wireless device is mounted, the position information included in the packet signal, and the position information of the vehicle on which the wireless device is mounted. In addition, a temporary determination unit that temporarily determines a collision or non-collision between the vehicle and another vehicle may be provided. In this case, provisional determination is also executed, so that the processing of the wireless device can be simplified.

  The determination unit (1) changes the determination result to collision when the temporary determination result of collision exceeds N times in the past when the determination result is non-collision, and (2) the determination result is a collision. In some cases, when the non-collisional temporary determination result exceeds M continuations, the determination result is changed to non-collision, and N in the second determination unit is smaller than M. In this case, since N is made smaller than M, it is possible to suppress the occurrence of a situation that is erroneously determined as non-collision.

  The determination unit (1) changes the determination result to collision when the past determination result is non-collision and the ratio of the collision included in the plurality of provisional determination results becomes larger than the first threshold, and (2 ) When the past determination result is a collision and the non-collision ratio included in the plurality of temporary determination results is larger than the second threshold value, the determination result is changed to non-collision, and the first determination unit 1 The threshold value is smaller than the second threshold value. In this case, since the first threshold value is made smaller than the second threshold value, it is possible to suppress the occurrence of a situation that is erroneously determined as non-collision.

  Yet another aspect of the present invention is a processing system. The processing system includes a wireless device that can be mounted on a vehicle and a processing device connected to the wireless device. The wireless device includes a receiving unit that receives a packet signal from another wireless device and includes at least position information of another vehicle on which the other wireless device is mounted, and the wireless device An acquisition unit that acquires position information of the vehicle to be operated. The wireless device or the processing device temporarily detects a collision or non-collision between the vehicle and another vehicle based on the position information acquired by the acquisition unit and the position information included in the packet signal received by the reception unit. A first determination unit for determining. The processing device includes a second determination unit that collects a plurality of provisional determination results in the first determination unit over the past and determines a collision or non-collision between the vehicle and another vehicle.

  According to this aspect, since the determination is made based on a plurality of provisional determination results, the assistance to the driver can be stabilized.

  When the past determination result is non-collision, the second determination unit changes the determination result to collision when the temporary determination result of the collision exceeds N times, and (2) the past determination result is In the case of a collision, when the non-collisional temporary determination result exceeds M consecutive times, the determination result is changed to non-collision, and N in the second determination unit is smaller than M. In this case, since N is made smaller than M, it is possible to suppress the occurrence of a situation that is erroneously determined as non-collision.

  The second determination unit (1) when the past determination result is non-collision, and the ratio of the collision included in the plurality of temporary determination results is greater than the first threshold, the determination result is changed to collision, (2) When the past determination result is a collision and the non-collision ratio included in the plurality of provisional determination results becomes larger than the second threshold value, the determination result is changed to non-collision, and the second determination unit The first threshold value is smaller than the second threshold value. In this case, since the first threshold value is made smaller than the second threshold value, it is possible to suppress the occurrence of a situation that is erroneously determined as non-collision.

  10 base station device, 12 vehicle, 14 terminal device, 20 antenna, 22 RF unit, 24 modulation / demodulation unit, 26 processing unit, 28 control unit, 30 network communication unit, 32 frame definition unit, 34 selection unit, 36 generation unit, 50 Antenna, 52 RF unit, 54 modulation / demodulation unit, 56 processing unit, 58 control unit, 60 timing identification unit, 62 transfer determination unit, 64 position information acquisition unit, 66 generation unit, 70 notification unit, 72 extraction unit, 74 carrier sense unit 76, first determination unit, 78 second determination unit, 100 communication system, 202 network, 212 area, 214 area outside.

Claims (6)

A terminal device that can be mounted on a vehicle,
A first determination unit that temporarily determines approach or non-approach between the vehicle and another vehicle;
Collecting a plurality of provisional determination results in the first determination unit over the past, a second determination unit for determining approach or non-approach between the vehicle and another vehicle;
With
The second determination unit (1) changes a determination result to approach when a plurality of provisional determination results satisfy the first condition when the past determination result is non-approaching, (2) past When the determination result is approaching, the terminal device is characterized in that the determination result is changed to non-approaching when a plurality of non-approaching temporary determination results satisfy the second condition.   The second determination unit is set to change the determination result to approach when the temporary determination result of approach exceeds N consecutive times when the past determination result is non-approaching as the first condition. The two conditions are set such that the determination result is changed to non-approaching when the non-approaching temporary determination result exceeds M consecutive times when the past determination result is close. The terminal device described in 1.   The second determination unit sets the determination result to approach as a first condition when a past determination result is non-approaching and an approach ratio included in the plurality of provisional determination results is greater than a first threshold value. When the past determination result is approaching, and the second condition is set to be changed, if the non-approaching ratio included in the plurality of provisional determination results becomes larger than the second threshold value, the determination result is not approached. The terminal device according to claim 1, wherein the terminal device is set to be changed to: An acquisition unit that acquires a provisional determination result of approach or non-approach between a vehicle on which the processing apparatus is mounted and another vehicle;
A plurality of provisional determination results acquired in the acquisition unit are collected over the past, and a determination unit that determines approach or non-approach between a vehicle and another vehicle;
With
The determination unit changes (1) a past determination result when the past determination result is non-approaching, and if the plurality of approach tentative determination results satisfy the first condition, the determination result is changed to approach, and (2) the past determination result In the processing apparatus, when the plurality of non-approaching temporary determination results satisfy the second condition, the determination result is changed to non-approaching.   The determination unit is set to change the determination result to approach when the temporary determination result of approach exceeds N consecutive times when the past determination result is non-approaching as the first condition. 5. When the past determination result is approaching, the determination result is set to be changed to non-approaching when the non-approaching temporary determination result exceeds M consecutive times. Processing equipment.   The determination unit, as the first condition, changes the determination result to approach when the percentage of approach included in the plurality of provisional determination results is greater than the first threshold when the past determination result is non-approaching. As a second condition, when the past determination result is approaching, the determination result is changed to non-approaching when the non-approaching ratio included in the plurality of provisional determination results becomes larger than the second threshold value. The processing apparatus according to claim 4, wherein the processing apparatus is set so as to.

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