JP2017156844A - Pedestrian terminal device, vehicle-to-pedestrian communication system, pedestrian terminal transmission device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce congestion in communication due to increase in traffic in vehicle-to-pedestrian communication by sufficiently reducing transmission frequency of a pedestrian terminal device, while securing safety of a pedestrian.SOLUTION: A pedestrian terminal device includes: a position information acquisition part 11 for acquiring position information of an own pedestrian; communication part 12 for receiving a message including position information of a vehicle and a message including position information of other pedestrians by vehicle-to-pedestrian communication, and for transmitting a message including positional information of the own pedestrian by vehicle-to-pedestrian communication; information storage part 15 for storing map information; and a control part 14. The control part sets an object area according to a condition of vehicles existing in the road in front and at the back of the own pedestrian from map information, the position information of the own pedestrian and the vehicles, extracts other pedestrians existing in the object area as a comparison object from the position information of other pedestrians, and when a predetermined transmission stop condition regarding the position information between the other pedestrians who are the comparison object and the own pedestrian is satisfied, stops the transmission of messages.SELECTED DRAWING: Figure 11

Description

  The present invention relates to a pedestrian terminal device that a pedestrian possesses and performs inter-pedestrian communication with an in-vehicle terminal device, an inter-pedestrian communication system that performs inter-pedal communication between the in-vehicle terminal device and the pedestrian terminal device, and The present invention relates to a pedestrian terminal transmission method for transmitting a message including position information of a pedestrian from a pedestrian terminal device to an in-vehicle terminal device by inter-vehicle communication.

  In recent years, studies for practical application and spread of a safe driving assistance wireless system using ITS (Intelligent Transport System) have been underway. In this safe driving support radio system, vehicle-to-vehicle communication that communicates between in-vehicle terminal devices mounted on a vehicle, or road-to-vehicle communication that communicates between a roadside device installed on a road and an in-vehicle terminal device, Messages including vehicle location information are exchanged to alert the vehicle driver to avoid accidents.

  In recent years, in order to prevent a pedestrian accident, inter-pedal communication has been proposed in which communication is performed between a pedestrian terminal device carried by a pedestrian and an in-vehicle terminal device. In this inter-vehicle communication, the pedestrian terminal device and the in-vehicle terminal device directly exchange messages including position information and the like to notify the in-vehicle terminal device of the presence of the pedestrian and the presence of the vehicle to the pedestrian terminal device. By notifying, it is possible to call attention to both the pedestrian and the vehicle driver at an appropriate timing, and thus a great effect is expected in preventing a pedestrian accident.

  In such inter-walk communication, in a situation where there are many pedestrians and vehicles as in a downtown area, the increase in pedestrian terminal devices and in-vehicle terminal devices will increase inter-pedal communication traffic, and inter-pedal communication Congestion may occur. For this reason, it is desired to reduce the traffic of communication between pedestrians by reducing the transmission frequency of the pedestrian terminal device and the in-vehicle terminal device. In particular, since the number of pedestrians is often larger than the number of vehicles, reducing the transmission frequency of the pedestrian terminal device is effective in reducing the traffic of inter-pedal communication.

  As a technique related to reducing the transmission frequency of a pedestrian terminal device in such inter-pedestrian communication, conventionally, in a pedestrian terminal device, a pedestrian carrying the own device (hereinafter referred to as a self-pedestrian) and its surroundings A technique for performing communication control for stopping message transmission based on the positional relationship with other pedestrians is known (see Patent Documents 1 and 2). In particular, in Patent Document 1, when a change in the relative position between the own pedestrian and other pedestrians around the pedestrian is small over a predetermined time, the own pedestrian and the other pedestrian are in the same vehicle (for example, a bus). It is determined that the user is on board and the transmission of the message is stopped. Moreover, in patent document 2, when the own pedestrian is walking side by side with another pedestrian, or when the own pedestrian is not in front of another pedestrian, the transmission of the message is stopped. .

Japanese Patent No. 5562342 Japanese Patent No. 5745295

  Now, based on the positional relationship between the pedestrian and other pedestrians around it, when performing communication control to stop message transmission, the vehicle running on the road ahead or behind the pedestrian in the direction of travel is used. Considering the situation, it is desirable to determine whether or not the message can be transmitted. This ensures that the pedestrian terminal is secured while ensuring the safety of the pedestrian by appropriately transmitting the message so as not to hinder the attention. The transmission frequency of the apparatus can be sufficiently reduced.

  However, in the conventional technique, there is no description regarding the situation of the vehicle traveling on the road ahead or behind in the traveling direction of the pedestrian, and the transmission frequency of the pedestrian terminal device is sufficiently reduced. There was a problem that could not be done.

  The present invention has been devised to solve such problems of the prior art, and its main purpose is to sufficiently reduce the transmission frequency of the pedestrian terminal device while ensuring the safety of the pedestrian. Then, it is providing the pedestrian terminal device, the communication system between pedestrians, and the pedestrian terminal transmission method which were comprised so that communication congestion by the increase in the traffic in communication between pedestrians could be reduced.

  A pedestrian terminal device of the present invention is a pedestrian terminal device that a pedestrian possesses and performs inter-pedestrian communication with an in-vehicle terminal device, and a position information acquisition unit that acquires position information of the own pedestrian, A message including vehicle position information transmitted from the in-vehicle terminal device and a message including position information of other pedestrians transmitted from other pedestrian terminal devices by the inter-vehicle communication, and the self-walking A communication unit that transmits a message including the position information of the person by inter-pedal communication, an information storage unit that stores map information, and a control unit, wherein the control unit includes the map information and the pedestrian's Based on the position information and the position information of the vehicle, set the target area according to the situation of the vehicle present on the road ahead and the road behind the pedestrian, and based on the position information of the other pedestrians, The subject Other pedestrians existing in the rear are extracted as comparison targets, and based on the position information of the own pedestrian and the position information of the other pedestrians, The transmission of the message is stopped when a predetermined transmission stop condition regarding the positional relationship is satisfied.

  The inter-pedestrian communication system of the present invention includes an in-vehicle terminal device mounted on a vehicle and a pedestrian terminal device possessed by a pedestrian, and walks between the in-vehicle terminal device and the pedestrian terminal device. An inter-vehicle communication system that performs inter-vehicle communication, wherein the pedestrian terminal device includes a position information acquisition unit that acquires position information of the pedestrian, a message including vehicle position information transmitted from the in-vehicle terminal device, and A communication unit that receives a message including position information of another pedestrian transmitted from another pedestrian terminal device through the inter-walk communication and transmits a message including position information of the own pedestrian through the inter-pedal communication. And an information storage unit that stores map information, and a control unit, the control unit based on the map information, the position information of the own pedestrian and the position information of the vehicle, A target area corresponding to the situation of the vehicle existing on the road and the rear road is set, and other pedestrians existing in the target area are extracted as comparison targets based on the position information of the other pedestrians. Based on the position information of the own pedestrian and the position information of the other pedestrian, when a predetermined transmission stop condition regarding the positional relationship between the other pedestrian and the pedestrian as the comparison target is satisfied, The message transmission is stopped.

  The pedestrian terminal transmission method of the present invention is a pedestrian terminal transmission method for transmitting a message including position information of a pedestrian from a pedestrian terminal device to an in-vehicle terminal device by inter-step communication, wherein the pedestrian terminal device In the above, the position information of the pedestrian is acquired, the message including the position information of the vehicle transmitted from the in-vehicle terminal device and the message including the position information of the other pedestrian transmitted from the other pedestrian terminal device. The pedestrian receives the message including the position information of the own pedestrian and transmits the message including the position information of the own pedestrian by the communication between the pedestrians. A target area is set according to the situation of the vehicle existing on the road ahead and the road behind the vehicle, and exists in the target area based on the position information of the other pedestrians Pedestrians are extracted as comparison targets, and based on the position information of the own pedestrian and the position information of the other pedestrians, a predetermined relationship regarding the positional relationship between the other pedestrians and the pedestrian as the comparison target is extracted. The transmission of the message is stopped when the transmission stop condition is satisfied.

  According to the present invention, in order to set a range (target area) in which other pedestrians to be compared are extracted in accordance with the situation of a vehicle traveling on a road ahead or behind in the direction of travel of the pedestrian, In order to prevent traffic congestion due to an increase in traffic in inter-pedestrian communication, the transmission frequency of the pedestrian terminal device is sufficiently reduced while appropriately transmitting messages so as not to hinder the traffic and ensuring the safety of pedestrians. Can be reduced.

Overall configuration diagram of an inter-vehicle communication system according to this embodiment Explanatory diagram showing the status of inter-vehicle communication Explanatory diagram showing the status of the target area Explanatory diagram showing the status of the target area Explanatory diagram showing the status of the target area Explanatory diagram showing the status of the target area Explanatory drawing explaining transmission judgment processing Explanatory drawing explaining transmission judgment processing Explanatory drawing which shows an example of the transmission condition of a message when the positional relationship of a pedestrian changes Explanatory drawing which shows an example of the transmission condition of a message when the positional relationship of a pedestrian changes The block diagram which shows schematic structure of the pedestrian terminal device 1 The block diagram which shows schematic structure of the vehicle-mounted terminal device 3 The flowchart which shows the procedure of the process performed in the own pedestrian information acquisition part 21. The flowchart which shows the procedure of the process performed in the context information acquisition part 22 Flow chart showing the procedure of the process performed by the risk judgment unit 28 The flowchart which shows the procedure of the process performed in the other pedestrian information acquisition part 29. The flowchart which shows the procedure of the process performed by the target area setting part 24, the comparison target extraction part 25, and the transmission determination part 26. The flowchart which shows the procedure of the process performed by the target area setting part 24, the comparison target extraction part 25, and the transmission determination part 26. Flow chart showing a procedure of processing performed in the transmission instruction unit 27

  1st invention made | formed in order to solve the said subject is a pedestrian terminal device which a pedestrian possesses, and performs communication between pedestrians between vehicle-mounted terminal devices, Comprising: Position information of a self-pedestrian is acquired. And a message including the position information of the vehicle transmitted from the in-vehicle terminal device and a message including the position information of another pedestrian transmitted from another pedestrian terminal device by the inter-vehicle communication. And a communication unit for transmitting a message including the position information of the pedestrian by inter-vehicle communication, an information storage unit for storing map information, and a control unit, wherein the control unit includes the map information. Based on the position information of the own pedestrian and the position information of the vehicle, a target area corresponding to the situation of the vehicle existing on the road ahead and the road behind the own pedestrian is set, and the other pedestrian's location information Based on this, the other pedestrians existing in the target area are extracted as comparison targets, and the other pedestrians as the comparison targets are extracted based on the position information of the own pedestrian and the position information of the other pedestrians. The transmission of the message is stopped when a predetermined transmission stop condition regarding the positional relationship between the vehicle and the pedestrian is satisfied.

  According to this, the range (target area) for extracting other pedestrians to be compared is set according to the situation of the vehicle traveling on the road ahead or behind the pedestrian in the direction of travel. In order to prevent traffic from occurring, while ensuring the safety of pedestrians, the transmission frequency of pedestrian terminal devices is sufficiently reduced to reduce communication congestion due to increased traffic in inter-pedestrian communication. be able to.

  In addition, according to a second aspect of the present invention, when there are vehicles on both the front road and the rear road, the control unit sets a front boundary line of the target area as the front road. The rear boundary line of the target area is set to the rear road.

  According to this, the target area can be set to an appropriate range according to the situation of the vehicle existing on the road ahead and the back road of the pedestrian.

  In addition, according to a third aspect of the present invention, when there is no vehicle on the front road and there is a vehicle on the rear road, the control unit automatically sets a boundary line on the front side of the target area. The position is set at a position away from the pedestrian by a predetermined distance, and the boundary line on the rear side of the target area is set on the rear road.

  According to this, the target area can be set to an appropriate range according to the situation of the vehicle existing on the road ahead and the back road of the pedestrian.

  According to a fourth aspect of the present invention, when the vehicle is present on the front road and the vehicle is not present on the rear road, the control unit sets the front boundary line of the target area as the front And the boundary line on the rear side of the target area is set at a position separated by a predetermined distance behind the pedestrian.

  According to this, the target area can be set to an appropriate range according to the situation of the vehicle existing on the road ahead and the back road of the pedestrian.

  In addition, according to a fifth aspect of the present invention, when there is no vehicle on both the front road and the rear road, the control unit sets a front boundary line of the target area forward from the pedestrian. The position is set to a position separated by a distance, and the boundary line on the rear side of the target area is set to a position separated by a predetermined distance rearward from the pedestrian.

  According to this, the target area can be set to an appropriate range according to the situation of the vehicle existing on the road ahead and the back road of the pedestrian.

  Moreover, 6th invention sets it as the structure which the said control part extracts in the said target area and the other pedestrian who has the same advancing direction as an own pedestrian as a comparison object.

  According to this, other pedestrians to be compared can be appropriately extracted.

  In addition, according to a seventh aspect of the present invention, the control unit is configured such that when another pedestrian extracted as the comparison target does not exist in front of the own pedestrian, or when another pedestrian extracted as the comparison target is When not existing behind the pedestrian, the message is determined to be transmitted.

  According to this, the presence of a pedestrian who may cross the road on which the vehicle is traveling can be reliably notified to the in-vehicle terminal device.

  In addition, according to an eighth aspect of the present invention, in the case where the other pedestrians extracted as the comparison target are present both in front and rear of the own pedestrian, the control unit is configured so that the own pedestrian and the other pedestrians in front are present. When the interval is less than a predetermined threshold, it is determined that transmission of the message is stopped.

  According to this, since transmission of a message is stopped when the own pedestrian and another pedestrian are not separated from each other by a predetermined threshold value or more, the transmission frequency of the pedestrian terminal device can be reduced. In addition, since a nearby pedestrian is covered by the transmission of a message by a pedestrian terminal device held by another pedestrian, there is no problem in alerting the vehicle about the pedestrian. .

  Moreover, 9th invention is equipped with the vehicle-mounted terminal device mounted in a vehicle, and the pedestrian terminal device which a pedestrian possesses, and communicates between pedestrians between the said vehicle-mounted terminal device and the said pedestrian terminal device. An inter-pedestrian communication system to perform, wherein the pedestrian terminal device includes a position information acquisition unit that acquires position information of the pedestrian, a message including vehicle position information transmitted from the in-vehicle terminal device, and other walking A communication unit that receives a message including the position information of another pedestrian transmitted from the pedestrian terminal device through the inter-walk communication and transmits a message including the position information of the own pedestrian through the inter-pedal communication, and a map An information storage unit for storing information, and a control unit, the control unit based on the map information, the position information of the own pedestrian and the position information of the vehicle, rear A target area corresponding to the situation of the vehicle existing on the road is set, and other pedestrians existing in the target area are extracted as comparison targets based on the position information of the other pedestrians, and the self-walking When the predetermined transmission stop condition regarding the positional relationship between the other pedestrians to be compared and the own pedestrian is satisfied based on the position information of the other person and the position information of the other pedestrian, the message is transmitted. It is configured to stop.

  According to this, as in the first aspect of the invention, while ensuring the safety of pedestrians, the transmission frequency of the pedestrian terminal device is sufficiently reduced to reduce communication congestion due to increased traffic in inter-pedal communication. Can do.

  The tenth invention is a pedestrian terminal transmission method for transmitting a message including position information of a pedestrian from a pedestrian terminal device to an in-vehicle terminal device by inter-pedestrian communication, in the pedestrian terminal device, The position information of a person is acquired, and the message including the position information of the other pedestrian transmitted from the message including the position information of the vehicle transmitted from the in-vehicle terminal device and the other pedestrian terminal device is transmitted by the inter-vehicle communication. And a message including the position information of the own pedestrian is transmitted by the inter-vehicle communication, and the road ahead of the own pedestrian based on the map information, the position information of the own pedestrian, and the position information of the vehicle. And setting a target area according to the situation of the vehicle existing on the road behind and comparing other pedestrians existing in the target area based on the position information of the other pedestrians. Based on the position information of the own pedestrian and the position information of the other pedestrians extracted as a target, a predetermined transmission stop condition regarding the positional relationship between the other pedestrians to be compared and the own pedestrian is satisfied. If so, the transmission of the message is stopped.

  According to this, as in the first aspect of the invention, while ensuring the safety of pedestrians, the transmission frequency of the pedestrian terminal device is sufficiently reduced to reduce communication congestion due to increased traffic in inter-pedal communication. Can do.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is an overall configuration diagram of an inter-pedal communication system according to the present embodiment.

  This inter-pedestrian communication system includes a pedestrian terminal device 1 and a portable information terminal device 2 possessed by a pedestrian, and an in-vehicle terminal device 3 and a car navigation device 4 mounted on the vehicle.

  The pedestrian terminal device 1 has a positioning function for acquiring position information of the own pedestrian (pedestrian carrying the own device) and a communication function for performing inter-vehicle communication with the in-vehicle terminal device 3. Based on the position, direction, speed, etc. of the own pedestrian and the vehicle acquired by these functions, a risk determination is performed to determine whether or not the vehicle is likely to collide with the pedestrian.

  The portable information terminal device 2 is a smartphone, a mobile phone, a tablet terminal, a wearable terminal, or the like. The pedestrian terminal device 1 and the portable information terminal device 2 are connected to each other. When the pedestrian terminal device 1 determines that the possibility of a collision is high, a warning is given to the pedestrian for avoiding an accident. The portable information terminal device 2 is caused to perform an output operation (for example, voice output or vibration). Note that the pedestrian terminal device 1 itself may perform a warning output operation.

  The in-vehicle terminal device 3 includes a positioning function that acquires position information of the host vehicle (the vehicle in which the host device is mounted), and a communication function that performs inter-step communication with the pedestrian terminal device 1. Based on the position, direction, speed, and the like of the pedestrian and the own vehicle acquired by these functions, a risk determination is performed to determine whether or not the own vehicle is likely to collide with the pedestrian.

  The car navigation device 4 provides route guidance to the driver. The in-vehicle terminal device 3 and the car navigation device 4 are connected to each other, and when the in-vehicle terminal device 3 determines that the possibility of a collision is high, an output operation for alerting the driver to avoid an accident ( For example, the car navigation device 4 is made to perform voice output or screen display. The in-vehicle terminal device 3 itself may perform a warning output operation.

  Note that the in-vehicle terminal device 3 may be connected to the portable information terminal device 2 possessed by the driver and cause the portable information terminal device 2 to perform an output operation such as alerting the driver.

  The pedestrian terminal device 1 may be built in the portable information terminal device 2, and the in-vehicle terminal device 3 may be built in the car navigation device 4.

  In this inter-vehicle communication system, information such as the position, direction, and speed of pedestrians and vehicles necessary for risk determination is exchanged between the pedestrian terminal device 1 and the in-vehicle terminal device 3. Information exchange is performed by inter-pedal communication using a frequency band (for example, 700 MHz band or 5.8 GHz band) adopted in a safe driving support radio system using ITS (Intelligent Transport System).

  Next, the situation of inter-walk communication performed between the pedestrian terminal device 1 and the in-vehicle terminal device 3 will be described. FIG. 2 is an explanatory diagram showing a situation of inter-pedal communication.

  In inter-vehicle communication, messages are transmitted and received between the pedestrian terminal device 1 and the in-vehicle terminal device 3. The message (pedestrian information) transmitted from the pedestrian terminal device 1 includes identification information (terminal ID, MAC address, etc.) of the pedestrian terminal device 1 in addition to the pedestrian location information as pedestrian information. It is. The message (vehicle information) transmitted from the in-vehicle terminal device 3 includes identification information (terminal ID, MAC address, etc.) of the in-vehicle terminal device 3 as vehicle information in addition to the vehicle position information.

  Further, the message transmitted from the pedestrian terminal device 1 relates to the pedestrian direction (traveling direction) and speed acquired by a sensor (not shown) provided in the pedestrian terminal device 1 or the portable information terminal device 2. Information is also included. The message transmitted from the in-vehicle terminal device 3 includes information on the direction and speed of the vehicle acquired by a sensor (not shown) provided in the in-vehicle terminal device 3 or the car navigation device 4. Note that the azimuth and speed may be calculated based on the current (current) and previous position information.

  The pedestrian terminal device 1 acquires the position information of the vehicle included in the message transmitted from the in-vehicle terminal device 3, and acquires the position information of the own pedestrian by its own positioning function. In the pedestrian terminal device 1, whether or not the pedestrian needs to be alerted based on the position, direction, speed, and the like of the pedestrian and the vehicle, that is, the possibility that the vehicle will collide with the pedestrian is high. A risk determination is performed to determine whether or not.

  In this risk determination, first, a road ahead of the pedestrian is searched based on the map information, and a time T1 until the pedestrian passes through the road ahead is calculated. Further, a vehicle traveling on the road ahead is extracted, and when there is a corresponding vehicle, a time T2 until the vehicle's course intersects with the own pedestrian's course is calculated. When the difference between the time T1 and the time T2 falls within the predetermined range, it is determined that there is a high risk of collision between the own pedestrian and the vehicle, and a warning is given to the pedestrian. Done.

  This risk determination is also performed in the in-vehicle terminal device 3 in the same procedure, and a warning is given to the driver of the vehicle.

  Now, in this embodiment, in order to reduce communication congestion due to an increase in traffic in inter-pedal communication, in the pedestrian terminal device 1, based on the positional relationship between the own pedestrian and other pedestrians present in the vicinity thereof. The communication control for stopping the transmission of the message is performed when it is determined whether the message can be transmitted and a predetermined transmission stop condition based on the positional relationship between the pedestrian and the other pedestrian is satisfied.

  Here, both vehicle information and pedestrian information are transmitted by broadcast. For this reason, in addition to the message (vehicle information) transmitted from the vehicle-mounted terminal device 3, the pedestrian terminal device 1 may receive a message (other pedestrian information) transmitted from another pedestrian terminal device 1. it can. Thereby, in the pedestrian terminal device 1, pedestrian information (position information etc.) regarding other pedestrians can be acquired, and the own pedestrian and other pedestrians can be obtained from the position information of the own pedestrian and other pedestrians. The positional relationship with the person can be obtained.

  In addition, in the pedestrian terminal device 1, the message transmitted from the vehicle-mounted terminal device 3 can be received even in the state where transmission of the message (self-pedestrian information) is stopped. For this reason, even the pedestrian terminal device 1 that has stopped transmitting messages can make a risk determination based on vehicle information (such as position information) included in the message transmitted from the in-vehicle terminal device 3. Moreover, in the pedestrian terminal device 1, the message transmitted from the other pedestrian terminal device 1 can be received even if the transmission of the message is stopped. For this reason, when it will be in the state which does not satisfy | fill the transmission stop conditions based on the positional relationship of a self-pedestrian and another pedestrian, transmission of a message can be started.

  Next, the target area that defines the range when extracting the pedestrians to be compared will be described. 3, FIG. 4, FIG. 5 and FIG. 6 are explanatory diagrams showing the situation of the target area.

  In the present embodiment, whether or not a message can be transmitted is determined based on the positional relationship between the pedestrian and other pedestrians present in the vicinity thereof. At this time, it is necessary to limit other pedestrians to be compared to a predetermined range. Therefore, in this embodiment, a target area is set, and pedestrians existing in the target area are extracted as comparison targets. Further, when the azimuth (traveling direction) is different, the danger situation is different, so it is inappropriate as a comparison target. Therefore, in this embodiment, pedestrians having the same direction are extracted as comparison targets. That is, pedestrians that exist in the target area and have the same direction are set as comparison targets.

  The target area is set to a rectangular shape. The target area is set as a sidewalk area based on the map information. In other words, in the target area, the left and right boundary lines parallel to the direction of the pedestrian walking on the sidewalk are the boundary lines of the sidewalk, specifically, the boundary line between the parallel roadway and the sidewalk, It becomes the boundary between the site outside the road and the sidewalk. On the other hand, the boundary lines before and after the direction orthogonal to the pedestrian's direction differ depending on the presence or absence of a vehicle traveling on the road ahead and behind the pedestrian.

  That is, as shown in FIG. 3, when the vehicle is present on both the front and rear roads of the pedestrian, the front boundary line of the target area is set to the front road on which the vehicle travels, The boundary line on the rear side of the area is set to the road behind the vehicle. That is, when there is a danger in both the front and the rear, the target area is widened in the front and rear, and the range between the front road and the rear road is set as the target area.

In addition, as shown in FIG. 4, when there is no vehicle on the road ahead of the pedestrian and there is a vehicle on the road behind the pedestrian, The vehicle is set at a position that is a predetermined distance _DF ahead of the pedestrian, and the boundary line on the rear side of the target area is set on the road behind the vehicle. That is, when there is a danger only in the rear, the front side of the target area is shortened, and a range from a position separated by a distance _DF forward from the pedestrian to the road on the rear is set as the target area.

Further, as shown in FIG. 5, when a vehicle is present on the road ahead of the pedestrian and no vehicle is present on the rear road, the vehicle travels on the front boundary line of the target area. set the road, the side of the boundary line after the target area, is set to a position a predetermined distance away D _B behind the self pedestrians. That is, if there is only risk forward side is shorter after the target area, sets a range from the road ahead to a position spaced rearwardly by a distance D _B from the own pedestrian area of interest.

Also, as shown in FIG. 6, when there is no vehicle on both the front and rear roads of the pedestrian, the front boundary line of the target area is separated from the pedestrian by a distance _DF . set the position, the side of the boundary line after the target area is set at a position separated rearwardly by a distance D _B from the own pedestrian. That is, if there is no danger to both front and back by shortening the target area both the front and rear, from a position spaced forwardly from the own pedestrian distance D _F, separated by a distance D _B behind the self Pedestrian The range up to is set as the target area.

Here, the forward distance D _F and the rear distance D _B may be set to the same value, but because the conditions are different between the front and rear, D _F and D _B may be set to different values. For example, as the high more risk forward a traveling direction may be set to D _F to be longer than D _B. Specifically, when the _{D B} and 3m, the _{D F} may be set to three times the 15m of _{D B.} Further, D _F and D _B may be a fixed value but may be set to a different value according to the ambient conditions. For example, based on the distance between intersections between the road ahead of the rear road, the relative distance between the intersection at a predetermined ratio (e.g. 10%) may be set to D _F and D _B .

  In searching for vehicles traveling on the front and rear roads, all vehicles existing within the communication range of messages by the pedestrian terminal device 1 are targeted. Further, only vehicles that are traveling may be included in the target, and vehicles that are stopped at places other than the intersection may be excluded from the target.

  Next, a transmission determination process for determining whether a message can be transmitted will be described. 7 and 8 are explanatory diagrams for explaining the transmission determination process.

  In the present embodiment, other pedestrians extracted as comparison targets, that is, other pedestrians existing in the target area and having the same direction (traveling direction) as the pedestrian and the pedestrian Whether or not a message can be transmitted is determined based on the positional relationship.

  That is, as shown in FIG. 7A, when other pedestrians extracted as comparison targets do not exist in front of the pedestrian, that is, among pedestrians walking in the same direction within the target area. If the pedestrian is located at the top (frontmost side), a message is transmitted.

  Further, as shown in FIG. 7B, when no other pedestrians extracted as comparison targets exist behind the pedestrian, that is, among pedestrians walking in the same direction within the target area. Then, when the pedestrian is located at the tail (most rear side), a message is transmitted. This is because the head or tail is most dangerous.

In addition, when other pedestrians extracted as comparison targets exist both in front and rear of the pedestrian, that is, in other pedestrians walking in the same direction in the target area when sandwiched a is the distance between the own pedestrian and the front of the pedestrian in comparison with a predetermined threshold value D _S, determines whether the transmission of the message.

That is, as shown in FIG. 8 (A), and the gap between the own pedestrian and the front of the pedestrian is equal to or greater than the threshold value D _S sends a message. On the other hand, as shown in FIG. 8 (B), and the gap between the own pedestrian and the front of the pedestrian is less than the threshold value D _S stops sending messages.

Here, the threshold value D _S, it is necessary to send the message, the lower limit value of the distance between the own pedestrian and the front of the pedestrian, the distance between the own pedestrian and the front of the pedestrian threshold If D _S is away or sends a message. The threshold D _S may be set appropriately, for example, may be 3m. This is because when the distance between the own pedestrian and the front of the pedestrian is closer than the threshold value D _S is self walking by sending a message (position information) by the pedestrian terminal apparatus 1 in front of the pedestrian holds This is because the position information of the person is not covered.

  Next, a message transmission situation when the pedestrian's positional relationship changes will be described. 9 and 10 are explanatory diagrams illustrating an example of a message transmission state when the positional relationship of the pedestrian changes.

The example shown in FIG. 9 is a case where the first pedestrian A is overtaken by pedestrian B. In this case, since the overtaken pedestrian A is no longer at the head, the pedestrian A is sandwiched between the other pedestrians B and C in the same manner as in the example shown in FIG. by the distance between the pedestrian B is compared with a threshold value D _S, determines whether the transmission of messages in the pedestrian terminal device 1 of the pedestrian a. That is, as shown in FIG. 9 (A), when the distance between the pedestrian A pedestrian B is less than the threshold value D _S is sent to stop the pedestrian A pedestrian terminal device 1, a message To do. On the other hand, as shown in FIG. 9 (B), when the distance between the pedestrian A pedestrian B is changed from the state below the threshold D _S equal to or greater than the threshold value D _S is walking pedestrian A The person terminal device 1 resumes message transmission.

The example shown in FIG. 10 is a case where the last pedestrian A has passed the pedestrian B ahead. In this case, the overtaking pedestrian A is not the last tail, and like the example shown in FIG. 8, the pedestrian A is sandwiched between the other pedestrians B and C, and the pedestrian A and the front by the distance between the pedestrian C is compared with a threshold D _S, whether the transmission of the message is determined in the pedestrian-terminal device 1 of the pedestrian a. That is, as shown in FIG. 10 (A), when the distance between the pedestrian A and the front of the pedestrian C is equal to or greater than the threshold value D _S is continued pedestrian A pedestrian terminal device 1, a message Then send. On the other hand, as shown in FIG. 10 (B), when the distance between the pedestrian A and the front of the pedestrian C is less than the threshold value D _S is the pedestrian terminal device 1 of the pedestrian A transmission of message To stop.

  Note that, when a pedestrian of the pedestrian terminal device 1 that has stopped transmitting messages tries to cross a parallel road, the pedestrian's heading changes, and therefore message transmission is started. For this reason, it is possible to reliably notify the in-vehicle terminal device 3 of the presence of a pedestrian trying to cross the road.

  Next, a schematic configuration of the pedestrian terminal device 1 will be described. FIG. 11 is a block diagram illustrating a schematic configuration of the pedestrian terminal device 1.

  The pedestrian terminal device 1 includes a position information acquisition unit 11, a communication unit 12, an input / output unit 13, a control unit 14, and an information storage unit 15.

  The position information acquisition unit 11 acquires position information of its own device by a satellite positioning system such as GPS (Global Positioning System), QZSS (Quasi-Zenith Satellite System), or GLONASS (Global Navigation Satellite System). In addition, you may make it acquire the positional information on an own apparatus using the positioning function which the portable information terminal device 2 has.

  The communication unit 12 transmits and receives messages to and from the in-vehicle terminal device 3 by inter-vehicle communication. In this inter-vehicle communication, wireless communication is performed using the frequency band adopted in the safe driving support wireless system using ITS.

  The input / output unit 13 inputs / outputs information to / from the portable information terminal device 2. Based on the information output from the input / output unit 13, the portable information terminal device 2 performs an output operation for alerting a pedestrian or the like.

  The information storage unit 15 stores map information and a program executed by the control unit 14. The map information is automatically updated according to the user's operation and at a predetermined timing. The update information of the map information may be downloaded from the server using the communication function of the portable information terminal device 2 in addition to using an appropriate storage medium. In addition, you may make it acquire map information from the portable information terminal device 2. FIG.

  The control unit 14 includes a pedestrian information acquisition unit 21, a context information acquisition unit 22, an alerting unit 23, a target area setting unit 24, a comparison target extraction unit 25, a transmission determination unit 26, and a transmission instruction unit. 27. The control unit 14 includes a processor, and each unit of the control unit 14 is realized by causing the processor to execute a program stored in the information storage unit 15.

  The own pedestrian information acquisition unit 21 obtains the direction information and speed information of the own pedestrian based on the current (current) position information acquired from the position information acquisition unit 11 and the previous position information acquired from the information storage unit. get. The direction information and speed information of the pedestrian acquired by the pedestrian information acquisition unit 21 are stored in the information storage unit 15 together with the position information.

  Note that the position information, the direction information, and the speed information stored in the information storage unit 15 are updated each time information is acquired. Further, when the pedestrian is stopped as in the case of waiting for a signal at the intersection, the previous direction information is used.

  In the context information acquisition unit 22, a vehicle or other pedestrians present in the vicinity of the own pedestrian based on information included in a message of inter-pedestrian communication transmitted from the in-vehicle terminal device 3 and the other pedestrian terminal device 1. A process for acquiring context information regarding the situation of is performed. The context information acquisition unit 22 includes a danger determination unit 28 and another pedestrian information acquisition unit 29.

  In the risk determination unit 28, the collision between the own pedestrian and the vehicle based on the map information, the position information, the direction information and the speed information of the own pedestrian, and the position information, the direction information and the speed information of the surrounding vehicle. If there is a possibility of a collision, a warning or caution instruction is output to the attention calling unit 23 according to the high possibility of the collision.

  In addition, the risk determination unit 28 determines whether or not there is a vehicle traveling on the road ahead and behind the pedestrian, and outputs a notification that there is a front intersection when there is a vehicle traveling on the road ahead. If there is no vehicle traveling on the road, a notification of no front intersection is output, and if there is a vehicle traveling on the rear road, a notification of rear intersection is output, and there is no vehicle traveling on the rear road. In this case, a notification indicating no backward crossing is output.

  The other pedestrian information acquisition unit 29 acquires the position information and direction information of other pedestrians included in the message received by the communication unit 12, and based on the position information of the other pedestrians, Calculate the distance from the pedestrian. The other pedestrian information acquisition unit 29 acquires the position information, direction information, and interval information of the other pedestrians in the information storage unit 15.

  The alerting unit 23 outputs control information for performing a warning or caution output operation to the portable information terminal device 2 based on a warning or caution instruction output from the danger determination unit 28 of the context information acquisition unit 22.

  In the target area setting unit 24, the range of the target area is set based on the notification of the presence of a front intersection, no front intersection, a rear intersection, and a rear intersection output from the risk determination unit 28 of the context information acquisition unit 22. .

  The comparison target extraction unit 25 extracts pedestrians to be compared based on the target area set by the target area setting unit 24 and the direction information of other pedestrians. Specifically, a pedestrian that exists in the target area and has the same direction as the pedestrian is extracted as a comparison target.

  The transmission determination unit 26 determines whether the message can be transmitted based on the positional relationship between the other pedestrians extracted as comparison targets by the comparison target extraction unit 25 and the pedestrian.

  In the transmission instruction unit 27, when the transmission determination unit 26 determines that the message is to be transmitted, the transmission instruction unit 27 acquires information such as the position information and azimuth information of the own pedestrian stored in the information storage unit 15. A message including pedestrian position information and direction information is generated, and the communication unit 12 is instructed to transmit the message.

  Next, a schematic configuration of the in-vehicle terminal device 3 will be described. FIG. 12 is a block diagram illustrating a schematic configuration of the in-vehicle terminal device 3.

  The in-vehicle terminal device 3 includes a position information acquisition unit 31, a communication unit 32, an input / output unit 33, a control unit 34, and an information storage unit 35.

  The position information acquisition unit 31 acquires the position information of its own device by the satellite positioning system, similarly to the position information acquisition unit 11 of the pedestrian terminal device 1. In addition, you may make it acquire the positional information on an own apparatus using the positioning function which the car navigation apparatus 4 has.

  The communication unit 32 transmits and receives messages to and from the pedestrian terminal device 1 by inter-walk communication. In this inter-vehicle communication, similarly to the communication unit 12 of the pedestrian terminal device 1, wireless communication is performed using the frequency band adopted in the safe driving support wireless system using ITS.

  The input / output unit 33 inputs / outputs information to / from the car navigation device 4. Based on the information output from the input / output unit 33, the car navigation device 4 performs an output operation for alerting the driver.

  The information storage unit 35 stores map information, a program executed by the control unit 34, and the like. The map information is automatically updated according to the user's operation and at a predetermined timing. The update information of the map information may be downloaded from the server using the communication function of the in-vehicle terminal device 3 and the car navigation device 4 in addition to using an appropriate storage medium. The map information may be acquired from the car navigation device 4.

  The control unit 34 includes a danger determination unit 41. The control unit 34 is configured by a processor, and the risk determination unit 41 is realized by causing the processor to execute a program stored in the information storage unit 35. The danger determination unit 41 determines whether or not it is necessary to call attention based on the position, speed, direction, and the like of the pedestrian and the vehicle, that is, whether or not the vehicle may collide with the pedestrian.

  Next, a procedure of processing performed by the own pedestrian information acquisition unit 21 will be described. FIG. 13 is a flowchart showing a procedure of processing performed by the own pedestrian information acquisition unit 21.

  The own pedestrian information acquisition unit 21 acquires the current (current) position information of the own pedestrian from the position information acquisition unit 11 (ST101). Next, the previous position information of the pedestrian is acquired from the information storage unit 15 (ST102). Then, it is determined whether there is previous position information (ST103).

  Here, if there is previous position information (Yes in ST103), then the movement distance, which is the difference between the current position and the previous position, is calculated, and has it moved by a predetermined value (for example, 1 m) or more? It is determined whether or not (ST104).

  Here, when it has moved more than a predetermined value (Yes in ST104), the current position is compared with the previous position to calculate the direction of the pedestrian (ST105). Then, the direction information is stored in the information storage unit 15 (ST106). Further, the speed is calculated from the moving distance and the moving time (time between the current time and the previous time) (ST107). Then, the speed information is stored in the information storage unit 15 (ST108). Further, the position information is stored in the information storage unit 15 (ST109).

  On the other hand, if there is no previous position information (No in ST103), or if it has not moved beyond a predetermined value (No in ST104), the speed is set to 0 (ST110) and the speed information is stored in the information storage unit 15. (ST111). Then, the position information is stored in the information storage unit 15 (ST109).

  Next, a procedure of processing performed by the context information acquisition unit 22 will be described. FIG. 14 is a flowchart showing a procedure of processing performed by the context information acquisition unit 22.

  First, in the context information acquisition unit 22, when a signal is received by the communication unit 12 (ST201), the signal received by the communication unit 12 is an inter-pedestrian communication message, that is, another pedestrian terminal device 1 or an in-vehicle terminal in the vicinity. It is determined whether or not the message is an inter-vehicle communication message transmitted from the device 3 (ST202).

  Here, when the signal received by the communication unit 12 is not a message for inter-vehicle communication (No in ST202), for example, if it is a message transmitted from a roadside device (not shown), no particular processing is performed.

  On the other hand, if the signal received by communication unit 12 is a message for inter-vehicle communication (Yes in ST202), it is next determined whether or not the type included in the message is “pedestrian” (ST203). . When the type included in the message is “pedestrian”, that is, when the received message is transmitted from another pedestrian terminal device 1 (Yes in ST203), the other pedestrian information In the acquisition part 29, the process which acquires the information regarding another pedestrian is performed (ST204).

  On the other hand, when the type included in the message is not “pedestrian”, that is, when the received message is transmitted from the in-vehicle terminal device 3 (No in ST203), the risk determination unit 28 performs the risk determination process. Is performed (ST205).

  Next, the procedure of the process (ST205 in FIG. 14) performed by the risk determination unit 28 will be described. FIG. 15 is a flowchart showing a procedure of processing performed by the danger determination unit 28.

  First, own pedestrian information regarding the position, speed, and direction of the pedestrian is acquired from the information storage unit 15 (ST301). Next, a road ahead of the pedestrian is searched based on the map information (ST302). Then, a time T1 until the own pedestrian passes the road ahead is calculated (ST303).

  Next, based on the vehicle position information and map information included in the message received from the in-vehicle terminal device 3, a vehicle traveling on the road ahead is extracted (ST304). Then, it is determined whether there is a vehicle traveling on the road ahead (ST305).

  Here, when there is no vehicle traveling on the road ahead (No in ST305), a notification of no front intersection is output to the target area setting unit 24 (ST306).

  On the other hand, when there is a vehicle traveling on the road ahead (Yes in ST305), the time T1 until the pedestrian passes the road ahead and the course of the vehicle crosses the course of the pedestrian. It is determined whether there is a high possibility that the own pedestrian and the vehicle will collide with each other based on whether or not the difference from the time T2 falls within a predetermined range (ST307).

  Here, when the possibility that the pedestrian and the vehicle collide is high (Yes in ST307), the warning unit 23 is instructed to output a warning (ST308). On the other hand, when the possibility that the pedestrian and the vehicle collide is not high (No in ST307), the attention instructing unit 23 is instructed to output a warning (ST309). Then, a notification that there is a front intersection is output to the target area setting unit 24 (ST310).

  Next, a road behind the pedestrian is searched based on the map information (ST311). Next, based on the vehicle position information and the map information, a vehicle traveling on the rear road is extracted (ST312). And it is determined whether the vehicle which drive | works a back road exists (ST313).

  Here, when there is no vehicle traveling on the rear road (No in ST313), a notification of no rear intersection is output to the target area setting unit 24 (ST314). On the other hand, when there is a vehicle traveling on the rear road (Yes in ST313), a notification indicating that there is a rear intersection is output to the target area setting unit 24 (ST315).

  Next, the procedure of the process (ST204 in FIG. 14) performed by the other pedestrian information acquisition unit 29 will be described. FIG. 16 is a flowchart showing a procedure of processing performed by the other pedestrian information acquisition unit 29.

  The other pedestrian information acquisition unit acquires position information and direction information included in a message received from another pedestrian terminal device (ST401). Then, pedestrians are grouped and classified by direction (ST402). Next, the interval between the pedestrian and another pedestrian is calculated (ST403). Next, information related to the interval between the pedestrian and another pedestrian is stored in the information storage unit 15 (ST404).

  Next, a procedure of processes performed by the target area setting unit 24, the comparison target extraction unit 25, and the transmission determination unit 26 will be described. FIGS. 17 and 18 are flowcharts showing a procedure of processes performed by the target area setting unit 24, the comparison target extraction unit 25, and the transmission determination unit 26.

  First, the target area setting unit 24 determines whether or not it has received a notification from the context information acquisition unit 22 that there is a forward intersection, that is, there is a vehicle traveling on the road ahead (ST501). Here, when a notification with a front intersection is received (Yes in ST501), a notification that there is a rear intersection, that is, there is a vehicle traveling on the rear road, is next received from the context information acquisition unit 22. It is determined whether or not (ST502).

  Here, when a notification with a rear crossing is received (Yes in ST502), the front boundary line of the target area is set to the road ahead of the vehicle, and the rear boundary line of the target area is set to It is set to the road behind the vehicle (ST504).

On the other hand, if the notification of the presence of a rear intersection has not been received (No in ST502), the front boundary line of the target area is set to the road ahead of the vehicle, and the rear boundary line of the target area is set at a position separated rearwardly by a distance _{D B} from the own pedestrian (ST505).

  Further, when a notification with a forward intersection has not been received from the context information acquisition unit 22 (No in ST501), it is next determined whether a notification with a backward intersection has been received from the context information acquisition unit 22 (ST503). ).

Here, when a notification with a back intersection is received (Yes in ST503), the front boundary line of the target area is set at a position separated by a distance _DF forward from the pedestrian, and after the target area. The side boundary line is set to the road behind the vehicle (ST506).

On the other hand, if a notification indicating that there is a backward crossing has not been received (No in ST503), the front boundary line of the target area is set to a position separated by a distance _DF forward from the pedestrian, and after the target area. the side of the boundary line is set at a position separated rearwardly by a distance D _B from the own pedestrian (ST 507).

  Next, the comparison target extraction unit 25 extracts a pedestrian that exists in the target area and has the same direction as the own pedestrian as a comparison target (ST508).

  Next, it is determined in the transmission determination part 26 whether the other pedestrian extracted as a comparison object does not exist ahead of the own pedestrian (ST509). Here, when there is no corresponding pedestrian, that is, as shown in FIG. 7 (A), the pedestrian walking in the same direction in the target area is the first (frontmost) ) (Yes in ST509), a message transmission determination result is output (ST512).

  On the other hand, when another pedestrian extracted as a comparison target is present in front of the own pedestrian (No in ST509), the other pedestrian extracted as the comparison target is next to the own pedestrian. It is determined whether or not it exists (ST510). Here, when there is no corresponding pedestrian, that is, as shown in FIG. 7B, among the pedestrians walking in the same direction within the target area, If it is located on the rear side (Yes in ST510), a message transmission determination result is output (ST512).

On the other hand, when another pedestrian extracted as a comparison target is present in front of the own pedestrian, that is, as illustrated in FIG. 8, other pedestrians walking in the same direction in the target area when sandwiched before and after pedestrian (No in ST 510), then the distance between the front of the pedestrian and the own pedestrian determines whether or threshold _{D S} (ST511).

Here, when the interval between the front of the pedestrian and the own pedestrian is equal to or greater than the threshold value _{D S} to output (Yes in ST 511), the determination result of the message transmission (ST 512). On the other hand, when the distance between the front of the pedestrian and the own pedestrian is less than the threshold value _{D S} (No in ST 511), and outputs the determination result of the message transmission stop (ST 513).

  Next, a procedure of processing performed by the transmission instruction unit 27 will be described. FIG. 19 is a flowchart showing a procedure of processing performed by the transmission instruction unit 27.

  If the determination result of transmission determination unit 26 is message transmission (Yes in ST601), transmission instruction unit 27 instructs communication unit 12 to transmit a message (ST602). On the other hand, if the determination result of transmission determination unit 26 is not message transmission, that is, if message transmission is stopped (No in ST601), no particular processing is performed.

  As described above, in the present embodiment, when a predetermined transmission stop condition is satisfied in the pedestrian terminal device 1, communication control for stopping message transmission is performed. The frequency can be reduced. Thereby, the congestion of the communication between pedestrians by the increase of the traffic of communication between pedestrians can be reduced, Furthermore, the power consumption of the pedestrian terminal device 1 can be reduced and power saving can be achieved.

  Further, in the pedestrian terminal device 1 that has stopped transmitting messages, the pedestrian terminal device 1 that continues to transmit messages exists within a certain distance, and the pedestrian terminal device 1 transmits a message that indicates a pedestrian. Can be notified to the in-vehicle terminal device 3. Moreover, also in the pedestrian terminal device 1 which stopped transmission of a message, the presence of a vehicle can be recognized by receiving the message transmitted from the vehicle-mounted terminal device 3.

  As described above, the embodiments have been described as examples of the technology disclosed in the present application. However, the technology in the present disclosure is not limited to this, and can be applied to embodiments in which changes, replacements, additions, omissions, and the like have been performed. Moreover, it is also possible to combine each component demonstrated by said embodiment into a new embodiment.

  For example, in the above-described embodiment, an example has been described in which a pedestrian, that is, a person walking on a road, possesses a pedestrian terminal device. A person in a vehicle such as a wheelchair may also be included as a pedestrian in a broad sense.

  In this embodiment, when the message type received by the pedestrian terminal device is “pedestrian”, the source of the message is determined to be a pedestrian terminal device, and the message type is “pedestrian”. If there is no such message, the source of the message is determined to be an in-vehicle terminal device. However, the vehicle in which the in-vehicle terminal device is mounted is not limited to an automobile (four-wheeled vehicle), but a motorcycle. Or a bicycle.

In the above embodiment, when a predetermined transmission stop condition is satisfied in the pedestrian terminal device, the communication control for stopping the transmission of the message by the inter-vehicle communication is performed.
A pedestrian terminal device that has a short-distance communication function different from inter-pedestrian communication in the pedestrian terminal device and uses this short-distance communication to continue sending messages by inter-pedestrian communication, and inter-pedal communication Information may be exchanged with a pedestrian terminal device that has stopped sending messages.

  That is, the pedestrian terminal device that continues to transmit messages by inter-pedal communication becomes the representative terminal of the pedestrian terminal device that has stopped transmitting messages by inter-pedal communication, and stops transmitting messages by inter-pedal communication The pedestrian terminal device that is being used becomes an intra-group terminal belonging to a group in which the pedestrian terminal device that has become the representative terminal is a common representative terminal. In addition, the pedestrian terminal device 1 serving as the representative terminal performs an exchange of information (pedestrian information and vehicle information) between the pedestrian terminal device serving as the intra-group terminal and the vehicle-mounted terminal device. A communication state is established.

  In this proxy communication state, in the pedestrian terminal device that has become the representative terminal, information is mutually exchanged by inter-walk communication with the in-vehicle terminal device. Information is exchanged with the pedestrian terminal device that has become in the short distance communication.

  In this way, information is transmitted by short-range communication between the pedestrian terminal device that continues to transmit messages by inter-pedestrian communication and the pedestrian terminal device that has stopped transmitting messages by inter-pedal communication. Even if the pedestrian terminal device that has stopped sending messages by inter-pedestrian communication is exchanged, the pedestrian information on the vehicle is installed on the vehicle via the pedestrian terminal device that continues to send messages by inter-pedestrian communication. It can be provided to the terminal device.

  The short-range communication is Bluetooth (registered trademark), a specific low-power radio using the 920 MHz band, a wireless LAN such as Wi-Fi (registered trademark), and the like. Wireless communication with a small transmission output (for example, 10 mW or less) can be performed.

  The pedestrian terminal device, the inter-pedestrian communication system, and the pedestrian terminal transmission method according to the present invention sufficiently reduce the transmission frequency of the pedestrian terminal device while ensuring the safety of the pedestrian, Pedestrian terminal device that has the effect of reducing communication congestion due to increase and that has a pedestrian and performs inter-pedestrian communication with the in-vehicle terminal device, between the in-vehicle terminal device and the pedestrian terminal device This is useful as a pedestrian terminal transmission method for transmitting a pedestrian communication system that performs inter-pedal communication and a message including position information of the pedestrian from the pedestrian terminal apparatus to the in-vehicle terminal apparatus by inter-pedal communication.

DESCRIPTION OF SYMBOLS 1 Pedestrian terminal device 2 Portable information terminal device 3 Car-mounted terminal device 4 Car navigation device (car navigation device)
DESCRIPTION OF SYMBOLS 11 Position information acquisition part 12 Communication part 14 Control part 15 Information storage part 21 Self-pedestrian information acquisition part 22 Context information acquisition part 23 Attention part 24 Target area setting part 25 Comparison target extraction part 26 Transmission determination part 27 Transmission instruction part 28 Risk determination unit 29 Other pedestrian information acquisition unit

Claims (10)

A pedestrian terminal device possessed by a pedestrian and performing inter-vehicle communication with an in-vehicle terminal device,
A location information acquisition unit that acquires location information of the pedestrian,
While receiving the message containing the positional information of the vehicle transmitted from the said vehicle-mounted terminal device and the message containing the positional information of the other pedestrian transmitted from another pedestrian terminal device by the said inter-pedestrian communication, the said pedestrian A communication unit that transmits a message including position information of the vehicle by inter-pedal communication,
An information storage unit for storing map information;
A control unit;
With
The controller is
Based on the map information, the position information of the pedestrian and the position information of the vehicle, a target area is set according to the situation of the vehicle existing on the road ahead and the road behind the pedestrian,
Based on the position information of the other pedestrians, other pedestrians existing in the target area are extracted as comparison targets,
Based on the position information of the own pedestrian and the position information of the other pedestrian, when a predetermined transmission stop condition regarding the positional relationship between the other pedestrian and the pedestrian as the comparison target is satisfied, the message The pedestrian terminal device characterized by stopping the transmission.   When there are vehicles on both the front road and the rear road, the control unit sets a front boundary line of the target area to the front road, and a rear side of the target area. The pedestrian terminal device according to claim 1, wherein a boundary line is set in the rear road.   When there is no vehicle on the front road and there is a vehicle on the rear road, the control unit sets a front boundary line of the target area by a predetermined distance forward from the pedestrian. The pedestrian terminal device according to claim 1, wherein the pedestrian terminal device is set at a distant position, and a boundary line on the rear side of the target area is set on the road behind the target area.   When the vehicle is present on the road ahead and the vehicle is not present on the road behind, the control unit sets a front boundary line of the target area as the road ahead, The pedestrian terminal device according to claim 1, wherein a boundary line on the rear side of the area is set at a position separated by a predetermined distance behind the pedestrian.   When there is no vehicle on both the front road and the rear road, the control unit sets the front boundary line of the target area at a position away from the pedestrian by a predetermined distance. The pedestrian terminal device according to claim 1, wherein a boundary line on the rear side of the target area is set at a position separated by a predetermined distance rearward from the pedestrian.   The pedestrian terminal device according to claim 1, wherein the control unit extracts other pedestrians that exist in the target area and have the same traveling direction as the pedestrian as comparison targets. .   When the other pedestrian extracted as the comparison target does not exist in front of the pedestrian, or the other pedestrian extracted as the comparison target does not exist behind the pedestrian, The pedestrian terminal device according to claim 1, wherein the pedestrian terminal device is determined to transmit the message.   When the other pedestrians extracted as the comparison target exist in both the front and rear of the pedestrian, the control unit has a predetermined threshold between the pedestrian and the other pedestrians in front. The pedestrian terminal device according to claim 1, wherein when the value is less than the value, it is determined that transmission of the message is stopped. An inter-pedestrian communication system comprising an in-vehicle terminal device mounted on a vehicle and a pedestrian terminal device possessed by a pedestrian, and performing inter-pedal communication between the in-vehicle terminal device and the pedestrian terminal device. ,
The pedestrian terminal device
A location information acquisition unit that acquires location information of the pedestrian,
While receiving the message containing the positional information of the vehicle transmitted from the said vehicle-mounted terminal device and the message containing the positional information of the other pedestrian transmitted from another pedestrian terminal device by the said inter-pedestrian communication, the said pedestrian A communication unit that transmits a message including position information of the vehicle by inter-pedal communication,
An information storage unit for storing map information;
A control unit;
With
The controller is
Based on the map information, the position information of the pedestrian and the position information of the vehicle, a target area is set according to the situation of the vehicle existing on the road ahead and the road behind the pedestrian,
Based on the position information of the other pedestrians, other pedestrians existing in the target area are extracted as comparison targets,
Based on the position information of the own pedestrian and the position information of the other pedestrian, when a predetermined transmission stop condition regarding the positional relationship between the other pedestrian and the pedestrian as the comparison target is satisfied, the message The communication system between pedestrians and vehicles is characterized by stopping transmission. A pedestrian terminal transmission method for transmitting a message including position information of a pedestrian from a pedestrian terminal device to an in-vehicle terminal device by inter-vehicle communication,
In the pedestrian terminal device,
Get the location information of the pedestrian,
While receiving the message containing the positional information of the vehicle transmitted from the said vehicle-mounted terminal device and the message containing the positional information of the other pedestrian transmitted from another pedestrian terminal device by the said inter-pedestrian communication, the said pedestrian A message including the position information of the vehicle by the inter-vehicle communication,
Based on the map information, the position information of the own pedestrian and the position information of the vehicle, a target area is set according to the situation of the vehicle existing on the road ahead and the road behind the own pedestrian,
Based on the position information of the other pedestrians, other pedestrians existing in the target area are extracted as comparison targets,
Based on the position information of the own pedestrian and the position information of the other pedestrian, when a predetermined transmission stop condition regarding the positional relationship between the other pedestrian and the pedestrian as the comparison target is satisfied, the message The transmission method of the pedestrian terminal characterized by stopping transmission of.

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