JP2018049542A - First on-vehicle device, second on-vehicle device, operation management system, and data structure - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent interference between vehicles even when a data update frequency is low.SOLUTION: An on-vehicle device determines whether an own vehicle and another vehicle are in a special state, transmits that the own vehicle is in a special state to a center and the other vehicle when the special state of the own vehicle is determined, and transmits that the predetermined other vehicle is in a special state to the center and another vehicle different from the predetermined other vehicle when the special state of the predetermined other vehicle is determined. Then, the device determines a risk of interference between the own vehicle and the other vehicle, generates warning information to an operator when the risk of interference is determined and outputs the information. A special state means a state where communication is disabled or a state to estimate transition into a state where communication is disabled.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a first in-vehicle device, a second in-vehicle device, an operation management system, and a data structure.

  In mines and construction sites, large vehicles such as excavators, bulldozers, dump trucks, and small vehicles traveling on ordinary roads are used at the same time. When large vehicles interfere with each other or between large vehicles and small vehicles, mining work at the mine and construction work at the construction site are interrupted, which greatly impedes business execution.

  The large vehicle has more blind spots for the operator than the small vehicle described above. For this reason, when a small vehicle smaller in size than a large vehicle approaches the large vehicle, it may be difficult for an operator of the large vehicle to visually recognize the small vehicle. In view of this, a vehicle monitoring device has been proposed that determines that another vehicle has approached based on the vehicle position data and monitors the positional relationship between the vehicles (see Patent Document 1).

  Patent Document 1 discloses a vehicle monitoring apparatus that transmits and receives instruction data between a monitoring station and a plurality of vehicles using a first communication method and transmits and receives position data between a plurality of vehicles using a second communication method. Have been described.

International Publication WO 98/36337

  By the way, since there are many vehicles to be managed in the entire mine, wireless communication between a vehicle and a monitoring station (center) that collects information on all vehicles and distributes the collected information to all vehicles, It cannot be performed more frequently than vehicle-to-vehicle communication. For this reason, when the update frequency of the data from the monitoring station (center) is low, the position of the vehicle may not be detected for a certain period. If the vehicle is turned off while the latest position information of the vehicle is not detected, the vehicles may interfere with each other.

  A first in-vehicle device according to an aspect of the present invention is a first in-vehicle device including a center communication device that communicates with a center and a first inter-vehicle communication device that communicates with another vehicle. The first other vehicle state determination unit that determines whether or not the other vehicle is in a special state based on the information acquired through the first vehicle, and the first vehicle that is the host vehicle on which the first in-vehicle device is mounted is special. A first host vehicle state determination unit that determines whether or not the vehicle is in a state, a first host vehicle position acquisition device that acquires position information of the first vehicle, and the first host vehicle state determination unit When it is determined that the vehicle is in a special state, the fact that the first vehicle is in a special state is transmitted to the center and another vehicle, and the first other vehicle state determination unit determines that the predetermined other vehicle is If it is determined that there is a special condition, A first transmission control unit for transmitting to the other vehicle different from the center and the predetermined other vehicle that both are in a special state, and information received from the center when communication with the center is possible; and Based on the position information of the first vehicle acquired by the first host vehicle position acquisition device, the risk of interference between the first vehicle and the other vehicle is determined, and when communication with the center cannot be performed, the other vehicle A first interference risk determination unit that determines a risk of interference between the first vehicle and another vehicle based on information received from the vehicle and position information of the first vehicle acquired by the first host vehicle position acquisition device; A first warning information generation / transmission unit that generates and outputs warning information for an operator of the first vehicle when the first interference risk determination unit determines that there is a risk of interference between the first vehicle and another vehicle. When, Wherein the a special state, a state in which communication becomes impossible, or, wherein the transition to the communication can not be performed state is the state to be estimated.

  According to the present invention, for example, before the power is turned off, it is determined that the vehicle is in a special state, and information on the vehicle in the special state is notified to other vehicles at least by inter-vehicle communication. Therefore, even when the data update frequency from the center is low, interference between vehicles can be prevented.

The figure which shows the structure of the operation management system containing the 1st vehicle-mounted apparatus which concerns on 1st Embodiment, a 2nd vehicle-mounted apparatus, and an operation management center. The figure which shows the structure of the driving assistance device which concerns on 1st Embodiment. The figure which shows the display screen of the display apparatus which is an example of user I / F for operators. The figure which shows the format of the vehicle-to-vehicle communication data transmitted / received by the vehicle-to-vehicle communication part of a driving assistance device. (A) is a figure which shows the format of the center notification data which a driving assistance device transmits to an operation management center via a terminal for operation management, (b) is an operation management center via a terminal for operation management. The figure which shows the format of the center delivery data received from. The figure which shows an example of a structure of the own vehicle raw data management table. The figure which shows an example of a structure of another vehicle raw data management table. The figure which shows an example of a structure of the own vehicle state determination result management table. The figure which shows an example of a structure of another vehicle state determination result management table. The flowchart which shows an example of the periodic process performed with a driving assistance device. The flowchart which shows the own vehicle state update process performed with a driving assistance device. The flowchart which shows the own vehicle state determination process performed with a driving assistance device. The flowchart which shows the other vehicle state update process performed with a driving assistance device. The flowchart which shows the other vehicle state determination process performed with a driving assistance device. The figure which shows the structure of the operation management system containing the 1st vehicle-mounted apparatus which concerns on 2nd Embodiment, a 2nd vehicle-mounted apparatus, and an operation management center. The figure which shows the structure of the driving assistance device which concerns on 2nd Embodiment.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
-First embodiment-
FIG. 1 is a diagram showing a configuration of an operation management system including a first in-vehicle device 151 and a second in-vehicle device 152 and an operation management center 140 according to the first embodiment of the present invention. The operation management system includes an operation management center 140 that is a monitoring station for managing the operation of the entire mine serving as a work site, a first in-vehicle device 151 mounted on a large vehicle 110 such as a dump truck 110A and an excavator 110B, And a second in-vehicle device 152 mounted on a small vehicle 130 that is smaller in size than the vehicle.

  110 A of dump trucks are work vehicles provided with the loading platform (vessel) in which a load is loaded, and the hydraulic cylinder for the loading platform operation which rotates a loading platform in the up-down direction (up-and-down movement). The excavator 110B is a work vehicle including a revolving body provided on a traveling body so as to be able to swivel, a front working device having a boom, an arm and a bucket, and a hydraulic cylinder for driving these.

  The in-vehicle device 151 is connected to the operation management center 140 through wireless communication, and the in-vehicle device 152 is not connected to the operation management center 140 through wireless communication. Vehicles such as the large vehicle 110 and the small vehicle 130 exchange information by inter-vehicle communication that is wireless direct communication with each other.

  The in-vehicle device 151 mounted on the large vehicle 110 includes a driving support device 101, an operation management terminal 102, an operator user I / F 103, and a vehicle control system 104. These apparatuses are connected via an in-vehicle network such as a CAN (Controller Area Network). In addition, each apparatus which comprises each vehicle-mounted apparatus 151 is not restricted to the case where it connects via one network, Each apparatus may be connected individually. In the example of FIG. 1, the driving support device 101 and the operation management terminal 102 are separate control devices, but the functions of these control devices may be combined into one control device.

  The driving support device 101, the operation management terminal 102, and the vehicle control system 104 are respectively a CPU (Central Processing Unit), a RAM (Random Access Memory) that is a storage device, a ROM (Read Only Memory), and other peripheral circuits. It is a computer containing the arithmetic processing unit which has. Each management table of the database 205 (see FIG. 2), which will be described later, is stored in a storage device such as an HDD (Hard Disk Drive) or a flash memory.

  The in-vehicle device 152 mounted on the small vehicle 130 includes a driving support device 101 and an operator user I / F 103. These devices are connected via an in-vehicle network such as CAN. Since the driving support device 101 and the operator user I / F 103 are the same as those provided in the in-vehicle device 151 of the large vehicle 110 and those provided in the in-vehicle device 152 of the small vehicle 130, the same reference numerals are used. Attached.

  The driving support device 101 includes a host vehicle position acquisition device 191 for capturing the position of the host vehicle and an inter-vehicle communication device 192 that communicates with other vehicles. A GPS (Global Positioning System) receiving device is generally used as the own vehicle position acquisition device 191, but an internal measurement unit (IMU) or a beacon may be used. The operation management terminal 102 includes a center communication device 193 that communicates with the operation management center 140.

  FIG. 2 is a diagram illustrating a configuration of the driving support apparatus 101 according to the first embodiment. As shown in FIG. 2, the driving support apparatus 101 includes a host vehicle information acquisition unit 201, an inter-vehicle communication unit 202, an operation management terminal communication unit 203, an operator notification unit 204, a database 205, a host vehicle state determination unit 206, and the like. A vehicle state determination unit 207, an interference risk determination unit 208, a warning information generation / transmission unit 220, a notification information generation / transmission unit 221, a transmission control unit 222, and a control signal generation unit 209 are provided. Since the driving support device 101 of the first in-vehicle device 151 and the driving support device 101 of the second in-vehicle device 152 have the same configuration, the driving support device 101 of the first in-vehicle device 151 is mainly used as an example. Explained. About the driving assistance apparatus 101 of the 2nd vehicle-mounted apparatus 152, a different part from the driving assistance apparatus 101 of the 1st vehicle-mounted apparatus 151 is demonstrated.

  The driving support apparatus 101 exchanges information about the vehicle on which each of the driving support apparatuses 101 is installed by performing inter-vehicle communication with the inter-vehicle communication apparatus mounted on the other vehicle by the inter-vehicle communication apparatus 192 mounted on the host vehicle. . The inter-vehicle communication unit 202 performs inter-vehicle communication, which is direct wireless communication not via a relay station, with another vehicle. As a wireless communication method, for example, a WiFi Ad-Hoc mode, a communication method such as 802.11p, or a communication method using a unique frequency band in the mine can be employed.

  The driving support apparatus 101 acquires information on the own vehicle (hereinafter also referred to as own vehicle information) and information on the other vehicle (hereinafter also referred to as other vehicle information), and monitors the state of the own vehicle and the state of the other vehicle. . When it is determined by monitoring that the host vehicle is in a special state or that the other vehicle is in a special state, the driving support device 101 determines that the host vehicle is in a special state. And other vehicle information including that the other vehicle is in a special state is transmitted to the vehicle in the mine via the center communication device 193 and the inter-vehicle communication device 192, and interference between vehicles is transmitted. To prevent.

  The inter-vehicle communication unit 202 obtains other vehicle information (see FIG. 4) from the inter-vehicle communication device 192. Further, the inter-vehicle communication unit 202 transmits the own vehicle information and the other vehicle information (see FIG. 4) to the other surrounding vehicles via the inter-vehicle communication device 192.

  The own vehicle information acquisition unit 201 acquires information on the position of the own vehicle (hereinafter referred to as own vehicle position information) from the own vehicle position acquisition device 191. In addition, instead of connecting the own vehicle position acquisition device 191 to the driving support device 101 (see FIG. 1), the own vehicle position acquisition device 191 is connected to the operation management terminal 102 and the operation management terminal 102 supports driving support. The own vehicle position information may be transmitted to the device 101. In this case, the own vehicle information acquisition unit 201 acquires the own vehicle position information acquired by the own vehicle position acquisition device 191 via the operation management terminal 102.

  The own vehicle information acquisition unit 201 acquires own vehicle control information for controlling the own vehicle from the vehicle control system 104. That is, the host vehicle information acquisition unit 201 acquires host vehicle control information for controlling the host vehicle and the host vehicle position information described above.

  The vehicle control system 104 is a system that controls each part of the host vehicle. The steering angle output from various sensors such as a steering sensor (not shown) and a brake pedal sensor (not shown), a control signal generation unit 209 described later, and the like. The steering device and the braking device are controlled based on the information such as the brake pressure and the brake pressure. Further, the vehicle control system 104 outputs information detected by a vehicle speed sensor (not shown) or a gyro sensor (not shown) to the driving support device 101.

  The operation management terminal 102 performs wireless communication with the operation management center 140 by the center communication device 193, thereby transmitting information representing the work state of the host vehicle to the operation management center 140 at predetermined intervals. The operation management terminal 102 receives operation management information and other vehicle information transmitted from the operation management center 140 at predetermined intervals. The operation management terminal 102 stores operation management information of the own vehicle and other vehicle information therein, and outputs the operation management information to the driving support device 101.

  The operation management terminal communication unit 203 acquires the operation management information received by the center communication device 193 and the other vehicle information received by the center communication device 193 via the operation management terminal 102. The operation management information is information for managing the operation of the vehicle and includes information related to the operation of the host vehicle such as an operation instruction. The other vehicle information of the large vehicle 110 received by the center communication device 193 includes information related to the operation of the vehicle such as the current operation state of the vehicle.

  The operation management terminal communication unit 203 transmits the own vehicle information and other vehicle information (see FIG. 5A) to the operation management center 140 via the operation management terminal 102.

  When the other vehicle information acquired by the inter-vehicle communication includes information on another vehicle in a “special state” described later, the driving support device 101 uses the information on the other vehicle as another surrounding information. It is determined whether to distribute to other vehicles. When it is determined that the information on the corresponding other vehicle is distributed to other surrounding vehicles, the driving support device 101 distributes the information on the corresponding other vehicle to other surrounding vehicles by inter-vehicle communication, and further for operation management. Information on the corresponding other vehicle is transmitted to the operation management center 140 via the terminal 102.

  The operation management center 140 receives information on other vehicles in a “special state” transmitted from each vehicle, stores the information in a storage device, and updates the latest information at a predetermined interval to each vehicle (main book). In the embodiment, it is distributed to the large vehicle 110).

  When the other vehicle information acquired by the center communication includes information on another vehicle in a “special state” to be described later, the driving support device 101 uses the information on the other vehicle as another information around the other vehicle. It is determined whether or not to deliver to the vehicle. When it is determined that the information on the corresponding other vehicle is distributed to another surrounding vehicle, the driving support device 101 distributes the information on the corresponding other vehicle to the surrounding other vehicle by inter-vehicle communication.

  The driving assistance apparatus 101 determines whether or not the state of the host vehicle is a state to be distributed to the surroundings. When it is determined that the state of the host vehicle is a state to be distributed to the surroundings, the driving support device 101 distributes the information of the host vehicle to other surrounding vehicles by inter-vehicle communication, and further causes the operation management terminal 102 to The information of the own vehicle is transmitted to the operation management center 140 via

  The operator user I / F 103 is a human interface for transmitting information from the driving support apparatus 101 to the operator, and is, for example, a display device such as a liquid crystal panel or a sound output device such as a speaker. When the warning signal is output from the driving support device 101, the operator user I / F 103 notifies the operator of a warning image or a warning sound based on the warning signal. That is, the operator user I / F 103 has a function as a warning device that gives a warning to the operator of the host vehicle.

  The database 205 includes a host vehicle raw data management table 211, a host vehicle raw data management table 212, a host vehicle state determination result management table 213, and a host vehicle state determination result management table 214.

  The own vehicle raw data management table 211 stores own vehicle information acquired by the own vehicle information acquisition unit 201 and the operation management terminal communication unit 203. The other vehicle raw data management table 212 stores other vehicle information acquired by the inter-vehicle communication unit 202 and the operation management terminal communication unit 203.

  The own vehicle state determination unit 206 determines whether or not the own vehicle is in a “special state” based on the own vehicle information stored in the own vehicle raw data management table 211. Here, the “special state” is assumed to be a state where communication with the operation management center 140 and other vehicles cannot be performed or a state where communication with the operation management center 140 and other vehicles cannot be performed. Defined state. The in-vehicle device 152 of the small vehicle 130 does not have a communication function with the operation management center 140. For this reason, the “special state” for a vehicle equipped with the in-vehicle device 152 is a state in which communication with any other vehicle can no longer be performed or a state in which communication with any other vehicle cannot be performed. Defined as an estimated state.

  A specific example of the state in which communication with the operation management center 140 and other vehicles cannot be performed is a state in which the vehicle is turned off. A specific example of a state where transition to a state where communication with the operation management center 140 and other vehicles cannot be performed is estimated is a state where the power of the vehicle is estimated to be turned off.

  The own vehicle state determination unit 206 includes a stop state detection unit 226, a non-operating state detection unit 227, and a reception state detection unit 228 to determine whether or not the own vehicle is in a “special state”. The stop state detection unit 226 monitors how long the vehicle speed of the host vehicle continues. The non-operating state detection unit 227 monitors the operation state of the host vehicle. The reception state detection unit 228 determines whether or not there is another vehicle capable of vehicle-to-vehicle communication, and determines whether or not the own vehicle is in a state where communication with the operation management center 140 is possible.

  The process for determining the special state of the host vehicle will be described below. The special state determination process differs between the driving support device 101 of the large vehicle 110 and the driving support device 101 of the small vehicle 130.

The own vehicle state determination unit 206 of the driving support device 101 of the small vehicle 130 indicates that the vehicle state of the own vehicle is “preparing to stop”, which is one of the special states, when the following condition 1 is satisfied. judge.
(Condition 1) When the vehicle speed of the host vehicle is zero (that is, the host vehicle is stopped) for a predetermined time T1, the vehicle speed of the host vehicle is zero for a certain period of time. The continuation during T1 is detected by the stop state detection unit 226.

  If it is determined that the vehicle is in preparation for stopping, the reception state detection unit 228 of the own vehicle state determination unit 206 of the driving support device 101 of the small vehicle 130 determines whether there is another vehicle capable of inter-vehicle communication. To do. When it is determined that the vehicle is in preparation for stop and it is determined that there is no other vehicle capable of vehicle-to-vehicle communication, the vehicle state determination unit 206 determines that the vehicle state of the vehicle is “Preparing for stop: No notification destination”. Is set in the own vehicle state determination result management table 213. When it is determined that the vehicle is in preparation for stopping and it is determined that there is another vehicle capable of vehicle-to-vehicle communication, the host vehicle state determination unit 206 represents “preparing to stop: with notification destination” as the vehicle state. “2” is set in the own vehicle state determination result management table 213.

The own vehicle state determination unit 206 of the driving support device 101 of the large vehicle 110 indicates that the vehicle state of the own vehicle is one of the special states when either of the following conditions 2 and 3 is satisfied: It is determined that it is “in preparation”.
(Condition 2) The operation state of the host vehicle is “non-operational” and the vehicle speed of the host vehicle is 0 (that is, the host vehicle is stopped) during a predetermined time T2. In the case where the vehicle continues, it is detected by the non-operation state detection unit 227 that the operation state of the host vehicle is “non-operating”, and the state where the vehicle speed of the host vehicle is 0 continues for a certain time T2. It is detected by the stop state detection unit 226.
(Condition 3) When the ignition switch is operated to the OFF position

  Here, the fixed time T1 used in the condition 1 and the fixed time T2 used in the condition 2 are threshold values stored in the storage device in advance, and different times may be set for the T1 and T2. Time may be set. For example, assuming that T1 = 10 seconds and T2 = 5 seconds, the fixed time T2 can be set to a time shorter than the fixed time T1 (T2 <T1). In condition 2, since not only the vehicle speed but also the operation state is used for the determination, it is possible to appropriately determine whether or not the host vehicle is in a special state even if the time threshold T2 is shorter than the time threshold T1. .

  If it is determined that the vehicle is being prepared to stop, the reception state detection unit 228 of the host vehicle state determination unit 206 of the driving support device 101 of the large vehicle 110 is in a state where the host vehicle can communicate with the operation management center 140, and Then, it is determined whether there is another vehicle capable of inter-vehicle communication.

  When it is determined that the host vehicle is not in a state where communication with the operation management center 140 is possible, or when it is determined that there is no other vehicle capable of inter-vehicle communication, the host vehicle state determination unit 206 As the vehicle state, a value “1” representing “not ready for stop: no notification destination” is set in the own vehicle state determination result management table 213.

  When it is determined that the host vehicle is in a state where communication with the operation management center 140 is possible and there is another vehicle capable of inter-vehicle communication, the host vehicle state determination unit 206 sets the vehicle state as “stop preparation A value “2” representing “medium: notification destination exists” is set.

  If none of Condition 1, Condition 2, and Condition 3 is satisfied, the host vehicle state determination unit 206 determines that the host vehicle is not in the “special state”. When it is determined that the host vehicle is not in the “special state”, the host vehicle state determination unit 206 sets a value “0” representing “normally operating” as the vehicle state of the host vehicle.

  In the driving support device 101 of the small vehicle 130, after “1 (Preparing for stoppage: no notification destination)” is set as the vehicle state, it is determined that there is another vehicle capable of inter-vehicle communication, or a condition When 1 is not established, the host vehicle state determination unit 206 determines that the host vehicle has transitioned from the “special state” to the normal state, and outputs the determination result to the notification information generation / transmission unit 221. The notification information generation / transmission unit 221 generates a warning release signal and outputs the warning release signal to the operator notification unit 204 in order to release a warning for an operator (driver) of the host vehicle to be described later. The operator notification unit 204 outputs this warning release signal to the operator user I / F 103.

  Similarly, in the driving support apparatus 101 of the large vehicle 110, after “1 (preparing for stoppage: no notification destination)” is set as the vehicle state, it is determined that there is another vehicle capable of inter-vehicle communication. Alternatively, when both of the condition 2 and the condition 3 are not established, the own vehicle state determination unit 206 determines that the own vehicle has transitioned from the “special state” to the normal state, and generates the determination information as notification information. The data is output to the transmission unit 221. The notification information generation / transmission unit 221 generates a warning release signal and outputs the warning release signal to the operator notification unit 204 in order to release a warning for an operator (driver) of the host vehicle to be described later. The operator notification unit 204 outputs this warning release signal to the operator user I / F 103.

  The own vehicle state determination unit 206 updates the own vehicle state determination result management table 213 based on the determination result of the own vehicle state. The own vehicle information stored in the own vehicle state determination result management table 213 including that the own vehicle is in a “special state” is transmitted to the inter-vehicle communication unit 202 and the operation management terminal communication unit via the transmission control unit 222. It is output to 203.

  The operator notification unit 204 generates warning information based on the warning signal generated by the notification information generation / transmission unit 221 based on the determination result of the host vehicle state by the host vehicle state determination unit 206 or the risk determination result acquired from the interference risk determination unit 208. The interference warning signal with the other vehicle produced | generated by the transmission part 220 is output to operator user I / F103.

  The other vehicle state determination unit 207 includes a stop state detection unit 229, a non-operation state detection unit 230, and a reception state detection unit 231 in order to determine whether or not the other vehicle is in a “special state”. The stop state detection unit 229 monitors how long the other vehicle's vehicle speed is zero. The non-operating state detection unit 230 monitors the operation state of other vehicles. The reception state detection unit 231 determines whether another vehicle is in a state where it can communicate with the operation management center 140.

  The other vehicle state determination unit 207 determines whether or not the other vehicle is in a “special state” based on the other vehicle information stored in the other vehicle raw data management table 212.

The process for determining the special state of the other vehicle will be described below. When the following condition 4 is satisfied, the other vehicle state determination unit 207 determines that the vehicle state of the other vehicle is “power is stopped” which is one of special states. In the present specification, the other vehicle to be determined or the other vehicle determined to be in a special state is appropriately referred to as the corresponding other vehicle. The determination as to whether or not the corresponding other vehicle is powered off is performed based on information acquired via the inter-vehicle communication device 192.
(Condition 4) The elapsed time from the information generation time of the relevant other vehicle has passed a predetermined time T3, and the relative distance between the relevant other vehicle and the host vehicle is within a predetermined range. And the vehicle speed of the corresponding other vehicle is 0 (that is, the state where the corresponding other vehicle is stopped). The state where the vehicle speed of the corresponding other vehicle is 0 continues for a certain time T3. It is detected by the stop state detection unit 229.

  The certain range used for the condition 4 corresponds to a range in which vehicle-to-vehicle communication can be performed, and is stored in advance in the storage device. That is, the condition that satisfies the condition 4 is a situation in which the vehicle-to-vehicle communication is not performed even though the other vehicle is stopped within the range where the vehicle-to-vehicle communication can be performed. It can be determined that the corresponding other vehicle is in a state where the power supply is stopped.

  When the condition 4 is not satisfied, the other vehicle state determination unit 207 determines whether the following condition 5 and condition 6 are satisfied.

When the following condition 5 is satisfied, the other vehicle state determination unit 207 determines that the vehicle state of the other vehicle is “preparing to stop” which is one of special states. The determination as to whether or not the corresponding other vehicle is preparing to stop is performed based on information acquired via the inter-vehicle communication device 192.
(Condition 5) The vehicle type of the relevant other vehicle is the small vehicle 130, and the state where the vehicle speed of the relevant other vehicle is 0 (that is, the state where the relevant other vehicle is stopped) continues for a predetermined time T1. In addition, it is detected by the stop state detection part 229 that the state where the vehicle speed of the corresponding other vehicle is 0 is continued for a certain time T1.

  When it is determined that the corresponding other vehicle (small vehicle 130) is in preparation for stopping, the other vehicle state determination unit 207 indicates a value “1” indicating “preparing to stop: no notification destination” as the vehicle state of the corresponding other vehicle. Is set in the other vehicle state determination result management table 214.

When the following condition 6 is satisfied, the other vehicle state determination unit 207 determines that the vehicle state of the other vehicle is “preparing to stop”, which is one of special states. The determination as to whether or not the corresponding other vehicle is preparing to stop is performed based on information acquired via the inter-vehicle communication device 192.
(Condition 6) The vehicle type of the relevant other vehicle is a large vehicle 110, the operation state of the relevant other vehicle is “non-operational”, and the vehicle speed of the relevant other vehicle is 0 (that is, the relevant other vehicle) When the operation state of the other vehicle is “non-operating” is detected by the non-operating state detection unit 230. The stop state detecting unit 229 detects that the state where the vehicle speed of the corresponding other vehicle is 0 continues for a certain time T2.

  When it is determined that the corresponding other vehicle is being prepared to stop, the reception state detection unit 231 of the other vehicle state determination unit 207 determines whether or not the corresponding other vehicle is in a state where it can communicate with the operation management center 140. .

  If it is determined that the corresponding other vehicle (large vehicle 110) is preparing to stop and it is determined that the corresponding other vehicle is not in a state in which communication with the operation management center 140 is possible, the other vehicle state determination unit 207 As the vehicle state of the other vehicle, a value “1” representing “not ready for stop: no notification destination” is set in the other vehicle state determination result management table 214. In addition, when it is determined that the corresponding other vehicle is in preparation for stoppage and the corresponding other vehicle is in a state where communication with the operation management center 140 is possible, the other vehicle state determination unit 207 As a vehicle state, a value “2” indicating “Preparing for stoppage: notification destination present” is set.

  When none of Condition 4, Condition 5, and Condition 6 is satisfied, the other vehicle state determination unit 207 determines that the corresponding other vehicle is not in the “special state”. When it is determined that the corresponding other vehicle is not in the “special state”, the other vehicle state determination unit 207 sets a value “0” representing “normally operating” as the vehicle state of the corresponding other vehicle.

  The other vehicle state determination unit 207 updates the other vehicle state determination result management table 214 based on the determination result of the other vehicle state. The other vehicle information stored in the other vehicle state determination result management table 214 including that the other vehicle is in a “special state” is transmitted to the inter-vehicle communication unit 202 and the operation management terminal communication unit 203 by the transmission control unit 222. Is output.

  The transmission control unit 222 outputs the own vehicle information of the own vehicle raw data management table 211 to the inter-vehicle communication unit 202. When the own vehicle is set in the “special state” in the own vehicle state determination result management table 213, the transmission control unit 222 uses the contents of the own vehicle state determination result management table 213 as the inter-vehicle communication unit 202. Output to the operation management terminal communication unit 203. Furthermore, when another vehicle in the “special state” is set in the other vehicle state determination result management table 214, the transmission control unit 222 and the other vehicle raw data management table 212 and the other vehicle state determination regarding the corresponding other vehicle. The contents of the result management table 214 are output to the inter-vehicle communication unit 202 and the operation management terminal communication unit 203.

  Information on the own vehicle stored in the own vehicle raw data management table 211 (including position information of the own vehicle) and information on other vehicles stored in the other vehicle raw data management table 212 (position information on other vehicles). Is output to the interference risk determination unit 208.

  The interference risk determination unit 208 determines whether there is a risk of interference between the host vehicle and the other vehicle based on the information on the host vehicle acquired from the database 205 and the information on the other vehicle. The interference risk determination unit 208 determines that there is a risk of interference when, for example, the relative distance between the host vehicle and other vehicles existing around the host vehicle is equal to or less than a predetermined distance, It is determined that there is no risk of interference when the relative distance to another vehicle is greater than a certain distance.

  When it is determined that there is a risk of interference between the host vehicle and another vehicle, the interference risk determination unit 208 outputs the interference risk determination result to the warning information generation / transmission unit 220. The warning information generation / transmission unit 220 generates an interference warning signal based on the determination result of the interference risk, and outputs it to the operator notification unit 204 and the control signal generation unit 209.

  The operator notification unit 204 outputs the interference warning signal acquired from the warning information generation / transmission unit 220 to the operator user I / F 103. When an interference warning signal is input to the operator user I / F 103, the operator user I / F 103 including a display device and a voice output device displays a warning image or outputs a warning voice.

  The control signal generation unit 209 generates a control signal for avoiding a risk based on the interference warning signal acquired from the warning information generation / transmission unit 220 and outputs the control signal to the vehicle control system 104. When a control signal for avoiding a risk is input to the vehicle control system 104, the vehicle control system 104 performs a avoidance control such as operating a braking device (not shown) of the host vehicle to decelerate the host vehicle. . The control signal generation unit 209 generates a control signal for avoiding the risk based on the risk determination result acquired from the interference risk determination unit 208 and outputs the control signal to the vehicle control system 104.

  The in-vehicle device 152 of the small vehicle 130 does not include the operation management terminal 102 or the vehicle control system 104. That is, in the driving support device 101 of the in-vehicle device 152, the operation management terminal communication unit 203 and the control signal generation unit 209 can be omitted. The interference risk determination unit 208 of the driving support device 101 mounted on the small vehicle 130 is acquired by the other vehicle information (including position information of the other vehicle) acquired by the inter-vehicle communication unit 202 and the own vehicle information acquisition unit 201. Whether there is a risk of interference between the host vehicle and another vehicle is determined based on the information of the host vehicle (including the position information of the host vehicle). Similar to the driving support device 101 of the large vehicle 110, the driving support device 101 of the small vehicle 130 is boarding the small vehicle 130 via the operator user I / F 103 when it is determined that there is a risk of interference. Warn the operator.

  FIG. 3 is a diagram showing a display screen 1101 of a display device which is an example of the operator user I / F 103. FIG. 3A shows an example of a normal display screen 1101 in which no warning is given. In normal times, a map image around the host vehicle is displayed on the display screen 1101 of the operator user I / F 103. On the display screen 1101, the host vehicle is displayed as a black triangle, and the positions of other vehicles obtained by inter-vehicle communication or center communication are displayed as white triangles. Although not shown, when the interference risk determination unit 208 determines that there is a risk of interference with another vehicle, a warning image is displayed on the display screen 1101 based on the warning signal generated by the operator notification unit 204.

  FIG. 3B shows an example of a display screen 1101 displayed when the host vehicle is in a “special state” and the operator needs to be notified. If the power of the host vehicle is turned off in a state where communication with either the operation management center 140 or the other vehicle cannot be performed, the other vehicle cannot recognize the presence of the host vehicle. Therefore, when the host vehicle state determination unit 206 determines that the host vehicle is in a “special state”, the operator user I / F 103 generates a warning image 150 based on the warning signal generated by the operator notification unit 204. Is displayed on the display screen 1101.

  The warning image 150 is an image that alerts the operator not to turn off the power. For example, the warning image 150 is an image of a sentence “Please do not turn off the power”. If the state in which the warning image 150 is displayed is maintained, it is difficult to grasp the situation around the host vehicle. For this reason, the warning image 150 may be hidden after a certain period of time has elapsed since the warning image 150 is displayed, and returned to the normal display screen 1101 as shown in FIG. If the special state continues, it is preferable to display the warning image 150 periodically. Further, the warning image 150 may be reduced to a reduced image instead of being hidden.

  FIG. 3C shows an example of the display screen 1101 when the state of the host vehicle changes from the “special state” to the normal state and the warning to the operator is released. When a warning release signal is input from the operator notification unit 204, the operator user I / F 103 displays a warning release image 153 indicating that the warning has been released on the display screen 1101 instead of the warning image 150.

  In a normal state, communication with at least one of the operation management center 140 and other vehicles is possible. Accordingly, the warning release image 153 is an image for notifying the operator that the power can be turned off, and is an image of a sentence such as “You can turn off the power”, for example. The warning canceling image 153 is not displayed after a predetermined time has elapsed since the warning canceling image 153 is displayed, and returns to the normal display screen 1101 as shown in FIG.

  FIG. 4 is a diagram illustrating a format of vehicle-to-vehicle communication data transmitted and received by the vehicle-to-vehicle communication unit 202 of the driving support apparatus 101. The vehicle-to-vehicle communication data 300 transmitted / received by the inter-vehicle communication is the number N of special state vehicle data (1) ... special state set by the transmission source data 301, the number of additional vehicle data 303, and the number of additional vehicle data 303 It has vehicle data (N) 304. N is an integer of 1 or more.

  The transmission source data 301 includes transmission source raw data 305 and transmission source determination result data 306. The transmission source raw data 305 includes vehicle identifier 341, vehicle type 342, position 343, vehicle speed 344, traveling direction 345, vehicle body direction 346, and operation state 347 as specific data regarding the host vehicle.

  The vehicle identifier 341 is an identifier for uniquely identifying whether the transmission source vehicle is one of the vehicles at the mine site, and a value that does not overlap each other is set in advance. In the vehicle identifier 341, the value of the identifier of the vehicle on which the driving support device 101 that transmitted the inter-vehicle communication data 300 is mounted is set.

  The vehicle type 342 is an identifier for identifying the type of the transmission source vehicle. In the vehicle type 342, for example, a value corresponding to the type of each vehicle such as a dump truck, an excavator, a wheel loader, a grader, a dozer, a drill, and a small vehicle is set.

  The position 343 is data representing the position of the transmission source vehicle. In the position 343, the latitude and longitude corresponding to the position of the host vehicle in the mine acquired by the host vehicle information acquisition unit 201 are set.

  The vehicle speed 344 is data representing the speed of the transmission source vehicle. The speed of the vehicle is generated based on, for example, a vehicle speed pulse signal output from a vehicle speed sensor (not shown) and input to the host vehicle information acquisition unit 201 via the vehicle control system 104. The speed of the vehicle can also be generated based on the amount of change in position measured by the own vehicle information acquisition unit 201.

  The traveling direction 345 is data representing the traveling direction of the transmission source vehicle. The traveling direction 345 is, for example, the direction of the vehicle speed vector output from the gyro sensor (not shown) and input to the host vehicle information acquisition unit 201 via the vehicle control system 104.

  The vehicle body direction 346 is data representing the direction of the transmission source vehicle. The vehicle body direction 346 has the same value as the traveling direction 345 when the vehicle is traveling straight, for example. On the other hand, when the vehicle is moving backward, the difference between the value in the traveling direction 345 and the value in the vehicle direction 346 is 180 degrees, indicating directions opposite to each other.

  The operation state 347 is data representing the current state of the transmission source vehicle managed by the operation management system, and is acquired by the operation management terminal communication unit 203. In the operation state 347, for example, when the vehicle type of the host vehicle is a dump truck, “not working”, “transporting (FULL)”, “loading”, “unloading”, “transporting (EMPTY)” Etc. are set.

  The transmission source determination result data 306 includes a special state 348 and presence / absence of communication 349 with the center as specific data representing the result of the state determination for the host vehicle.

  The special state 348 is information on the “special state” of the host vehicle that should be notified to the operation management center 140 and other vehicles around the host vehicle. In the special state 348, “preparing to stop”, “during normal operation”, or the like is set.

  The presence / absence of communication 349 with the center is information indicating whether or not the transmission source vehicle is currently able to communicate with the operation management center 140. In the inter-vehicle communication data 300 transmitted from a vehicle that does not have the operation management terminal 102 such as the small vehicle 130, “0 (no communication)” is always set in the communication presence / absence 349 with the center. .

  The special state vehicle data 304 is distributed when the other vehicle state determination unit 207 determines that the state of the corresponding other vehicle should be distributed to other surrounding vehicles, and is information on the other vehicle in the “special state”. have. In the present embodiment, each special state vehicle data 304 includes special state vehicle raw data 307 and special state vehicle determination result data 308.

  The special state vehicle raw data 307 includes information on other vehicles used for risk determination of interference with other vehicles. In the present embodiment, the special state raw raw data 307 includes a vehicle identifier 311, a vehicle type 312, a position 313, a vehicle speed 314, a traveling direction 315, a vehicle body direction 316, and an operation state 317.

  The vehicle identifier 311 is an identifier for uniquely identifying whether the corresponding other vehicle determined to be in the special state is one of the vehicles at the mine site. The vehicle identifier 311 includes the vehicle identifier 341 of the transmission source data 301 of the inter-vehicle communication data 300 transmitted from the corresponding other vehicle, or the corresponding other vehicle set in the special state vehicle data 363 of the center distribution data 360 described later. A vehicle identifier 311 is set.

  The vehicle type 312 is an identifier that identifies the type of the corresponding other vehicle. As the vehicle type 312, the vehicle type 312 of the corresponding other vehicle set in the vehicle type 342 of the transmission source data 301 of the inter-vehicle communication data 300 transmitted from the corresponding other vehicle or the special state vehicle data 363 of the center distribution data 360 described later. Is set.

  The position 313 is information indicating the position of the corresponding other vehicle. At the position 313, the position 313 of the corresponding other vehicle set in the position 343 of the transmission source data 301 of the inter-vehicle communication data 300 transmitted from the corresponding other vehicle or the special state vehicle data 363 of the center distribution data 360 described later. Is set.

  The vehicle speed 314 is information representing the speed of the corresponding other vehicle. As the vehicle speed 314, the vehicle speed 314 of the corresponding other vehicle set in the vehicle speed 344 of the transmission source data 301 of the inter-vehicle communication data 300 transmitted from the corresponding other vehicle or the special state vehicle data 363 of the center distribution data 360 described later. Is set.

  The traveling direction 315 is information indicating the traveling direction of the corresponding other vehicle. The traveling direction 315 includes the traveling direction 345 of the transmission source data 301 of the inter-vehicle communication data 300 transmitted from the corresponding other vehicle, or the corresponding other vehicle set in the special state vehicle data 363 of the center distribution data 360 described later. A traveling direction 315 is set.

  The vehicle body direction 316 is information indicating the direction of the corresponding other vehicle. The vehicle body direction 316 includes the vehicle body direction 346 of the transmission source data 301 of the inter-vehicle communication data 300 transmitted from the corresponding other vehicle, or the vehicle body direction of the corresponding other vehicle set in the special state vehicle data 363 of the center distribution data 360. 316 is set.

  The operation state 317 is information representing the state of the corresponding other vehicle managed by the operation management system. The operation state 317 includes the operation state 347 of the transmission source data 301 of the inter-vehicle communication data 300 transmitted from the other vehicle, or the operation state of the other vehicle set in the special state vehicle data 363 of the center distribution data 360. 317 is set.

  The special state vehicle determination result data 308 includes information indicating the result of the state determination for the corresponding other vehicle. The special state vehicle determination result data 308 includes a special state 318, presence / absence of communication 319 with the center, and elapsed time 320.

  The special state 318 is information regarding the “special state” of the relevant other vehicle that should be notified to the operation management center 140 and other vehicles around the host vehicle. In the special state 318, the special state 348 of the transmission source data 301 of the inter-vehicle communication data 300 transmitted from the relevant other vehicle, or the relevant other vehicle set in the special state vehicle data 363 of the center distribution data 360 described later. The vehicle state of the special state 318 or the corresponding other vehicle determined to be in a special state by the other vehicle state determination unit 207 is set.

  The communication presence / absence 319 with the center is information indicating whether or not the relevant other vehicle is currently communicating with the operation management center 140. The presence / absence of communication 319 with the center includes the presence / absence 349 of communication with the center set in the transmission source data 301 of the inter-vehicle communication data 300 transmitted from the corresponding other vehicle, or special state vehicle data of the center distribution data 360 described later. Communication presence / absence 319 with the center of the corresponding other vehicle set to 363 is set.

  The elapsed time 320 is the time that has elapsed since the information of the relevant other vehicle was acquired.

  FIG. 5A is a diagram showing a format of center notification data (data transmitted from the vehicle to the center) 350 that the driving support apparatus 101 transmits to the operation management center 140 via the operation management terminal 102. The center notification data 350 transmitted from the vehicle to the operation management center 140 includes the additional vehicle data number 353 and the number N of special state vehicle data (1)... Special state vehicle data (set by the additional vehicle data number 353). N) 354.

  Since the special state vehicle data 354 has the same structure as the special state vehicle data 304 of the inter-vehicle communication data 300, description thereof will be omitted.

  FIG. 5B is a diagram showing a format of center distribution data (data transmitted from the center to the vehicle) 360 received by the driving support apparatus 101 from the operation management center 140 via the operation management terminal 102. The center distribution data 360 transmitted from the operation management center 140 to the vehicle includes the special state vehicle data (1) of the number N set by the operation instruction 361, the special state vehicle data number 362, and the special state vehicle data number 362. -It has special state vehicle data (N) 363.

  The operation instruction 361 is information on a work instruction to the operator for the operation management center 140 to manage the corresponding vehicle. In the operation instruction 361, for example, information for designating a loading destination, information for designating a transport destination, and the like are set.

  Since the special state vehicle data 363 has the same structure as the special state vehicle data 304 of the inter-vehicle communication data 300, description thereof will be omitted.

  FIG. 6 is a diagram illustrating an example of the configuration of the own vehicle raw data management table 211. As shown in FIG. 6, in the own vehicle raw data management table 211, own vehicle data 401 having a plurality of items, a value 402 set for each item of the own vehicle data 401, and the value 402 are updated and set. An update time 403 that is a new time is stored.

  In the own vehicle data 401, a vehicle identifier 411, a vehicle type 412, a latitude 413, a longitude 414, a vehicle speed 415, a traveling direction 416, a vehicle body direction 417, an operation state 418, a power state 419, and a center communication state 420 are preset as items. Has been.

  The value 402 is set by the host vehicle information acquisition unit 201, the operation management terminal communication unit 203, and the host vehicle state determination unit 206 for each item of the host vehicle data 401.

  The vehicle identifier 411 is an identifier for uniquely identifying the vehicle. In the value 402 of the vehicle identifier 411, an identifier (for example, “T001”) for identifying the host vehicle is set in advance, and is not updated during operation. The vehicle type 412 is an identifier for identifying the type of vehicle. The value 402 of the vehicle type 412 is preset with the vehicle type (for example, “dump truck”) of the host vehicle, and is not updated during operation.

  Each of latitude 413 and longitude 414 which are position information of the own vehicle, a vehicle speed 415 representing the speed of the own vehicle, a traveling direction 416 representing the direction of the speed vector of the own vehicle, and a vehicle body direction 417 representing the direction of the own vehicle The value is updated each time the own vehicle information acquisition unit 201 acquires information about the own vehicle. As described above, the update time 403 corresponding to the item to be updated is also updated at the time when the value 402 is updated.

  The operation state 418 is information representing the current state of the host vehicle managed by the operation management system, and is acquired by the operation management terminal communication unit 203. The operation state 418 includes “0 (not set)”, “1 (no operation)”, “2 (transporting (FULL))”, “3 (loading)”, “4 (unloading)” , “5 (transporting (EMPTY))” or the like is set. As the operation state setting method, instead of setting the operation state based on the information (operation instruction 361) transmitted from the operation management center 140, the own vehicle state determination unit 206 determines the current operation state of the own vehicle. , You may set. In this case, the host vehicle state determination unit 206 determines, for example, whether the vehicle state is a loading state or an unloading state based on the suspension pressure information of the dump truck 110A.

  The value 402 and the update time 403 of the operation state 418 are updated by the operation management terminal communication unit 203 every time the operation management terminal communication unit 203 acquires the state of the host vehicle managed by the operation management system.

  The power state 419 is information representing the power state of the host vehicle. The value 402 of the power supply state 419 is updated at the timing when the power supply state transitions in the own vehicle information acquisition unit 201. Therefore, the update time 403 represents the time when the state of the power supply changes.

  The center communication state 420 is information indicating whether or not the vehicle is currently in a state where communication with the operation management center 140 is possible. The center communication state 420 is set to “1 (possible)” when communication with the operation management center 140 is possible, and when communication with the operation management center 140 is impossible. “0 (impossible)” is set.

  The determination as to whether or not communication with the operation management center 140 is possible is performed by the reception state detection unit 228 of the host vehicle state determination unit 206. When receiving the information from the operation management center 140, the reception state detection unit 228 determines that communication with the operation management center 140 is possible, and the value 402 of the center communication state 420 is “1 (possible)”. And the update time 403 is updated to the set time.

  The reception state detection unit 228 determines that communication with the operation management center 140 is impossible when information from the operation management center 140 is not received for a predetermined time (threshold). , Output the judgment result. Specifically, the reception state detection unit 228 periodically acquires the update time 403 of the center communication state 420 and determines whether or not the difference value between the current time and the update time 403 is equal to or greater than the time threshold value. If the difference value between the current time and the update time 403 is equal to or greater than the time threshold, the reception state detection unit 228 determines that communication is not possible, and the value 402 of the center communication state 420 is “0 (impossible)”. And the update time 403 is updated to the set time.

  FIG. 7 is a diagram illustrating an example of the configuration of the other vehicle raw data management table 212. As shown in FIG. 7, the other vehicle raw data management table 212 includes a vehicle identifier 501, a vehicle type 502, a latitude 503, a longitude 504, a vehicle speed 505, a traveling direction 506, a vehicle body direction 507, an operation state 508, a special state 509, and a progress. Each data of time 510, center communication state 511, reception time 512, and acquisition means 513 is stored for each row corresponding to each other vehicle. The other vehicle raw data management table 212 stores each piece of data for each acquisition unit 513 when there are a plurality of acquisition units 513 even for the same vehicle.

  When the inter-vehicle communication unit 202 or the operation management terminal communication unit 203 receives information on the corresponding other vehicle in the “special state”, the driving support apparatus 101 performs the following operation on each row of the other vehicle raw data management table 212. Execute overwrite processing and additional processing. Note that the driving support device 101 executes a deletion process for the row when there is no update for a predetermined time or more after the last update, such as an overwrite process or an addition process.

  The vehicle identifier 501 is an identifier for uniquely identifying the vehicle at the mine site, and a value that does not overlap between the vehicles is set in advance. The vehicle type 502 is an identifier for identifying the type of the corresponding other vehicle identified by the vehicle identifier 501. Latitude 503 and longitude 504 are information representing the position of the corresponding other vehicle.

  The vehicle speed 505 is information indicating the speed of the corresponding other vehicle. The traveling direction 506 is information representing the direction of the speed vector of the corresponding other vehicle. The vehicle body direction 507 is information indicating the direction of the corresponding other vehicle. The operation state 508 is information representing the state of the corresponding other vehicle managed as the operation management system.

  The special state 509 is information indicating whether or not the corresponding other vehicle is in a “special state” to be notified to the operation management center 140 or other vehicles around the host vehicle. The elapsed time 510 is information representing the time that has elapsed since the information of the relevant other vehicle was generated in the relevant other vehicle at the timing of receiving the relevant other vehicle information.

  The center communication state 511 indicates whether or not the corresponding other vehicle is in a state in which communication with the operation management center 140 is possible. “1” indicates that communication is possible at the reception time, and “0” indicates at the reception time. Indicates that communication was not possible. The reception time 512 is information representing the time when the information on the corresponding other vehicle is acquired via the inter-vehicle communication unit 202 or the operation management terminal communication unit 203.

  The acquisition means 513 is information representing the means for acquiring the information of the corresponding other vehicle, and indicates whether the acquisition is performed via the inter-vehicle communication unit 202 or the operation management terminal communication unit 203. Yes. The contents indicated by the values (“0” to “3”) set in the acquisition unit 513 are as follows. “0” indicates that it has not been set, “1” indicates that it has been acquired directly from the relevant other vehicle via the inter-vehicle communication unit 202, and “2” indicates that it has been acquired via the operation management terminal communication unit 203. “3” indicates that the information is indirectly acquired from another vehicle different from the corresponding other vehicle via the inter-vehicle communication unit 202.

-Data update via vehicle-to-vehicle communication (direct acquisition)-
When the vehicle-to-vehicle communication unit 202 receives the vehicle-to-vehicle communication data 300, the other-vehicle raw data management table 212 is updated based on the received information.

  The inter-vehicle communication unit 202 sets the same value as the vehicle identifier 341 set in the transmission source data 301 of the inter-vehicle communication data 300 in the vehicle identifier 501, and the acquisition unit 513 obtains “1 (directly acquired by inter-vehicle communication). ) ". When the corresponding data does not exist, the inter-vehicle communication unit 202 executes an additional process of adding the input data as new data. When the corresponding data exists, the vehicle-to-vehicle communication unit 202 executes an overwrite process based on the input data. During the data overwriting process or the new data adding process, the inter-vehicle communication unit 202 executes the following data setting process.

  The inter-vehicle communication unit 202 sets the vehicle type 342 of the transmission source data 301 of the inter-vehicle communication data 300 in the vehicle type 502 of the other vehicle raw data management table 212. The inter-vehicle communication unit 202 sets the position 343 (latitude and longitude) of the transmission source data 301 of the inter-vehicle communication data 300 in the latitude 503 and longitude 504 of the other vehicle raw data management table 212.

  The inter-vehicle communication unit 202 sets the vehicle speed 344 of the transmission source data 301 of the inter-vehicle communication data 300 in the vehicle speed 505 of the other vehicle raw data management table 212. The inter-vehicle communication unit 202 sets the traveling direction 345 of the transmission source data 301 of the inter-vehicle communication data 300 in the traveling direction 506 of the other vehicle raw data management table 212.

  The inter-vehicle communication unit 202 sets the vehicle body direction 346 of the transmission source data 301 of the inter-vehicle communication data 300 in the vehicle body direction 507 of the other vehicle raw data management table 212. The inter-vehicle communication unit 202 sets the operation state 347 of the transmission source data 301 of the inter-vehicle communication data 300 in the operation state 508 of the other vehicle raw data management table 212.

  The inter-vehicle communication unit 202 sets the special state 348 of the transmission source data 301 of the inter-vehicle communication data 300 in the special state 509 of the other vehicle raw data management table 212. The inter-vehicle communication unit 202 sets communication presence / absence 349 with the center of the transmission source data 301 of the inter-vehicle communication data 300 in the center communication state 511 of the other vehicle raw data management table 212.

  The inter-vehicle communication unit 202 sets 0.0 as the elapsed time 510 of the other vehicle raw data management table 212 and sets the time when the additional process or the overwrite process is executed as the reception time 512. When the new data addition process is executed, the inter-vehicle communication unit 202 sets the vehicle identifier 341 of the transmission source data 301 of the inter-vehicle communication data 300 in the vehicle identifier 501 of the other vehicle raw data management table 212, and acquires it. The means 513 is set to “1 (directly acquired by inter-vehicle communication)”.

-Data update by vehicle-to-vehicle communication (indirect acquisition)-
When a value of 1 or more is set in the number of additional vehicle data 303 of the inter-vehicle communication data 300 shown in FIG. 4, the inter-vehicle communication unit 202 inputs the input information for each set special state vehicle data 304. The other vehicle raw data management table 212 is updated based on the above.

  The vehicle-to-vehicle communication unit 202 sets the same value as the vehicle identifier 311 set in the special state vehicle data 304 of the vehicle-to-vehicle communication data 300 in the vehicle identifier 501, and the acquisition unit 513 sets “3 (indirect communication via vehicle-to-vehicle communication). Search for data that is “acquired”. When the corresponding data does not exist, the inter-vehicle communication unit 202 executes an additional process of adding the input data as new data. When the corresponding data exists, the vehicle-to-vehicle communication unit 202 executes an overwrite process based on the input data.

  The inter-vehicle communication unit 202 determines the difference between the elapsed time 320 of the special state vehicle data 304 of the inter-vehicle communication data 300 and the reception time 512 of the data already set in the other vehicle raw data management table 212 and the current time (current (Time-reception time) and time Tp1 obtained by adding elapsed time 510 are compared. When the elapsed time 320 is smaller than the time Tp1, the inter-vehicle communication unit 202 performs an overwriting process based on the input data. During the data overwriting process or the new data adding process, the inter-vehicle communication unit 202 executes the following data setting process.

  The inter-vehicle communication unit 202 sets the vehicle type 312 of the special state vehicle data 304 of the inter-vehicle communication data 300 in the vehicle type 502 of the other vehicle raw data management table 212. The inter-vehicle communication unit 202 sets the position 313 (latitude and longitude) of the special state vehicle data 304 of the inter-vehicle communication data 300 to the latitude 503 and longitude 504 of the other vehicle raw data management table 212.

  The inter-vehicle communication unit 202 sets the vehicle speed 314 of the special state vehicle data 304 of the inter-vehicle communication data 300 in the vehicle speed 505 of the other vehicle raw data management table 212. The inter-vehicle communication unit 202 sets the traveling direction 315 of the special state vehicle data 304 of the inter-vehicle communication data 300 in the traveling direction 506 of the other vehicle raw data management table 212.

  The inter-vehicle communication unit 202 sets the vehicle body direction 316 of the special state vehicle data 304 of the inter-vehicle communication data 300 in the vehicle body direction 507 of the other vehicle raw data management table 212. The inter-vehicle communication unit 202 sets the operation state 317 of the special state vehicle data 304 of the inter-vehicle communication data 300 in the operation state 508 of the other vehicle raw data management table 212.

  The inter-vehicle communication unit 202 sets the special state 318 of the special state vehicle data 304 of the inter-vehicle communication data 300 in the special state 509 of the other vehicle raw data management table 212. The inter-vehicle communication unit 202 sets the presence / absence of communication 319 with the center of the special state vehicle data 304 of the inter-vehicle communication data 300 in the center communication state 511 of the other vehicle raw data management table 212.

  The inter-vehicle communication unit 202 sets the elapsed time 320 of the special state vehicle data 304 of the inter-vehicle communication data 300 in the elapsed time 510 of the other vehicle raw data management table 212, and executes an additional process or an overwrite process at the reception time 512. Set the time. When the new data addition process is executed, the inter-vehicle communication unit 202 sets the vehicle identifier 311 of the special state vehicle data 304 of the inter-vehicle communication data 300 in the vehicle identifier 501 of the other vehicle raw data management table 212. The acquisition unit 513 is set to “3 (indirect acquisition through inter-vehicle communication)”.

-Data update by distribution from the center-
When receiving the center distribution data 360, the operation management terminal communication unit 203 updates the own vehicle raw data management table 211 and the other vehicle raw data management table 212 based on the received information.

  When a value of 1 or more is set in the special state vehicle data number 362 of the center distribution data 360 illustrated in FIG. 5B, the operation management terminal communication unit 203 sets the special state vehicle data 363 for each set special state vehicle data 363. The other vehicle raw data management table 212 is updated based on the input information.

  The operation management terminal communication unit 203 sets the same value as the vehicle identifier 311 set in the special state vehicle data 363 of the center distribution data 360 in the vehicle identifier 501, and the acquisition unit 513 sets “2 (communication with the center). Search for data that is " When the corresponding data does not exist, the operation management terminal communication unit 203 executes an additional process of adding the input data as new data. When the corresponding data exists, the operation management terminal communication unit 203 executes an overwrite process based on the input data.

  The operation management terminal communication unit 203 determines the difference between the elapsed time 320 of the special state vehicle data 363 of the center distribution data 360 and the reception time 512 of the information already set in the other vehicle raw data management table 212 ( (Current time-reception time) and time Tp2 obtained by adding elapsed time 510 are compared. When the elapsed time 320 is smaller than the time Tp2, the operation management terminal communication unit 203 executes an overwriting process based on the input data. In the data overwriting process or the new data adding process, the operation management terminal communication unit 203 executes the following data setting process.

  The operation management terminal communication unit 203 sets the vehicle type 312 of the special state vehicle data 363 of the center distribution data 360 in the vehicle type 502 of the other vehicle raw data management table 212. The operation management terminal communication unit 203 sets the position 313 (latitude and longitude) of the special state vehicle data 363 of the center distribution data 360 to the latitude 503 and longitude 504 of the other vehicle raw data management table 212.

  The operation management terminal communication unit 203 sets the vehicle speed 314 of the special state vehicle data 363 of the center distribution data 360 to the vehicle speed 505 of the other vehicle raw data management table 212. The operation management terminal communication unit 203 sets the traveling direction 315 of the special state vehicle data 363 of the center distribution data 360 in the traveling direction 506 of the other vehicle raw data management table 212.

  The operation management terminal communication unit 203 sets the vehicle body direction 316 of the special state vehicle data 363 of the center distribution data 360 in the vehicle body direction 507 of the other vehicle raw data management table 212. The operation management terminal communication unit 203 sets the operation state 317 of the special state vehicle data 363 of the center distribution data 360 in the operation state 508 of the other vehicle raw data management table 212.

  The operation management terminal communication unit 203 sets the special state 318 of the special state vehicle data 363 of the center distribution data 360 in the special state 509 of the other vehicle raw data management table 212. The operation management terminal communication unit 203 sets the presence / absence of communication 319 with the center of the special state vehicle data 363 of the center distribution data 360 in the center communication state 511 of the other vehicle raw data management table 212.

  The operation management terminal communication unit 203 sets the elapsed time 320 of the special state vehicle data 363 of the center distribution data 360 to the elapsed time 510 of the other vehicle raw data management table 212, and executes an additional process or an overwrite process at the reception time 512. Set the time. When the new data addition process is executed, the operation management terminal communication unit 203 sets the vehicle identifier 311 of the special state vehicle data 363 of the center distribution data 360 in the vehicle identifier 501 of the other vehicle raw data management table 212. , “2 (acquired by communication with the center)” is set in the acquisition means 513.

  FIG. 8 is a diagram illustrating an example of the configuration of the own vehicle state determination result management table 213. The own vehicle state determination result management table 213 is updated by the own vehicle state determination unit 206 based on the determination result of the own vehicle state determination unit 206 as described above.

  As shown in FIG. 8, the host vehicle state determination result management table 213 stores vehicle state 601, notification 602 to the operator, notification 603 to the center, and data related to the host vehicle at the update time 604. The vehicle state 601 is information indicating whether or not the host vehicle is in a “special state”. As described above, in this embodiment, the case of not being in the “special state” is the case of “0 (normal operation)”, and the case of being in the “special state” is “0 (normal operation) ) ”.

  The notification 602 to the operator is information indicating whether or not it is necessary to notify the operator of information on the own vehicle. Whether or not it is necessary to notify the operator of information on the host vehicle is determined by the host vehicle state determination unit 206. If it is determined that there is no need to notify the operator, the host vehicle state determination unit 206 sets “0 (non notification)” to the notification 602 to the operator. When it is determined that it is necessary to notify the operator, the own vehicle state determination unit 206 sets “1 (notification)” in the notification 602 to the operator.

  The notification 603 to the center is information indicating whether or not it is necessary to notify the operation management center 140 of information on the own vehicle. Whether or not it is necessary to notify the operation management center 140 of information on the host vehicle is determined by the host vehicle state determination unit 206. When it is determined that there is no need to notify the operation management center 140, the own vehicle state determination unit 206 sets “0 (not notified)” to the notification 603 to the center. If the own vehicle state determination unit 206 determines that the operation management center 140 needs to be notified, the own vehicle state determination unit 206 sets “1 (notification)” in the notification 603 to the center.

  The update time 604 is set to the time when the vehicle state 601 of the host vehicle is changed. The update time 604 is set to the time when the driving support apparatus 101 is activated as an initial value.

  FIG. 9 is a diagram illustrating an example of the configuration of the other vehicle state determination result management table 214. The other vehicle state determination result management table 214 is updated based on the determination result of the other vehicle state determination unit 207 as described above. In the other vehicle state determination result management table 214, the current state of all detected other vehicles is set.

  As shown in FIG. 9, the other vehicle state determination result management table 214 includes data of a vehicle identifier 701, an acquisition unit 702, a vehicle state 703, a notification 704 to another vehicle, a notification 705 to the center, and an update time 706. , Stored for each row corresponding to each other vehicle. In the other vehicle raw data management table 212 described above, a plurality of rows of data may be registered for one vehicle (see FIG. 7). On the other hand, in the other vehicle state determination result management table 214, a plurality of rows of data are not registered for one vehicle, and one row of data is registered for one vehicle.

  The vehicle identifier 701 is an identifier for uniquely identifying a vehicle at a mine site, and a value that does not overlap between vehicles is set in advance. The vehicle state 703 is information indicating whether or not the corresponding other vehicle is in a “special state”. As described above, in this embodiment, the case of not being in the “special state” is the case of “0 (normal operation)”, and the case of being in the “special state” is “0 (normal operation) ) ”.

  The acquisition unit 702 is information indicating which acquisition unit is the latest information on the other vehicle used to set the vehicle state 703 of the corresponding other vehicle. The contents indicated by the values (“0” to “3”) set in the acquisition unit 702 are the same as the values set by the acquisition unit 513 described above, and thus description thereof is omitted.

  The notification 704 to the other vehicle is information indicating whether or not it is necessary to notify the other vehicle of information on the corresponding other vehicle. Whether or not it is necessary to notify the other vehicle of the information of the corresponding other vehicle is determined by the other vehicle state determination unit 207. When it is determined that there is no need to notify the other vehicle, the other vehicle state determination unit 207 sets “0 (non notification)” to the notification 704 to the other vehicle. If it is determined that it is necessary to notify the other vehicle, the other vehicle state determination unit 207 sets “1 (notification)” in the notification 704 to the other vehicle.

  For example, when the acquisition unit 702 is set to “3 (indirect acquisition by inter-vehicle communication)” and the vehicle state 703 is set to a value (1 to 3) representing “special state”. In order to avoid transferring information many times, the other vehicle state determination unit 207 determines that it is not necessary to notify the other vehicle, and sets “0 (non notification)”.

  The notification 705 to the center is information indicating whether or not it is necessary to notify the operation management center 140 of information on the corresponding other vehicle. The other vehicle state determination unit 207 determines whether or not it is necessary to notify the operation management center 140 of information on the corresponding other vehicle. When it is determined that there is no need to notify the operation management center 140, the other vehicle state determination unit 207 sets “0 (non notification)” to the notification 705 to the center. When it is determined that the operation management center 140 needs to be notified, the other vehicle state determination unit 207 sets “1 (notification)” in the notification 705 to the center.

  For example, when the acquisition unit 702 is set to “2 (acquired by communication with the center)”, the operation management center 140 already holds information, so the other vehicle state determination unit 207 informs the operation management center 140. It is determined that there is no need to notify, and “0 (not notified)” is set.

  The update time 706 is set to the time when the vehicle state 703 of the corresponding other vehicle is changed.

  The transmission control unit 222 generates inter-vehicle communication data 300 (see FIG. 4) based on the information in the own vehicle raw data management table 211 and the information in the own vehicle state determination result management table 213.

−Generation of source data for inter-vehicle communication data−
Of the transmission source data 301 of the inter-vehicle communication data 300, the transmission source raw data 305 is generated based on the own vehicle raw data management table 211. The transmission control unit 222 sets the value 402 of the vehicle identifier 411 of the own vehicle raw data management table 211 in the vehicle identifier 341 of the transmission source raw data 305. The transmission control unit 222 sets the value 402 of the vehicle type 412 of the own vehicle raw data management table 211 in the vehicle type 342 of the transmission source raw data 305.

  The transmission control unit 222 sets the values 402 of the latitude 413 and the longitude 414 of the own vehicle raw data management table 211 at the position 343 of the transmission source raw data 305. The transmission control unit 222 sets the value 402 of the vehicle speed 415 of the own vehicle raw data management table 211 to the vehicle speed 344 of the transmission source raw data 305.

  The transmission control unit 222 sets the value 402 of the traveling direction 416 of the own vehicle raw data management table 211 in the traveling direction 345 of the transmission source raw data 305. The transmission control unit 222 sets the value 402 of the vehicle body direction 417 of the own vehicle raw data management table 211 in the vehicle body direction 346 of the transmission source raw data 305.

  The transmission control unit 222 sets the value 402 of the operation state 418 of the own vehicle raw data management table 211 in the operation state 347 of the transmission source raw data 305.

  Of the transmission source data 301 of the inter-vehicle communication data 300, the transmission source determination result data 306 is generated based on the own vehicle raw data management table 211 and the own vehicle state determination result management table 213. The transmission control unit 222 sets the vehicle state 601 of the own vehicle state determination result management table 213 in the special state 348 of the transmission source determination result data 306. The transmission control unit 222 sets the value 402 of the center communication state 420 of the own vehicle raw data management table 211 to the communication presence / absence 349 of the transmission source determination result data 306 with the center.

−Generation of special state vehicle data for inter-vehicle communication data−
When a “special state” that is a state other than “0 (normally operating)” is set in the vehicle state 703 of the other vehicle state determination result management table 214, the transmission control unit 222 transmits the other vehicle raw data management table. Based on the value of 212 and the other vehicle state determination result management table 214, the first special state vehicle data 304 (special state vehicle data (1)) is generated.

  The transmission control unit 222 sets the vehicle identifier 501 of the other vehicle raw data management table 212 to the vehicle identifier 311 of the first special state vehicle data (1) 304. The transmission control unit 222 sets the vehicle type 502 of the other vehicle raw data management table 212 to the vehicle type 312 of the first special state vehicle data (1) 304.

  The transmission control unit 222 sets the latitude 503 and longitude 504 of the other vehicle raw data management table 212 at the position 313 of the first special state vehicle data (1) 304. The transmission control unit 222 sets the vehicle speed 505 of the other vehicle raw data management table 212 to the vehicle speed 314 of the first special state vehicle data (1) 304.

  The transmission control unit 222 sets the traveling direction 506 of the other vehicle raw data management table 212 to the traveling direction 315 of the first special state vehicle data (1) 304. The transmission control unit 222 sets the vehicle body direction 507 of the other vehicle raw data management table 212 to the vehicle body direction 316 of the first special state vehicle data (1) 304.

  The transmission control unit 222 sets the operation state 508 of the other vehicle raw data management table 212 to the operation state 317 of the first special state vehicle data (1) 304. The transmission control unit 222 sets the vehicle state 703 of the other vehicle state determination result management table 214 in the special state 318 of the first special state vehicle data (1) 304.

  The transmission control unit 222 sets the center communication state 511 of the other vehicle raw data management table 212 to the communication presence / absence 319 of the first special state vehicle data (1) 304 with the center. The transmission control unit 222 sets “0” to the elapsed time 320 of the first special state vehicle data (1) 304.

  When there are a plurality of vehicles in which “special state” that is a state other than “0 (normally operating)” is set in the vehicle state 703 of the other vehicle state determination result management table 214, the transmission control unit 222 Based on the values of the other vehicle raw data management table 212 and the other vehicle state determination result management table 214, the corresponding number (N) of the second and subsequent vehicles are obtained from the special state vehicle data 304 (special state vehicle data (2)). Up to special state vehicle data 304 (special state vehicle data (N)) is generated.

−Generation of special state vehicle data for center notification data−
When the vehicle state 601 of the own vehicle state determination result management table 213 is set to a “special state” that is a state other than “0 (normally operating)”, the transmission control unit 222 has the own vehicle raw data management table. Based on 211 and the value of the own vehicle state determination result management table 213, the first special state vehicle data 354 (special state vehicle data (1)) is generated.

  The transmission control unit 222 sets the value 402 of the vehicle identifier 411 of the own vehicle raw data management table 211 to the vehicle identifier 311 of the first special state vehicle data (1) 354. The transmission control unit 222 sets the value 402 of the vehicle type 412 of the own vehicle raw data management table 211 in the vehicle type 312 of the first special state vehicle data (1) 354.

  The transmission control unit 222 sets the values 402 of the latitude 413 and the longitude 414 of the own vehicle raw data management table 211 at the position 313 of the first special state vehicle data (1) 354. The transmission control unit 222 sets the value 402 of the vehicle speed 415 of the own vehicle raw data management table 211 to the vehicle speed 314 of the first special state vehicle data (1) 354.

  The transmission control unit 222 sets the value 402 of the traveling direction 416 of the own vehicle raw data management table 211 in the traveling direction 315 of the first special state vehicle data (1) 354. The transmission control unit 222 sets the value 402 of the vehicle body direction 417 of the own vehicle raw data management table 211 to the vehicle body direction 316 of the first special state vehicle data (1) 354.

  The transmission control unit 222 sets the value 402 of the operation state 418 of the own vehicle raw data management table 211 in the operation state 317 of the first special state vehicle data (1) 354. The transmission control unit 222 sets the value 402 of the vehicle state 601 of the own vehicle state determination result management table 213 in the special state 318 of the first special state vehicle data (1) 354.

  The transmission control unit 222 sets the value 402 of the center communication state 420 of the own vehicle raw data management table 211 to the presence / absence 319 of communication with the center of the first special state vehicle data (1) 354. The transmission control unit 222 sets “0” to the elapsed time 320 of the first special state vehicle data (1) 354.

  FIG. 10 is a flowchart illustrating an example of periodic processing executed by the driving support device 101. As shown in FIG. 10, in step S <b> 901, the driving support apparatus 101 executes host vehicle state update processing for updating the host vehicle state in the host vehicle state determination result management table 213. The own vehicle state determination result management table 213 shown in FIG. 8 is updated by the own vehicle state update process.

  FIG. 11 is a flowchart showing the own vehicle state update process executed by the driving support device 101. As shown in FIG. 11, in step S1001, the own vehicle state determination unit 206 acquires data of the own vehicle raw data management table 211, the own vehicle state determination result management table, and the other vehicle raw data management table 212. The process proceeds to step S1002.

  In step S1002, the host vehicle state determination unit 206 executes host vehicle state determination processing for determining the current state of the host vehicle.

  FIG. 12 is a flowchart showing the own vehicle state determination process executed by the driving support device 101. As shown in FIG. 12, in step S <b> 1401, the own vehicle state determination unit 206 determines whether or not the vehicle type 412 of the own vehicle is a small vehicle 130. In other words, step S1401 is processing for determining whether or not the host vehicle is under the management of the operation management center 140. If a positive determination is made in step S1401, the process proceeds to step S1402. If a negative determination is made in step S1401, the process proceeds to step S1404.

  In step S1402, the host vehicle state determination unit 206 determines whether or not the state in which the vehicle speed 415 is 0 continues for a predetermined time T1. If an affirmative determination is made in step S1402, the process proceeds to step S1403. If a negative determination is made in step S1402, the process proceeds to step S1411.

  In step S1403, the own vehicle state determination unit 206 determines whether another vehicle capable of inter-vehicle communication exists around the own vehicle based on information in the other vehicle raw data management table 212. If it is determined in step S1403 that there is no other vehicle capable of vehicle-to-vehicle communication, the process proceeds to step S1409. If it is determined in step S1403 that another vehicle capable of vehicle-to-vehicle communication exists, the process proceeds to step S1410.

  In step S <b> 1404, the host vehicle state determination unit 206 determines whether or not the ignition switch is operated to the off position, that is, whether or not the power supply state 419 is “ignition (IGN) OFF”. If a positive determination is made in step S1404, the process proceeds to step S1407, and if a negative determination is made in step S1404, the process proceeds to step S1405.

  In step S <b> 1405, the host vehicle state determination unit 206 determines whether or not the operation state 418 of the host vehicle is “1 (no operation)”. If an affirmative determination is made in step S1405, the process proceeds to step S1406, and if a negative determination is made in step S1405, the process proceeds to step S1411.

  In step S1406, the host vehicle state determination unit 206 determines whether or not the state in which the vehicle speed 415 of the host vehicle is 0 continues for a predetermined time T2. If an affirmative determination is made in step S1406, the process proceeds to step S1407, and if a negative determination is made in step S1406, the process proceeds to step S1411.

  In step S1407, the own vehicle state determination unit 206 determines whether or not the center communication state 420 of the own vehicle is “1 (possible)”. If a positive determination is made in step S1407, the process proceeds to step S1408, and if a negative determination is made in step S1407, the process proceeds to step S1412.

  In step S <b> 1408, the own vehicle state determination unit 206 determines whether another vehicle capable of inter-vehicle communication exists around the own vehicle based on the information in the other vehicle raw data management table 212. If it is determined in step S1408 that no other vehicle capable of vehicle-to-vehicle communication exists, the process proceeds to step S1412. If it is determined in step S1408 that another vehicle capable of vehicle-to-vehicle communication exists, the process proceeds to step S1413.

  In step S1409 and step S1412, the own vehicle state determination unit 206 determines that the current vehicle state of the own vehicle is being prepared for stop and is in a state where there is no notification destination, and the current vehicle state of the own vehicle is determined. It is set to “1 (preparing to stop: no notification destination)”, and the host vehicle state determination process shown in FIG. 12 is terminated.

  In step S1410 and step S1413, the own vehicle state determination unit 206 determines that the current vehicle state of the own vehicle is being prepared for stoppage and has a notification destination, and determines the current vehicle state of the own vehicle. It is set to “2 (Preparing for stop: with notification destination)”, and the host vehicle state determination process shown in FIG. 12 is terminated.

  In step S1411, the own vehicle state determination unit 206 determines that the current vehicle state of the own vehicle is in normal operation, sets the current vehicle state of the own vehicle to “0 (normal operation)”, and The host vehicle state determination process shown in FIG.

  When the host vehicle state determination process shown in FIG. 12 ends, the process proceeds to step S1003 in FIG. In step S1003, the host vehicle state determination unit 206 determines whether or not the vehicle state 601 of the host vehicle has changed.

  The case where there is a change in the state of the host vehicle is a case where the current vehicle state 601 of the host vehicle is different from the vehicle state 601 of the host vehicle one control cycle before. The case where there is no change in the state of the host vehicle is a case where the current vehicle state 601 of the host vehicle is the same as the vehicle state 601 of the host vehicle one control cycle before. If a positive determination is made in step S1003, the process proceeds to step S1004. If a negative determination is made in step S1003, the host vehicle state update process shown in FIG.

  In step S1004, the own vehicle state determination unit 206 updates the notification 602 to the operator and the notification 603 to the center in the own vehicle state determination result management table 213 according to the current vehicle state 601 of the own vehicle, and updates the step S1005. Proceed to

  When the current vehicle state 601 of the host vehicle is “0 (normally operating)”, the host vehicle state determination unit 206 sets “0 (not notified)” to the notification 602 to the operator, and notifies the center. “0 (not notified)” is set in 603.

  When the current vehicle state of the host vehicle is “1 (preparing for stoppage: no notification destination)”, the host vehicle state determination unit 206 sets “1 (notification)” in the notification 602 to the operator, and sends it to the center. “1 (notification)” is set in the notification 603.

  When the current vehicle state of the host vehicle is “2 (preparing to stop: with notification destination)”, the host vehicle state determination unit 206 sets “0 (not notified)” to the notification 602 to the operator, and the center “1 (notification)” is set in the notification 603 to the user.

  In step S1005, the own vehicle state determination unit 206 updates the update time 604 of the own vehicle state determination result management table 213 to the current time, and ends the own vehicle state update process shown in FIG.

  When the host vehicle state update process shown in FIG. 11 ends, the process proceeds to step S902 in FIG. In step S902, the host vehicle state determination unit 206 determines whether or not notification to the operator is necessary, that is, whether or not the notification 602 to the operator is set to “1 (notification)”. If an affirmative determination is made in step S902, the process proceeds to step S903, and if a negative determination is made in step S902, the process proceeds to step S904.

  In step S <b> 903, the notification information generation / transmission unit 221 generates a warning signal and outputs the warning signal to the operator notification unit 204. The operator notifying unit 204 transmits a warning signal to the operator user I / F 103, and executes a warning output process such as displaying a warning image (see FIG. 3B) on the display screen of the operator user I / F 103. The process proceeds to step S904. In step S903, when the power state 419 is “ignition (IGN) OFF”, the power controller of the driving support apparatus 101 may be controlled so that the driving support apparatus 101 is not turned off.

  The driving support apparatus 101 executes a loop process in which the processes from step S905 to step S908 are performed for each other vehicle (step S904). When the loop process (step S904) is completed for all other vehicles detected by the driving support device 101, the process proceeds to step S909. In step S <b> 905, the driving support apparatus 101 executes other vehicle state update processing for updating the state of the other vehicle in the other vehicle state determination result management table 214.

  FIG. 13 is a flowchart showing the other vehicle state update process executed by the driving support device 101. As shown in FIG. 13, in step S1101, the other vehicle state determination unit 207 acquires the data of the other vehicle raw data management table 212 and the other vehicle state determination result management table 214, and proceeds to step S1102.

  The other vehicle state determination unit 207 executes a loop process in which the processes from step S1103 to step S1114 are performed for each other vehicle (step S1102). When the loop process (step S1102) is completed for all other vehicles set as management targets in the other vehicle raw data management table 212, the other vehicle state update process shown in FIG. 13 is terminated.

  In step S1103, the other vehicle state determination unit 207 determines whether there are a plurality of information sources (acquisition means) for each other vehicle based on the information in the other vehicle raw data management table 212 (see FIG. 7). Determine. For example, as shown in FIG. 7, a vehicle having a vehicle identifier 501 of “T002” has “1 (directly acquired by inter-vehicle communication)” and “2 (acquired by communication with the center)” as the acquiring means 513. Therefore, it is determined that there are a plurality of information sources. Similarly, a vehicle having the vehicle identifier 501 “L001” has “1 (directly acquired by inter-vehicle communication)” and “2 (acquired by communication with the center)” as the acquisition means 513. It is determined that the information source exists. On the other hand, since the vehicle having the vehicle identifier 501 “T003” has only “2 (acquired by communication with the center)” as the acquisition unit 513, it is determined that there are not a plurality of information sources. . If an affirmative determination is made in step S1103, the process proceeds to step S1104, and if a negative determination is made in step S1103, the process proceeds to step S1105.

  In step S1104, the other vehicle state determination unit 207 compares the time obtained by subtracting the elapsed time 510 from the reception time 512 with respect to a plurality of information sources of the corresponding other vehicle, extracts the latest information, and proceeds to step S1105. . The other vehicle state determination unit 207 extracts, as the latest information, the time obtained by subtracting the elapsed time 510 from the reception time 512, that is, the later generation time of the information of the corresponding other vehicle, that is, the time closer to the present.

  In step S1105, the other vehicle state determination unit 207 executes other vehicle state determination processing for determining the current state of each other vehicle.

  FIG. 14 is a flowchart showing another vehicle state determination process executed by the driving support apparatus 101. As shown in FIG. 14, in step S1501, the other vehicle state determination unit 207 determines whether or not the acquisition unit is “1 (acquired by inter-vehicle communication)”. If an affirmative determination is made in step S1501, the process proceeds to step S1502, and if a negative determination is made in step S1501, the process proceeds to step S1514.

  In step S1502, the other vehicle state determination unit 207 determines whether or not an elapsed time from the generation time of the information of the corresponding other vehicle has passed a predetermined time T3. If an affirmative determination is made in step S1502, the process proceeds to step S1503. If a negative determination is made in step S1502, the process proceeds to step S1504.

  In step S1503, the other vehicle state determination unit 207 determines whether or not the relative distance between the other vehicle and the host vehicle is within a predetermined range and the vehicle speed 505 of the other vehicle is zero. Determine. If an affirmative determination is made in step S1503, the process proceeds to step S1509. If a negative determination is made in step S1503, the process proceeds to step S1504.

  In step S1504, the other vehicle state determination unit 207 determines whether or not the vehicle type 502 of the corresponding other vehicle is the small vehicle 130. In other words, step S1504 is processing for determining whether or not the host vehicle is under the management of the operation management center 140. If a positive determination is made in step S1504, the process proceeds to step S1505. If a negative determination is made in step S1504, the process proceeds to step S1506.

  In step S1505, the other vehicle state determination unit 207 determines whether or not the state where the vehicle speed 505 of the corresponding other vehicle is 0 continues for a predetermined time T1. If an affirmative determination is made in step S1505, the process proceeds to step S1510, and if a negative determination is made in step S1505, the process proceeds to step S1511.

  In step S <b> 1506, the other vehicle state determination unit 207 determines whether or not the operation state 508 of the corresponding other vehicle is “1 (no operation)”. If an affirmative determination is made in step S1506, the process proceeds to step S1507, and if a negative determination is made in step S1506, the process proceeds to step S1511.

  In step S1507, the other vehicle state determination unit 207 determines whether or not the state in which the vehicle speed 505 of the corresponding other vehicle is 0 continues for a predetermined time T2. If an affirmative determination is made in step S1507, the process proceeds to step S1508, and if a negative determination is made in step S1507, the process proceeds to step S1511.

  In step S <b> 1508, the other vehicle state determination unit 207 determines whether the center communication state 511 of the corresponding other vehicle is “1 (possible)”. If an affirmative determination is made in step S1508, the process proceeds to step S1512. If a negative determination is made in step S1508, the process proceeds to step S1513.

  In step S1509, the other vehicle state determination unit 207 determines that the current vehicle state of the relevant other vehicle is in a power-off state and cannot be detected, and sets the state of the relevant other vehicle to “3 (power-off in progress). : Undetectable) ”and the other vehicle state determination process shown in FIG. 14 is terminated.

  In step S1510 and step S1513, the other vehicle state determination unit 207 determines that the current vehicle state of the corresponding other vehicle is being prepared for stop and that there is no notification destination, and the vehicle of the current corresponding other vehicle The state is set to “1 (preparing to stop: no notification destination)”, and the other vehicle state determination process shown in FIG. 14 is terminated.

  In step S1511, the other vehicle state determination unit 207 determines that the current vehicle state of the corresponding other vehicle is in normal operation, and sets the current vehicle state of the other vehicle in question to “0 (normal operation)”. The other vehicle state determination process shown in FIG.

  In step S <b> 1512, the other vehicle state determination unit 207 determines that the current vehicle state of the corresponding other vehicle is being prepared for stoppage and has a notification destination, and determines the current vehicle state of the other vehicle as “ 2 (Preparing for stoppage: with notification destination) ”and the other vehicle state determination process shown in FIG. 14 is terminated.

  In step S1514, the other vehicle state determination unit 207 sets the current vehicle state of the corresponding other vehicle to the special state 509 distributed from the operation management center 140, and ends the other vehicle state determination process shown in FIG. That is, in step S1514, the other vehicle state determination unit 207 sets the value of the special state 509 in the other vehicle raw data management table 212 as it is as the current vehicle state.

  When the other vehicle state determination process shown in FIG. 14 ends, the process proceeds to step S1106 in FIG. In step S1106, the other vehicle state determination unit 207 determines whether or not there is a change in the state of the other vehicle.

  The case where there is a change in the state of the relevant other vehicle is a case where the current vehicle state 703 of the relevant other vehicle is different from the vehicle state 703 of the relevant other vehicle one control cycle before. The case where there is no change in the state of the relevant other vehicle is a case where the current vehicle state 703 of the relevant other vehicle and the vehicle state 703 of the relevant other vehicle one control cycle before are the same. If an affirmative determination is made in step S1106, the process proceeds to step S1107, and if a negative determination is made in step S1106, the process proceeds to step S1111.

  In step S1107, the other vehicle state determination unit 207 notifies the other vehicle state determination result management table 214 of the other vehicle state 704 and the notification 705 to the center according to the vehicle state 703 and the acquisition unit 513 of the current other vehicle. And the process proceeds to step S1108.

  When the acquisition unit 513 of the corresponding other vehicle is “2 (acquired by communication with the center)”, the other vehicle state determination unit 207 sets “1 (notification)” in the notification 704 to the other vehicle and sends it to the center. “0 (non notification)” is set in the notification 705.

  When the acquisition unit 513 of the corresponding other vehicle is “3 (indirect acquisition through inter-vehicle communication)”, the other vehicle state determination unit 207 sets “0 (non notification)” to the notification 704 to the other vehicle, and the center “0 (non-notification)” is set in the notification 705.

  When the acquisition unit 513 of the relevant other vehicle is “1 (directly obtained by inter-vehicle communication)” and the vehicle state of the relevant other vehicle is “0 (normally operating)”, the other vehicle state determination unit 207 Then, “0 (non notification)” is set in the notification 704 to the other vehicle, and “0 (non notification)” is set in the notification 705 to the center.

  The acquisition unit 513 of the relevant other vehicle is “1 (directly obtained by inter-vehicle communication)”, the center communication state 511 is “1 (possible)”, and the vehicle state 703 of the relevant other vehicle is “0”. In cases other than (normally operating), the other vehicle state determination unit 207 sets “1 (notification)” to the notification 704 to the other vehicle and “0 (non notification)” to the notification 705 to the center. To do.

  The acquisition unit 513 of the relevant other vehicle is “1 (directly obtained by inter-vehicle communication)”, the center communication state 511 is “0 (impossible)”, and the vehicle state of the relevant other vehicle is “0”. In cases other than (normally operating), the other vehicle state determination unit 207 sets “1 (notification)” to the notification 704 to the other vehicle and “1 (notification)” to the notification 705 to the center. .

  In step S1108, the other vehicle state determination unit 207 updates the update time 706 of the other vehicle state determination result management table 214 to the current time, and proceeds to step S1111.

  In step S1111, the other vehicle state determination unit 207 determines that the information acquisition unit 702 of the corresponding other vehicle is “2 (acquired through communication with the center)” and the vehicle state 703 and the acquisition unit 513 of the corresponding other vehicle are It is determined whether or not the special state 509 of the corresponding other vehicle in “2 (acquired by communication with the center)” is the same. If an affirmative determination is made in step S1111, the process proceeds to step S1113, and if a negative determination is made in step S1111, the process proceeds to step S1112.

  In step S1112, the other vehicle state determination unit 207 sets the notification 705 to the center of the other vehicle state determination result management table 214 of the corresponding other vehicle to “1”, and proceeds to step S1113.

  In step S <b> 1113, the other vehicle state determination unit 207 has “3 (indirect acquisition through inter-vehicle communication)” in the information acquisition unit 702 of the relevant other vehicle, and the vehicle state 703 and the acquisition unit 513 of the relevant other vehicle include It is determined whether or not the special state 509 of the corresponding other vehicle in “3 (indirect acquisition through inter-vehicle communication)” is the same. If an affirmative determination is made in step S1113, the process for the corresponding other vehicle is terminated, and the process proceeds to the process for the next other vehicle. If a negative determination is made in step S113, the process proceeds to step S1114.

  In step S1114, the other vehicle state determination unit 207 sets the notification 704 to the other vehicle in the other vehicle state determination result management table 214 of the corresponding other vehicle to “1”, ends the processing for the other vehicle, Transition to processing of another vehicle.

  In step S906, the interference risk determination unit 208 executes a process of calculating the risk of interference between the host vehicle and another vehicle managed by the other vehicle raw data management table 212, and the process proceeds to step S907. As a method of calculating the risk, the risk is calculated by calculating the risk from the relative distance between the host vehicle and the corresponding other vehicle, or calculating the time until the future travel route overlap and interference (Time To Collation) are estimated. There is a method of calculating.

  In step S907, the interference risk determination unit 208 determines whether or not there is a risk of interference based on the risk value calculated in step S906. As a risk determination method, for example, if the risk value is calculated to be higher as the relative distance between the host vehicle and the other vehicle is shorter, if the risk value exceeds a predetermined threshold value, interference occurs. It is determined that there is a risk. If it is determined in step S907 that there is a risk, the process proceeds to step S908. If it is determined in step S907 that there is no risk, the process related to the other vehicle is terminated, and the process proceeds to the next process related to the other vehicle.

  In step S <b> 908, the warning information generation / transmission unit 229 generates an interference warning signal and outputs it to the operator notification unit 204. The operator notification unit 204 transmits an interference warning signal to the operator user I / F 103 and performs warning output processing such as displaying a warning image indicating that there is a risk of interference on the display screen of the operator user I / F 103. Execute, end the process related to the other vehicle, and transition to the next process related to the other vehicle.

  When the loop processing for all other vehicles (step S904) is completed, the process proceeds to step S909. In step S909, the transmission control unit 222 determines whether there is a vehicle to be notified between vehicles. Specifically, in step S909, the transmission control unit 222 determines whether there is a vehicle in which the notification 704 to the other vehicle in the other vehicle state determination result management table 214 is set to “1 (notification)”. To do.

  If there is a vehicle for which the notification 704 to the other vehicle is set to “1 (notification)”, the transmission control unit 222 determines that there is a vehicle to be notified between the vehicles, and proceeds to step S910. If there is no vehicle for which the notification 704 to the other vehicle is set to “1 (notification)”, the transmission control unit 222 determines that there is no vehicle to be notified between the vehicles, and proceeds to step S911.

  In step S911, the transmission control unit 222 reflects the data in the own vehicle raw data management table 211 in the transmission source raw data 305, and reflects the data in the own vehicle state determination result management table 213 in the transmission source determination result data 306. The inter-vehicle communication data 300 including the transmission source data 301 is generated and output to the inter-vehicle communication unit 202. The inter-vehicle communication unit 202 transmits the inter-vehicle communication data 300 to the other vehicle via the inter-vehicle communication device 192, and the process proceeds to step S912.

  Details of the generation processing of the transmission source data 301 in step S911 are as follows. The transmission control unit 222 reflects the vehicle identifier 411 in the vehicle identifier 341 and reflects the vehicle type 412 in the vehicle type 342. The transmission control unit 222 reflects the latitude 413 and the longitude 414 in the position 343. Further, the transmission control unit 222 reflects the traveling direction 416, the vehicle body direction 417, and the operation state 418 in the traveling direction 345, the vehicle body direction 346, and the operation state 347. Further, the transmission control unit 222 reflects the vehicle state 601 in the special state 348 and reflects the notification 603 to the center in the presence / absence of communication 349 with the center. Note that the transmission control unit 222 sets “0” in the additional vehicle data number 303. That is, the inter-vehicle communication unit 202 transmits the inter-vehicle communication data 300 that does not include the special state vehicle data 304 to the other vehicle via the inter-vehicle communication device 192.

  In step S910, as in step S911, the transmission control unit 222 reflects the data in the own vehicle raw data management table 211 in the transmission source raw data 305 and the data in the own vehicle state determination result management table 213 as the transmission source determination result data. Source data 301 reflected in 306 is generated. Further, in step S910, the transmission control unit 222 reflects the data of the other vehicle raw data management table 212 in the special state raw raw data 307, and the data of the other vehicle state determination result management table 214 is the special state vehicle determination result data 308. The special state vehicle data 304 reflected in is generated. The transmission control unit 222 outputs the inter-vehicle communication data 300 including the transmission source data 301 and the special state vehicle data 304 to the inter-vehicle communication unit 202. The inter-vehicle communication unit 202 transmits the inter-vehicle communication data 300 to the other vehicle via the inter-vehicle communication device 192, and the process proceeds to step S912.

  Details of the special state vehicle data 304 generation processing in step S910 are as follows. The transmission control unit 222 reflects the information of the other vehicle in which the notification 704 to the other vehicle is “1” in the other vehicle state determination result management table 214 in the special state vehicle data 304. The transmission control unit 222 sets the number of other vehicles for which the notification 704 to other vehicles is “1 (notification)” as the additional vehicle data number 303, and generates the special state vehicle data 304 of that number. The transmission control unit 222 extracts the vehicle identifier 501 based on the vehicle identifier 701, and reflects the data of the other vehicle raw data management table 212 specified by the extracted vehicle identifier 501 in the special state raw raw data 307.

  The transmission control unit 222 reflects the vehicle identifier 501 in the vehicle identifier 311 and reflects the vehicle type 502 in the vehicle type 312. The transmission control unit 222 reflects the latitude 503 and longitude 504 in the position 313. Further, the transmission control unit 222 reflects the traveling direction 506, the vehicle body orientation 507, and the operation state 508 in the traveling direction 315, the vehicle body orientation 316, and the operation state 317. Further, the transmission control unit 222 reflects the vehicle state 703 in the special state 318 and reflects the notification 705 to the center in the presence / absence 319 of communication with the center. The transmission control unit 222 sets a value obtained by adding the difference value between the reception time 512 and the current time to the elapsed time 510 of the other vehicle raw data management table 212 as the elapsed time 320.

  In step S912, the transmission control unit 222 determines whether or not the notification 603 to the center of the own vehicle state determination result management table 213 is set to “1 (notification)” and the own vehicle state determination result management table 213. It is determined whether the elapsed time from the update time 604 (current time-update time) is within a preset reference time (T4). If the notification 603 to the center is set to “1 (notification)”, the elapsed time from the update time 604 is within the reference time (T4), or at least one of them is satisfied, step The process proceeds to S913. If the notification 603 to the center is not set to “1 (notification)” and the update time 604 is not within the reference time (T4), the process proceeds to step S914.

  In step S913, the transmission control unit 222 determines whether there is another vehicle in which the notification 704 to the center of the other vehicle state determination result management table 214 is set to “1 (notification)”. If it is determined affirmative in step S913, that is, if it is determined that there is another vehicle to be notified to the operation management center 140, the process proceeds to step S915. If a negative determination is made in step S913, that is, it is determined that there is no other vehicle to be notified to the operation management center 140, the process proceeds to step S916.

  In step S916, the transmission control unit 222 sets “1” to the additional vehicle data number 353, the data of the own vehicle raw data management table 211 and the own vehicle state determination result management table in the first special state vehicle data 354. 213 data is reflected. The transmission control unit 222 outputs the center notification data 350 including the additional vehicle data number 353 and the special state vehicle data 354 to the operation management terminal communication unit 203. The operation management terminal communication unit 203 transmits the center notification data 350 to the operation management center 140 via the center communication device 193, and proceeds to step S918.

  In step S915, the transmission control unit 222 sets a value obtained by adding 1 to the number of other vehicles in which the notification 705 to the center is “1 (notification)” to the number 353 of additional vehicle data. Special state vehicle data 354 is generated.

  In step S915, as in step S916, the transmission control unit 222 reflects the data in the own vehicle raw data management table 211 and the data in the own vehicle state determination result management table 213 in the first special state vehicle data 354. Further, in step S915, the transmission control unit 222 adds the data in the other vehicle raw data management table 212 and the data in the other vehicle state determination result management table 214 to the second and subsequent special state vehicle data 354 as in step S910. And reflected in the special state vehicle data 354. The transmission control unit 222 outputs the center notification data 350 including the additional vehicle data number 353 and the special state vehicle data 354 to the operation management terminal communication unit 203. The operation management terminal communication unit 203 transmits the center notification data 350 to the operation management center 140 via the center communication device 193, and the process proceeds to step S918.

  In step S914, the transmission control unit 222 determines whether there is another vehicle in which the notification 704 to the center of the other vehicle state determination result management table 214 is set to “1 (notification)”. If the determination in step S914 is affirmative, that is, if it is determined that there is another vehicle to be notified to the operation management center 140, the process proceeds to step S917. If a negative determination is made in step S914, that is, if there is no other vehicle to be notified to the operation management center 140, the process proceeds to step S918.

  In step S917, the transmission control unit 222 sets the number of other vehicles for which the notification 705 to the center is “1 (notification)” to the additional vehicle data number 303, and the notification 705 to the center is “1 ( The special state vehicle data 354 is generated for each other vehicle that is “notified)”. Since the generation method of the special state vehicle data 354 is the same as that in step S910 or step S915, the description thereof is omitted. When the generation of the special state vehicle data 354 is completed, the transmission control unit 222 outputs the center notification data 350 including the additional vehicle data number 353 and the special state vehicle data 354 to the operation management terminal communication unit 203. The operation management terminal communication unit 203 transmits the center notification data 350 to the operation management center 140 via the center communication device 193, and proceeds to step S918.

  In step S918, with reference to the reception time 512 of the other vehicle raw data management table 212, information that has passed for a predetermined time (T5) or longer is deleted, and the process proceeds to step S919 to end the process. When the process is completed, the process after step S901 is executed again after a predetermined control period has elapsed.

According to the embodiment described above, the following operational effects can be obtained.
(1) The first in-vehicle device 151 includes a center communication device 193 that communicates with the operation management center 140 and an inter-vehicle communication device 192 that communicates with other vehicles, and the large vehicle 110 that is under the management of the operation management center 140. It is mounted on.

  The driving support apparatus 101 of the in-vehicle device 151 has a function as the own vehicle information acquisition unit 201 that acquires position information of the own vehicle (large vehicle 110) on which the in-vehicle device 151 is mounted. The driving support device 101 of the in-vehicle device 151 determines whether the host vehicle is in a special state based on the information acquired through the host vehicle state determination unit 206 and the inter-vehicle communication device 192. Has a function as the other vehicle state determination unit 207 that determines whether or not the vehicle is in a special state. The special state is a state where communication cannot be performed or a transition to a state where communication cannot be performed is estimated.

  When it is determined that the host vehicle is in a special state, the driving support device 101 of the in-vehicle device 151 transmits that the host vehicle is in a special state to the operation management center 140 and the other vehicle, and the other vehicle state When the determination unit 207 determines that the predetermined other vehicle is in a special state, the fact that the predetermined other vehicle is in a special state is transmitted to the operation management center 140 and another vehicle different from the predetermined other vehicle. The transmission control unit 222 has a function.

  When the communication with the operation management center 140 can be performed, the driving support device 101 of the in-vehicle device 151 reduces the risk of interference between the own vehicle and other vehicles based on the information received from the operation management center 140 and the position information of the own vehicle. As an interference risk determination unit 208 that determines the risk of interference between the host vehicle and the other vehicle based on the information received from the other vehicle and the position information of the host vehicle when communication with the operation management center 140 is not possible. It has the function of

  The driving support device 101 of the in-vehicle device 151 functions as a warning information generation / transmission unit 220 that generates and outputs warning information for an operator of the own vehicle when it is determined that there is a risk of interference between the own vehicle and another vehicle. It has.

  Thus, the 1st vehicle-mounted apparatus 151 mounted in the large vehicle 110 was comprised. When it is determined that the host vehicle or other vehicle is in a “special state”, the first in-vehicle device 151 uses a vehicle-to-vehicle communication or a center communication as a transmission control for other vehicles. Send location information. That is, the in-vehicle device 151 transmits the position information of the vehicle in a special state to the operation management center 140 directly or via inter-vehicle communication. As a result, the position information of the vehicle in a special state can be notified to each vehicle in the mine by inter-vehicle communication or center communication, so that interference between vehicles can be prevented.

  Further, according to the present embodiment, for example, when the frequency of data update from the operation management center 140 is low and the power is turned off when the latest position information of the vehicle is not detected, Even if a vehicle existing in an area that cannot communicate with 140 is turned off, it is determined that the vehicle is in a special state before the power is turned off. Since the vehicle information in the state can be notified to other vehicles, the interference between the vehicles can be prevented.

(2) The second in-vehicle device 152 that communicates with the first in-vehicle device 151 includes the inter-vehicle communication device 192 that communicates with other vehicles, but the center communication device 193 that communicates with the operation management center 140. Is mounted on a small vehicle 130 that is not under the control of the operation management center 140.

  The driving support device 101 of the in-vehicle device 152 determines whether or not the own vehicle information acquisition unit 201 that acquires position information of the own vehicle (small vehicle 130) on which the in-vehicle device 152 is mounted and whether the own vehicle is in a special state. It has a function as an other vehicle state determination unit 207 for determining whether or not the other vehicle is in a special state based on the information acquired via the own vehicle state determination unit 206 and the inter-vehicle communication device 192. doing.

  When it is determined that the host vehicle is in a special state, the driving support device 101 of the in-vehicle device 152 transmits that the host vehicle is in a special state to the other vehicle, and the predetermined other vehicle is in a special state. When it is determined that the vehicle is in the state, the transmission control unit 222 has a function of transmitting that the predetermined other vehicle is in a special state to another vehicle different from the predetermined other vehicle.

  The driving support device 101 of the in-vehicle device 152 has a function as an interference risk determination unit 208 that determines the risk of interference between the host vehicle and the other vehicle based on the information received from the other vehicle and the position information of the host vehicle. Yes. The driving support device 101 of the in-vehicle device 152 functions as a warning information generation / transmission unit 220 that generates and outputs warning information for an operator of the own vehicle when it is determined that there is a risk of interference between the own vehicle and another vehicle. It has.

  Thus, since the 2nd vehicle-mounted apparatus 152 mounted in the small vehicle 130 was comprised, the effect similar to said (1) can be acquired.

(3) When it is determined that the host vehicle is in a special state, the in-vehicle devices 151 and 152 provide notification information for notifying the operator of the host vehicle that the host vehicle is in a special state. It has a function as a notification information generation and transmission unit 221 that generates and outputs. For example, when the operation state of the host vehicle (large vehicle 110) is “non-operating” and the state where the host vehicle speed is zero continues for a predetermined time T2, FIG. As shown, a warning image “Please do not turn off the power” is displayed on the display screen of the operator user I / F 103. As a result, the operator can be alerted not to turn off the power. The operator can know that power must not be turned off until communication is restored. The operator can transmit the position information of the own vehicle to the other vehicle by moving the own vehicle to a place where it can communicate with at least one of the operation management center 140 and the other vehicle and then turning off the power. .

(4) The driving support device 101 of the in-vehicle device 151 continues the state in which the host vehicle (large vehicle 110) is stopped for a predetermined time (T2), and the host vehicle is not operated. When the vehicle is in a state, it is determined that the host vehicle is in a special state. In addition, the driving support device 101 of the in-vehicle devices 151 and 152 continues the state in which the other vehicle (the large vehicle 110) is stopped for a predetermined time (T2), and the other vehicle is in operation. When there is no state, it is determined that the other vehicle is in a special state. In the excavator 110B, the state where the vehicle is operating refers to a state where excavation work, crane work, or the like is performed by driving the front work device or driving the swivel body. Further, in the dump truck 110A, the state in which the vehicle is in operation means a state in which the loading platform is driven by a hydraulic cylinder to perform earthing work, or a loading work in which a load is loaded by the excavator 110B. The state which is carrying out the conveyance work which conveys dump truck 110A to the destination.

  Since the large vehicle 110 performs work in a stopped state, it can be appropriately determined whether or not the vehicle is in a special state by including in the condition that the vehicle is not in operation.

(5) The driving support device 101 of the in-vehicle devices 151 and 152 determines that the other vehicle is special when the state where the other vehicle (small vehicle 130) is stopped for a predetermined time (T1). Is determined to be in the correct state. Since the small vehicle 130 is not under operation management, it is determined that the small vehicle 130 is in a special state with the duration of the stopped state. Compared with the case where it is determined whether or not the large vehicle 110 is in a special state, by setting the time (T1) as a threshold value longer (T1> T2), it can be determined whether or not it is in a special state. It can be judged appropriately.

(6) The driving support device 101 of the in-vehicle devices 151 and 152 is in a state where the other vehicle is not operated based on the operation management information (operation state) of the other vehicle transmitted from the operation management center 140 to the host vehicle. It is determined whether or not. Thereby, it is possible to determine whether or not another vehicle under operation management is in a special state using the operation management information distributed from the operation management center 140.

(7) When the driving support device 101 of the in-vehicle device 151 has not received from the other vehicle existing within a predetermined range from the own vehicle via the inter-vehicle communication device 192 for a predetermined time. Then, it is determined that the other vehicle is in a special state. “Within a predetermined range” means that the vehicle-to-vehicle communication is possible. Based on the currently acquired position information of the other vehicle, there is no reception from the other vehicle by inter-vehicle communication even though the other vehicle exists within the range where the vehicle-to-vehicle communication is possible. It can be estimated that the other vehicle is in a state where the power is turned off and the vehicle is stopped. Thereby, it is determined that the other vehicle is in a special state, and the information is transmitted to another vehicle different from the other vehicle, so that interference between the vehicles can be appropriately prevented.

(8) The operation management system includes the first in-vehicle device 151 capable of communicating with the operation management center 140 and the second in-vehicle device 152 capable of communicating with the first in-vehicle device 151 via inter-vehicle communication. Configured. Thereby, the interference between vehicles including the large vehicle 110 provided with the vehicle-mounted device 151 under operation management and the small vehicle 130 provided with the vehicle-mounted device 152 not under operation management can be effectively prevented.

(9) The in-vehicle device 151 is configured to transmit information related to other vehicles in a special state to the operation management center 140 without waste. Information can be shared. As a result, while minimizing the amount of data communicated with the operation management center 140, information on vehicles in a special state with low delay is notified to the vehicles existing around the vehicle, thereby causing interference. Can be prevented.

(10) Avoid interference between vehicles while minimizing the impact on mining operations by adjusting the algorithm for determining the risk of interference according to the priority of work priority between the host vehicle and other vehicles. You can also.

(11) When the power supply stop operation (ignition switch off) is performed, the driving support device 101 of the in-vehicle device 151 determines that the host vehicle is in a “special state” and operates before the power is turned off. Information on the host vehicle including that the host vehicle is in a “special state” is transmitted to the management center 140 and other vehicles. As a result, when the operation of stopping the power supply of the large vehicle 110 is performed, the own vehicle is sent to the operation management center 140 using the end processing time for transmitting the work history and the inspection history from the in-vehicle device 151 to the operation management center 140. Can be notified.

-Second Embodiment-
With reference to FIG. 15 and FIG. 16, the operation management system which concerns on 2nd Embodiment is demonstrated. In the figure, the same reference numerals are assigned to the same or corresponding parts as those in the first embodiment, and the differences will be mainly described. FIG. 15 is a diagram similar to FIG. 1, and shows a configuration of an operation management system including the first in-vehicle device 151 and the second in-vehicle device 152, and the operation management center 140 according to the second embodiment. It is. FIG. 16 is a diagram illustrating a configuration of the driving support apparatus 101 according to the second embodiment.

  In addition to the configuration of the first embodiment, the driving support apparatus 101 according to the second embodiment includes another vehicle detection unit that detects the position of another vehicle based on a detection signal from a sensor 1302 mounted on the vehicle. 1301. The sensor 1302 used for detecting another vehicle can be configured by a millimeter wave radar, a laser radar, a stereo camera, or the like.

  The information input from the other vehicle detection unit 1301 is stored in the other vehicle raw data management table 212 of the database 205. In the second embodiment, “4” is added as a value set in the acquisition unit 513 of the other vehicle raw data management table 212. “4” indicates that the data is acquired via the sensor 1302.

  In the second embodiment, the latitude 503 and longitude 504 are set based on the position information of the other vehicle detected by the other vehicle detection unit 1301. In the second embodiment, a vehicle state related to other vehicle detection by the sensor 1302 such as “an undetected state by the shielding object” is added as the vehicle state.

According to such 2nd Embodiment, in addition to the effect similar to 1st Embodiment, the following effect can be obtained.
(12) The position information of another vehicle that does not include the inter-vehicle communication device 192 or the center communication device 193 can be transmitted to another other vehicle.

The following modifications are also within the scope of the present invention, and one or a plurality of modifications can be combined with the above-described embodiment.
(Modification 1)
The in-vehicle device 152 of the small vehicle 130 that is not managed by the operation management center 140 may be configured by the driving support device 101 alone. Further, the driving support device 101 of the in-vehicle device 152 of the small vehicle 130 may have only a function of transmitting the own vehicle position information to other surrounding vehicles by inter-vehicle communication.

(Modification 2)
In the above-described embodiment, the condition 2 is a case where the operation state of the host vehicle is “non-operating” and the state where the vehicle speed of the host vehicle is 0 continues for a predetermined time T2. However, the present invention is not limited to this. Instead of Condition 2, Condition 2B can be a case where the state where the vehicle speed of the host vehicle is 0 continues for a predetermined time T2.

(Modification 3)
In the above-described embodiment, the example in which it is determined whether or not the vehicle is stopped depending on whether or not the vehicle speed is 0 has been described. However, the present invention is not limited to this. For the vehicle speed, a vehicle speed threshold value of 0.5 to 2.0 km / h is set in consideration of the accuracy of the vehicle speed sensor, and it may be determined that the vehicle is stopped when the vehicle speed is equal to or lower than the vehicle speed threshold value. .

(Modification 4)
In the embodiment described above, an example in which the driving support apparatus 101 includes both the operator notification unit 204 and the control signal generation unit 209 has been described, but the present invention is not limited to this. For example, when it is determined that there is a risk of interference, the control signal generation unit 209 can be omitted in a configuration in which only a warning is output and brake control is not performed.

(Modification 5)
In the above-described embodiment, regarding the special state, “the state where the vehicle is turned off” is described as an example of “the state where communication with the operation management center 140 and other vehicles can no longer be performed”. The state in which power is estimated to be turned off has been described as an example of “a state in which a transition to a state where communication with both the operation management center 140 and other vehicles cannot be performed” is assumed, but the present invention is not limited to this. Not. For example, it is estimated that the small vehicle 130 cannot communicate with any other vehicle due to the small vehicle 130 being located near the large vehicle 110, or the vehicle-to-vehicle communication cannot be performed. The state may be included in the “special state”.

(Modification 6)
In the above-described embodiment, the example in which the position of the vehicle is represented by latitude and longitude has been described, but the present invention is not limited to this. For example, a position reference point may be provided in the mine, and the position of the vehicle may be expressed using a value of a dedicated coordinate system that represents a relative position with respect to the reference point.

(Modification 7)
In the above-described embodiment, the dump truck 110A and the excavator 110B have been described as examples of the vehicle on which the first in-vehicle device 151 is mounted. However, the present invention is not limited to this. The first vehicle-mounted device 151 is mounted on various work vehicles such as a crane, a wheel loader, a grader, a dozer, and a drill, and the present invention can be similarly applied.

(Modification 8)
In the above-described embodiment, the example in which the in-vehicle device 151 mounted on the large vehicle 110 includes the operation management terminal 102 has been described, but the present invention is not limited to this. Of the plurality of large vehicles 110, the in-vehicle device mounted in some large vehicles may be an in-vehicle device 152 (the same in-vehicle device as the in-vehicle device of the small vehicle 130) that does not include the operation management terminal 102. .

  Although various embodiments and modifications have been described above, the present invention is not limited to these contents. Other embodiments conceivable within the scope of the technical idea of the present invention are also included in the scope of the present invention.

DESCRIPTION OF SYMBOLS 101 Driving assistance device, 102 Operation management terminal, 103 Operator user I / F, 104 Vehicle control system, 110 Large vehicle, 130 Small vehicle, 140 Operation management center (center), 151 In-vehicle device (first in-vehicle device), 152 in-vehicle device (second in-vehicle device), 191 own vehicle position acquisition device, 192 inter-vehicle communication device (first inter-vehicle communication device, second inter-vehicle communication device), 193 center communication device, 201 own vehicle information acquisition unit, 202 Vehicle-to-vehicle communication unit, 203 Operation management terminal communication unit, 204 Operator notification unit, 205 Database, 206 Own vehicle state determination unit (first own vehicle state determination unit, second own vehicle state determination unit), 207 Other vehicle state Determination unit (first other vehicle state determination unit, second other vehicle state determination unit), 208 interference risk determination unit (first interference risk determination unit, (Second interference risk determination unit), 209 control signal generation unit, 211 own vehicle raw data management table, 212 other vehicle raw data management table, 213 own vehicle state determination result management table, 214 other vehicle state determination result management table, 220 warning Information generation / transmission unit (first warning information generation / transmission unit, second warning information generation / transmission unit), 221 Notification information generation / transmission unit (first notification information generation / transmission unit, second notification information generation / transmission unit), 222 Transmission control unit 226 Stop state detection unit, 227 Non-operation state detection unit, 228 Reception state detection unit, 229 Stop state detection unit, 230 Non-operation state detection unit, 231 Reception state detection unit, 300 Inter-vehicle communication data, 305 Source raw data 307 Special state vehicle raw data, 312 vehicle type, 313 position, 314 vehicle speed, 317 operation state, 318 Special state (data indicating special state), 319 Communication presence / absence (data indicating whether communication with the center is possible), 342 vehicle type, 343 position, 344 vehicle speed, 347 operation state, 348 special state (Data indicating whether or not it is in a special state) 349 Presence or absence of communication with the center (Data indicating whether or not communication with the center is possible)

Claims (11)

In the first in-vehicle device provided with the center communication device that communicates with the center and the first inter-vehicle communication device that communicates with other vehicles,
A first other vehicle state determination unit that determines whether or not the other vehicle is in a special state based on the information acquired via the first inter-vehicle communication device;
A first host vehicle state determination unit that determines whether or not a first vehicle that is the host vehicle on which the first in-vehicle device is mounted is in a special state;
A first vehicle position acquisition device for acquiring position information of the first vehicle;
When the first vehicle state determination unit determines that the first vehicle is in a special state, the first vehicle state determination unit transmits to the center and other vehicles that the first vehicle is in a special state, and If the predetermined other vehicle is determined to be in a special state by the other vehicle state determination unit, it is different from the center and the predetermined other vehicle that the predetermined other vehicle is in a special state. A first transmission control unit for transmitting to the vehicle;
When communication with the center is possible, the risk of interference between the first vehicle and another vehicle based on the information received from the center and the position information of the first vehicle acquired by the first host vehicle position acquisition device If the communication with the center cannot be performed, the first vehicle and the other vehicle based on the information received from the other vehicle and the position information of the first vehicle acquired by the first host vehicle position acquisition device. A first interference risk determination unit for determining a risk of interference with a vehicle;
When the first interference risk determination unit determines that there is a risk of interference between the first vehicle and another vehicle, first warning information generation and transmission for generating and outputting warning information for an operator of the first vehicle And comprising
The special state is a state where communication cannot be performed or a state where a transition to a state where communication cannot be performed is estimated. In the 2nd vehicle-mounted apparatus which communicates with the 1st vehicle-mounted apparatus of Claim 1,
A second inter-vehicle communication device that communicates with another vehicle;
A second host vehicle state determination unit that determines whether or not a second vehicle that is the host vehicle on which the second in-vehicle device is mounted is in the special state;
A second other vehicle state determination unit that determines whether or not the other vehicle is in a special state based on the information acquired via the second inter-vehicle communication device;
A second vehicle position acquisition device for acquiring position information of the second vehicle;
When the second vehicle state determination unit determines that the second vehicle is in a special state, the second vehicle is transmitted to another vehicle indicating that the second vehicle is in a special state, and the second other vehicle When the state determination unit determines that the predetermined other vehicle is in a special state, a second state is transmitted to the other vehicle different from the predetermined other vehicle that the predetermined other vehicle is in a special state. A transmission control unit;
A second interference risk determination unit that determines a risk of interference between the second vehicle and the other vehicle based on the information received from the other vehicle and the position information of the second vehicle acquired by the second host vehicle position acquisition device. When,
When the second interference risk determination unit determines that there is a risk of interference between the second vehicle and another vehicle, second warning information generation and transmission for generating and outputting warning information for the operator of the second vehicle And a second in-vehicle device. The first in-vehicle device according to claim 1,
When the first vehicle state determination unit determines that the first vehicle is in a special state, the operator of the first vehicle is notified that the first vehicle is in a special state. The 1st vehicle-mounted apparatus characterized by including the 1st alerting information production | generation transmission part which produces | generates and outputs the alerting | reporting information for output. The second in-vehicle device according to claim 2,
When the second vehicle state determination unit determines that the second vehicle is in a special state, it notifies the operator of the second vehicle that the second vehicle is in a special state. The 2nd vehicle-mounted apparatus characterized by including the 2nd alerting information production | generation transmission part which produces | generates and outputs the alerting | reporting information for output. The first in-vehicle device according to claim 1,
The first vehicle state determination unit continues the state in which the first vehicle is stopped for a predetermined time, and the first vehicle state is not in operation. It is determined that the first vehicle is in a special state. The first in-vehicle device according to claim 1,
The first other vehicle state determination unit determines that the other vehicle is in a special state when the state in which the other vehicle is stopped is continued for a predetermined time. First on-vehicle device. The first in-vehicle device according to claim 1,
The first other vehicle state determination unit continues the state in which the other vehicle is stopped for a predetermined time and when the other vehicle is not in operation. It is determined that the vehicle is in a special state. The first in-vehicle device according to claim 7,
Whether the first other vehicle state determination unit is in a state where the other vehicle is not operated based on operation management information of the other vehicle transmitted from the center or the other vehicle to the first vehicle. 1st vehicle-mounted apparatus characterized by determining. The first in-vehicle device according to claim 1,
The first other vehicle state determination unit has not received from the other vehicle existing within a predetermined range from the first vehicle via the first inter-vehicle communication device for a predetermined time. Sometimes, it is determined that the other vehicle is in a special state.   An operation management system comprising: the first in-vehicle device according to claim 1; the second in-vehicle device according to claim 2; and the center. In a data structure transmitted by the first inter-vehicle communication device of the first in-vehicle device according to claim 1 and received by the second inter-vehicle communication device of the second in-vehicle device according to claim 2,
Transmission source raw data having data representing the vehicle type, position, vehicle speed, and operation state of the first vehicle;
Transmission source determination result data having data indicating whether or not the first vehicle is in the special state and data indicating whether or not the first vehicle is in a state capable of communicating with the center;
Special state vehicle raw data having data representing the vehicle type, position, vehicle speed, and operation state of another vehicle determined to be in a special state by the first other vehicle state determination unit;
The data indicating that the other vehicle determined to be in the special state by the first other vehicle state determination unit is in the special state, and determined to be in the special state by the first other vehicle state determination unit. And a special state vehicle determination result data having data indicating whether or not the other vehicle is in a state where it can communicate with the center.

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