JP2021022866A - Traffic communication system, base station, mobile station, and vehicle - Google Patents

Abstract

To reduce the risk of a traffic accident around an exit of a tunnel.SOLUTION: A traffic communication system comprises: a base station that acquires, from a camera provided around an exit of a tunnel through which a vehicle travels, a picked-up image around the exit of the tunnel, and transmits a message including data based on the picked-up image to the vehicle in the tunnel by radio communication; and a mobile station that is provided in the vehicle, receives the message from the base station in the tunnel, and performs control based on the data included in the message.SELECTED DRAWING: Figure 2

Description

The present invention relates to transportation communication systems, base stations, mobile stations, and vehicles.

In recent years, intelligent transport systems (ITS) have been attracting attention as a technology that can avoid the danger of traffic accidents.

Patent Document 1 includes an air flow meter provided around the exit of the tunnel and a transmitter that transmits crosswind information detected by the air flow meter into the tunnel, and a vehicle in the tunnel has a crosswind from the transmitter. A system that suppresses the running of a vehicle based on wind information is described.

Patent Document 2 describes a vehicle equipped with an in-vehicle camera (vision sensor) used for automatic driving, which recognizes a point where the vehicle exits the tunnel, and when the vehicle approaches this point, the vehicle is in-vehicle based on an expected change in illuminance. Techniques for reducing the photosensitivity value of a camera are described.

Japanese Unexamined Patent Publication No. 10-247299 JP-A-2018-37061

Assuming a scenario in which an object such as a fallen tree, a broken vehicle, or a pedestrian (hereinafter referred to as an "obstacle") exists on the road around the exit of the tunnel, the traffic in which the vehicle comes into contact with the obstacle on the road. Although it is necessary to suppress the risk of accidents, the system described in Patent Document 1 does not assume such a scenario.

As described in Patent Document 2, there is a method of recognizing an obstacle on the road by an in-vehicle camera, but there is a limit to the distance that the in-vehicle camera can recognize the obstacle, and there is a possibility that the in-vehicle camera may malfunction. Considering this, it cannot be said that it is sufficient as a measure to control the risk of traffic accidents around the exit of the tunnel.

Therefore, an object of the present invention is to provide a traffic communication system, a base station, a mobile station, and a vehicle that suppress the risk of a traffic accident around the exit of a tunnel.

The traffic communication system according to the first aspect acquires an image taken around the exit of the tunnel from a camera provided around the exit of the tunnel through which the vehicle passes, and wirelessly communicates a message including data based on the image. A base station for transmitting to a vehicle in the tunnel and a mobile station provided in the vehicle for receiving the message from the base station in the tunnel and performing control based on the data included in the message. ..

The base station according to the second aspect is a base station used for a traffic communication system, and is a communication unit that performs wireless communication with a mobile station provided in a vehicle and a camera provided around the exit of a tunnel through which the vehicle passes. It is provided with a control unit that acquires an image captured around the exit of the tunnel from the above and transmits a message including data based on the captured image from the communication unit to the vehicle in the tunnel.

The mobile station according to the third aspect is a mobile station provided in a vehicle in a traffic communication system, and sends a message including data based on an image captured by a camera provided around the exit of a tunnel through which the vehicle passes. It includes a communication unit that receives in the tunnel and a control unit that performs control based on the data included in the message.

The vehicle according to the fourth aspect includes the mobile station according to the third aspect.

According to one aspect of the present invention, it is possible to provide a traffic communication system, a base station, a mobile station, and a vehicle that suppress the risk of a traffic accident around the exit of a tunnel.

It is a figure which shows the structure of the traffic communication system which concerns on one Embodiment. It is a figure which shows an example of the application scenario of the traffic communication system which concerns on one Embodiment. It is a figure which shows the structure of the roadside machine which concerns on one Embodiment. It is a figure which shows the structure of the vehicle which concerns on one Embodiment. It is a figure which shows the operation of the traffic communication system which concerns on one Embodiment. It is a figure which shows an example of the message transmitted from the roadside unit to the vehicle-mounted unit in one embodiment. It is a figure which shows the 1st modification example of the operation of the traffic communication system which concerns on one Embodiment. It is a figure which shows an example of the message transmitted from the roadside unit to the vehicle-mounted unit in one embodiment. It is a figure which shows the 2nd modification example of the operation of the traffic communication system which concerns on one Embodiment.

The transportation communication system according to the embodiment will be described with reference to the drawings. In the description of the drawings below, the same or similar parts are designated by the same or similar reference numerals.

(Composition of transportation communication system)
First, the configuration of the transportation communication system according to the embodiment will be described. FIG. 1 is a diagram showing a configuration of a transportation communication system 1 according to an embodiment.

As shown in FIG. 1, the traffic communication system 1 includes a vehicle 100 passing through the road R and a roadside machine 200 which is a base station installed on the road side of the road R. In FIG. 1, vehicles 100A and 100B are illustrated as the vehicle 100, and roadside machines 200A and 200B are illustrated as the roadside machine 200. Although the vehicle 100 is an example of a vehicle such as an ordinary vehicle or a light vehicle, it may be a vehicle that passes through the road R, and may be, for example, a motorcycle.

Each vehicle 100 is equipped with an on-board unit 150, which is a mobile station that performs wireless communication. The on-board unit 150 performs road-to-vehicle communication with the roadside unit 200.

The roadside machine 200 is installed around the road R. The roadside machine 200 may be installed at each intersection on a general road or on the roadside of an expressway, but the case where the roadside machine 200 is installed around a tunnel exit will be mainly described below.

In the example shown in FIG. 1, the roadside unit 200A is installed on a traffic signal (traffic signal lamp) 300 or a support column thereof, and operates in cooperation with the traffic signal 300. For example, the roadside unit 200A transmits a radio signal including signal information regarding the traffic signal 300 to the vehicle 100 (vehicle-mounted unit 150).

For such road-to-vehicle communication, wireless communication by broadcasting to an unspecified number of destinations may be used. Alternatively, for road-to-vehicle communication, wireless communication by multicast with a specific majority as a destination may be used, or wireless communication by unicast with a specific singular as a destination may be used.

Each roadside unit 200 is connected to the central device 400 via a communication line. This communication line may be a wired line or a wireless line. A vehicle detector installed on the roadside may be connected to the central device 400 via a communication line. The central device 400 receives vehicle information from each roadside unit 200, including the position and speed of the vehicle 100 received by the roadside unit 200 from the on-board unit 150. The central device 400 may further receive vehicle detection information from roadside sensors installed on each road R. The central device 400 collects and processes various types of traffic information based on the received information, and integrates and manages road traffic.

FIG. 2 is a diagram showing an example of an application scenario of the transportation communication system 1 according to the embodiment.

As shown in FIG. 2, a tunnel T surrounding the road R is provided. Although FIG. 2 shows an example in which the road R is a one-way one-lane road, the road R may be a one-way multi-lane road or a multi-lane road capable of round-trip traffic. You may.

On the road R in the tunnel T, the vehicle 100 is passing toward the exit of the tunnel T. The passage of the vehicle 100 includes a state in which the vehicle 100 is traveling (running) and a state in which the vehicle 100 is temporarily stopped. Although FIG. 2 shows an example in which the vehicle 100 is a bus, the vehicle 100 may be any vehicle passing through the road R.

A roadside machine 200 and a camera 500 are provided around the exit of the tunnel T. The exit of the tunnel T is a point where the vehicle 100 exits the tunnel T. When the road R is a multi-lane road that allows round-trip traffic, the exit of the tunnel T may be the entrance / exit of the tunnel T. The area around the exit of the tunnel T means the point of the exit of the tunnel T and the area within a predetermined range from this point.

Although FIG. 2 shows an example in which the roadside machine 200 and the camera 500 are separately configured, the roadside machine 200 and the camera 500 may be integrally configured. Further, although an example in which only one camera 500 is installed is shown, a plurality of cameras 500 may be installed. The camera 500 may be called a roadside camera.

The camera 500 includes an image sensor and a signal processing circuit, and outputs an captured image obtained by photographing the vicinity of the exit of the tunnel T to the roadside machine 200. The camera 500 may periodically output a still image or may constantly output a moving image. For example, the camera 500 is provided at a position above the road R at the exit of the tunnel T, and photographs the road R outside the tunnel T from above. However, the camera 500 may photograph the road R from the side.

In one embodiment, there is an obstacle E on the road R around the exit of the tunnel T. Although FIG. 2 shows an example in which the obstacle E on the road R is a pedestrian, the obstacle E on the road R may be a fallen tree, a broken vehicle, or the like. In such a case, the camera 500 takes an image of the obstacle E as a subject and outputs an captured image including the obstacle E to the roadside machine 200.

The roadside machine 200 acquires an image captured around the exit of the tunnel T from a camera 500 provided around the exit of the tunnel T through which the vehicle 100 passes. The roadside unit 200 transmits a message including data based on the captured image to the vehicle 100 in the tunnel T by wireless communication. In one embodiment, when the roadside machine 200 detects an obstacle E on the road R around the exit of the tunnel T based on the captured image, the roadside machine 200 transmits a message including detection data regarding the detected obstacle E.

The vehicle-mounted device 150 provided in the vehicle 100 receives a message from the roadside device 200 in the tunnel T, and controls based on the data included in the message. For example, when the vehicle-mounted device 150 receives a message including the detection data, the vehicle-mounted device 150 provides the operation control for avoiding the contact of the vehicle 100 with the obstacle E and the detection data to the occupants of the vehicle 100 based on the detection data. Perform at least one of the notification controls for notification.

As a result, in a situation where an obstacle E such as a fallen tree, a broken vehicle, or a pedestrian exists on the road R around the exit of the tunnel T, the risk of a traffic accident in which the vehicle 100 comes into contact with the obstacle E is suppressed. it can.

(Structure of roadside machine)
Next, the configuration of the roadside machine 200 according to the embodiment will be described. FIG. 3 is a diagram showing the configuration of the roadside machine 200 according to the embodiment.

As shown in FIG. 3, the roadside machine 200 has a communication unit 21, a control unit 22, and an interface 23.

The communication unit 21 performs wireless communication (that is, road-to-vehicle communication) with the vehicle-mounted device 150 provided in the vehicle 100. Specifically, the communication unit 21 has an antenna 21a, a reception unit 21b, and a transmission unit 21c, and performs wireless communication via the antenna 21a.

For road-to-vehicle communication, wireless communication by broadcasting to an unspecified number of destinations may be used. Alternatively, for road-to-vehicle communication, wireless communication by multicast with a specific majority as a destination may be used, or wireless communication by unicast with a specific singular as a destination may be used.

The antenna 21a may be an omnidirectional antenna or a directional antenna having directivity. The antenna 21a may be an adaptive array antenna whose directivity can be dynamically changed. In one embodiment, the antenna 21a is a directional antenna having directivity toward the inside of the tunnel T.

The communication unit 21 has a reception unit 21b that converts the radio signal received by the antenna 21a into received data and outputs the radio signal to the control unit 22. Further, the communication unit 21 has a transmission unit 21c that converts the transmission data output by the control unit 22 into a wireless signal and transmits it from the antenna 21a.

The wireless communication method of the communication unit 21 may be a method compliant with the T109 standard of ARIB (Association of Radio Industries and Businesses), or V2X (Vehice-) of 3GPP (Third Generation Partnership Project). It may be a method compliant with the wireless LAN (Local Area Network) standard such as the IEEE (Institute of Electrical and Electronics Engineers) 802.11 series. The communication unit 21 may be configured to support all of these communication standards.

The control unit 22 controls various functions of the roadside machine 200. The control unit 22 has at least one memory 22b and at least one processor 22a electrically connected to the memory 22b. The memory 22b includes a volatile memory and a non-volatile memory, and stores information used for processing in the processor 22a and a program executed by the processor 22a. The memory 22b corresponds to a storage unit. The processor 22a performs various processes by executing the program stored in the memory 22b.

The interface 23 is connected to the camera 500 by wire or wirelessly. The interface 23 receives the captured image from the camera 500 and outputs the captured image to the control unit 22. The interface 23 may be connected to the traffic signal 300 by wire or wirelessly. The interface 23 may be connected to the centralized device 400 by wire or wirelessly.

In the roadside machine 200 configured in this way, the control unit 22 acquires an image taken around the exit of the tunnel T from the camera 500 provided around the exit of the tunnel T through which the vehicle 100 passes, and is based on the captured image. A message including data is transmitted from the communication unit 21 to the vehicle 100 in the tunnel T. For example, when the control unit 22 detects an obstacle E on the road R around the exit of the tunnel T based on the captured image, the communication unit 21 transmits a message including detection data regarding the detected obstacle E.

(Vehicle configuration)
Next, the configuration of the vehicle 100 according to the embodiment will be described. FIG. 4 is a diagram showing a configuration of a vehicle 100 according to an embodiment.

As shown in FIG. 4, the vehicle 100 has a communication unit 11, a GNSS receiver 12, a notification unit 13, a drive control unit 14, and a control unit 15. The communication unit 11, the GNSS receiver 12, and the control unit 15 constitute an on-board unit 150. The on-board unit 150 is an example of a mobile station.

The communication unit 11 performs wireless communication (that is, road-to-vehicle communication) with the roadside unit 200. Specifically, the communication unit 11 has an antenna 11a, a reception unit 11b, and a transmission unit 11c, and performs wireless communication via the antenna 11a.

The communication unit 11 has a reception unit 11b that converts the radio signal received by the antenna 11a into received data and outputs the radio signal to the control unit 15. Further, the communication unit 11 has a transmission unit 11c that converts the transmission data output by the control unit 15 into a wireless signal and transmits it from the antenna 11a.

The wireless communication method of the communication unit 11 may be a method compliant with the T109 standard of ARIB, a method compliant with the V2X standard of 3GPP, or a wireless LAN standard compliant with the IEEE802.11 series or the like. It may be the method described above. The communication unit 11 may be configured to be compatible with all of these communication standards.

The GNSS receiver 12 performs positioning based on the GNSS satellite signal, and outputs GNSS position information indicating the current geographical position (latitude / longitude) of the vehicle 100 to the control unit 15.

The notification unit 13 notifies the driver of the vehicle 100 of the information under the control of the control unit 15. The notification unit 13 has a display 13a for displaying information and a speaker 13b for outputting information by voice.

The drive control unit 14 controls an engine or motor as a power source, a power transmission mechanism, a brake, and the like. When the vehicle 100 is an autonomous driving vehicle, the drive control unit 14 may perform driving control of the vehicle 100 in cooperation with the control unit 15.

The control unit 15 controls various functions in the vehicle 100 (vehicle-mounted device 150). The control unit 15 has at least one memory 15b and at least one processor 15a electrically connected to the memory 15b. The memory 15b includes a volatile memory and a non-volatile memory, and stores information used for processing in the processor 15a and a program executed by the processor 15a. The processor 15a performs various processes by executing the program stored in the memory 15b.

In the vehicle 100 configured in this way, the communication unit 11 receives a message in the tunnel T including data based on the captured image obtained by the camera 500 provided around the exit of the tunnel T through which the vehicle 100 passes. The control unit 15 performs control based on the data included in the message received by the communication unit 11.

For example, when the communication unit 11 receives a message including the detection data from the roadside unit 200, the control unit 15 determines the vehicle 100 to the obstacle E on the road R around the exit of the tunnel T based on the detection data. At least one of driving control for avoiding contact and notification control for notifying the occupant of the vehicle 100 of the detection data is performed.

(Operation of transportation communication system)
Next, the operation of the transportation communication system 1 according to the embodiment will be described. FIG. 5 is a diagram showing the operation of the transportation communication system 1 according to the embodiment.

As shown in FIG. 5, in step S101, the camera 500 photographs the vicinity of the exit of the tunnel T. The camera 500 may take a picture in response to a request from the roadside machine 200. For example, when the roadside unit 200 detects the approach of the vehicle 100 based on the message transmitted from the vehicle-mounted unit 150 to the roadside unit 200, the roadside unit 200 may request the camera 500 to take a picture. This message may include at least one of data indicating the position of the vehicle 100 (GNSS position data), data indicating the moving speed of the vehicle 100, and data indicating the moving direction of the vehicle 100. Further, this message may include the identification information of the vehicle-mounted device 150 as the transmission source information.

In step S102, the camera 500 outputs the captured image obtained by shooting to the roadside machine 200. The camera 500 may output a still image to the roadside machine 200 periodically or in response to a request from the roadside machine 200. The camera 500 may output a moving image to the roadside machine 200 at all times or in response to a request from the roadside machine 200.

In step S103, the control unit 22 of the roadside machine 200 acquires an image captured by the camera 500 via the interface 23, and performs image recognition processing on the captured image. For image recognition, pattern matching technology and image recognition technology based on learning such as reinforcement learning (for example, knowledge base, statistics base, neural network base) can be applied. For example, the control unit 22 of the roadside machine 200 detects the obstacle E on the road R by extracting the obstacle E in the captured image.

Here, the obstacle E detected by the control unit 22 of the roadside machine 200 includes types such as a fallen tree, a broken vehicle (stopped vehicle), and a pedestrian, and the vehicle traveling normally is the obstacle E. Not included in. However, the control unit 22 of the roadside machine 200 is a multi-lane road on which the road R can make a round trip, and an oncoming vehicle traveling toward the entrance of the tunnel T is performing dangerous driving such as meandering driving. In this case, the oncoming vehicle during dangerous driving may be detected as an obstacle E.

The control unit 22 of the roadside machine 200 may specify the type of the detected obstacle E based on the captured image. The type of obstacle E includes, for example, a fallen tree, a broken vehicle (stopped vehicle), an oncoming vehicle during dangerous traveling, a pedestrian, and the like.

The control unit 22 of the roadside machine 200 may specify the position of the detected obstacle E based on the captured image. The position of the obstacle E may be a relative position with respect to the road R, such as the obstacle E being on the left side, the center, or the right side of the road R.

The control unit 22 of the roadside machine 200 may specify the movement state of the detected obstacle E based on the captured image. The moving state of the obstacle E may be a state in which the obstacle E is stopped or moving. The moving state of the obstacle E may include at least one of the moving speed and the moving direction of the obstacle E.

The control unit 22 of the roadside machine 200 may specify the size of the detected obstacle E based on the captured image. The size of the obstacle E may be such that the obstacle E is large or small, or may be the range occupied by the obstacle E on the road R (for example, the entire road or the left half of the road). Good.

When an obstacle E is detected (step S104: YES), in step S105, the control unit 22 of the roadside unit 200 transmits a message including detection data regarding the detected obstacle E to the vehicle 100 (vehicle-mounted unit 150). The communication unit 21 is controlled so as to.

The control unit 22 of the roadside unit 200 transmits a message including detection data regarding the detected obstacle E only when the approach of the vehicle 100 is detected based on the message transmitted from the vehicle-mounted unit 150 to the roadside unit 200. The communication unit 21 may be controlled.

When the road R is a multi-lane road capable of round-trip traffic, the control unit 22 of the roadside unit 200 directs the vehicle toward the roadside unit 200 based on the message transmitted from the on-board unit 150 to the roadside unit 200. The message may be transmitted by unicast or multicast to the vehicle 100 in the lane through which the 100 passes.

FIG. 6 is a diagram showing an example of a message M transmitted from the roadside unit 200 to the vehicle-mounted unit 150. As shown in FIG. 6, the message M includes destination information and source information. When the message M is transmitted by broadcast, the destination information may be a broadcast address.

The message M includes detection data regarding the obstacle E detected by the roadside machine 200. The detected data includes at least one data element of the following 1) to 4).

1) Data indicating the type of obstacle E. The type of obstacle E includes, for example, a fallen tree, a broken vehicle (stopped vehicle), an oncoming vehicle during dangerous traveling, a pedestrian, and the like.

2) Data indicating the position of obstacle E. The position of the obstacle E may be a relative position with respect to the road R, such as the obstacle E being on the left side, the center, or the right side of the road R.

3) Data showing the moving state of the obstacle E. The moving state of the obstacle E may be a state in which the obstacle E is stopped or moving. The moving state of the obstacle E may include at least one of the moving speed and the moving direction of the obstacle E.

4) Data showing the size of obstacle E. The size of the obstacle E may be such that the obstacle E is large or small, or may be the range occupied by the obstacle E on the road R (for example, the entire road or the left half of the road). Good.

The message M may include position data indicating the position (latitude, longitude) of the exit of the tunnel T.

When the communication unit 11 of the vehicle 100 (vehicle-mounted device 150) receives the message M in step S105, the communication unit 11 outputs the received message M to the control unit 15.

In step S106, when the communication unit 11 receives a message including the detection data from the roadside unit 200, the control unit 15 of the vehicle 100 (vehicle-mounted device 150) sends the detection data to the occupants of the vehicle 100 based on the detection data. Notification control is performed.

For example, the control unit 15 outputs the display 13a and / or the speaker so as to output the fact that the obstacle E exists on the road R around the exit of the tunnel T and at least one of the data of 1) to 4) described above. Control 13b. This makes it easier for the occupants of the vehicle 100, specifically the driver, to drive to avoid contact of the vehicle 100 with the obstacle E.

When the vehicle 100 is an autonomous vehicle, the control unit 15 receives a message including detection data from the roadside unit 200 on the road R around the exit of the tunnel T based on the detection data. Driving control is performed to avoid contact of the vehicle 100 with the obstacle E. For example, the control unit 15 performs speed control for reducing the moving speed of the vehicle 100, and steering control so as to avoid the position of the obstacle E.

As described above, according to one embodiment, in a situation where an obstacle E such as a fallen tree, a broken vehicle, or a pedestrian exists on the road R around the exit of the tunnel T, the vehicle 100 is placed on the obstacle E. The risk of contact traffic accidents can be suppressed.

(First change example of operation of transportation communication system)
Next, the first modification of the operation of the transportation communication system 1 will be mainly described as being different from the above-described operation. FIG. 7 is a diagram showing a first modification example of the operation of the transportation communication system 1.

As shown in FIG. 7, each process of steps S201 to S204 is the same as the operation shown in FIG.

When the obstacle E is detected (step S204: YES), in step S205, the control unit 22 of the roadside machine 200 transmits a message including instruction data based on the detection data regarding the obstacle E.

The control unit 22 of the roadside unit 200 controls the communication unit 21 to transmit a message including instruction data only when the approach of the vehicle 100 is detected based on the message transmitted from the on-board unit 150 to the roadside unit 200. You may.

When the road R is a multi-lane road capable of round-trip traffic, the control unit 22 of the roadside unit 200 directs the vehicle toward the roadside unit 200 based on the message transmitted from the on-board unit 150 to the roadside unit 200. The message may be transmitted by unicast or multicast to the vehicle 100 in the lane through which the 100 passes.

FIG. 8 is a diagram showing an example of a message M transmitted from the roadside unit 200 to the vehicle-mounted unit 150. As shown in FIG. 8, the message M includes destination information, source information, and instruction data. The instruction data includes at least one of instruction data for executing driving control for avoiding contact of the vehicle 100 with the obstacle E and instruction data for executing notification control for notifying the occupants of the vehicle 100 of the detection data. ..

The instruction data for executing the driving control includes, for example, a speed control command for instructing the deceleration of the vehicle 100. The instruction data for executing the driving control may include a steering control command for controlling the steering of the vehicle 100. These controls are executed based on at least one of the above-mentioned data 1) to 4).

As the instruction data for executing the notification control, the fact that the obstacle E exists on the road R around the exit of the tunnel T, and at least one of the above-mentioned 1) to 4) are transmitted to the display 13a and / or the speaker 13b. Includes output control commands to output.

When the communication unit 11 of the vehicle 100 (vehicle-mounted device 150) receives the message M in step S205, the communication unit 11 outputs the received message M to the control unit 15.

In step S206, when the communication unit 11 receives a message including instruction data from the roadside unit 200, the control unit 15 of the vehicle 100 (vehicle-mounted device 150) performs control (driving control, notification control) according to the instruction data. Do.

(Second change example of operation of transportation communication system)
Next, the second modification of the operation of the transportation communication system 1 will mainly explain the differences from the above-mentioned operations. FIG. 9 is a diagram showing a second modification example of the operation of the transportation communication system 1.

As shown in FIG. 9, each process of step S301 and step S302 is the same as the operation shown in FIG.

In step S303, the control unit 22 of the roadside machine 200 controls the communication unit 21 so as to transmit a message including image data of the captured image acquired from the camera 500 via the interface 23. The image data may be the data of the captured image as it is acquired from the camera 500, or may be the data obtained by processing the captured image acquired from the camera 500.

The control unit 22 of the roadside unit 200 controls the communication unit 21 to transmit a message including instruction data only when the approach of the vehicle 100 is detected based on the message transmitted from the on-board unit 150 to the roadside unit 200. You may.

When the road R is a multi-lane road capable of round-trip traffic, the control unit 22 of the roadside unit 200 directs the vehicle toward the roadside unit 200 based on the message transmitted from the on-board unit 150 to the roadside unit 200. The message may be transmitted by unicast or multicast to the vehicle 100 in the lane through which the 100 passes.

When the communication unit 11 of the vehicle 100 (vehicle-mounted device 150) receives the message M in step S303, the communication unit 11 outputs the received message M to the control unit 15.

In step S304, when the communication unit 11 receives a message including image data from the roadside unit 200, the control unit 15 of the vehicle 100 (vehicle-mounted device 150) has a display 13a provided on the vehicle 100 based on the image data. Display control is performed to display the captured image of the camera 500. As a result, the occupant of the vehicle 100 can visually recognize the situation around the exit of the tunnel T based on the display 13a.

In step S305, the control unit 15 of the vehicle 100 (vehicle-mounted device 150) performs image recognition processing on the image data. For image recognition, pattern matching technology and image recognition technology based on learning such as reinforcement learning (for example, knowledge base, statistics base, neural network base) can be applied. For example, the control unit 15 of the vehicle 100 (vehicle-mounted device 150) detects the obstacle E on the road R around the exit of the tunnel T by extracting the obstacle E in the captured image. Further, the control unit 15 of the vehicle 100 (vehicle-mounted device 150) identifies at least one detection data among the above-mentioned 1) to 4).

When an obstacle E is detected (step S306: YES), in step S307, the control unit 15 of the vehicle 100 (vehicle-mounted device 150) tells the occupant of the vehicle 100 based on the detection data regarding the detected obstacle E. Performs notification control to notify the detection data.

For example, the control unit 15 outputs the display 13a and / or the speaker so as to output the fact that the obstacle E exists on the road R around the exit of the tunnel T and at least one of the data of 1) to 4) described above. Control 13b. This makes it easier for the occupants of the vehicle 100, specifically the driver, to drive to avoid contact of the vehicle 100 with the obstacle E.

When the vehicle 100 is an autonomous driving vehicle, the control unit 15 performs driving control for avoiding contact of the vehicle 100 with an obstacle E on the road R around the exit of the tunnel T based on the detection data. For example, the control unit 15 performs speed control for reducing the moving speed of the vehicle 100, and steering control so as to avoid the position of the obstacle E.

(Other embodiments)
A program may be provided that causes a computer to execute each process performed by the vehicle 100 (vehicle-mounted device 150) or the roadside device 200. The program may be recorded on a computer-readable medium. Computer-readable media can be used to install programs on a computer. Here, the computer-readable medium on which the program is recorded may be a non-transient recording medium. The non-transient recording medium is not particularly limited, but may be, for example, a recording medium such as a CD-ROM or a DVD-ROM.

Further, a circuit for executing each process performed by the on-board unit 150 or the roadside unit 200 may be integrated, and at least a part of the on-board unit 150 or the roadside unit 200 may be configured as a semiconductor integrated circuit (chipset, SoC).

Although the embodiments have been described in detail with reference to the drawings, the specific configuration is not limited to the above, and various design changes and the like can be made without departing from the gist.

1: Transportation communication system 11: Communication unit 11a: Antenna 11b: Receiver 11c: Transmitter 12: GNSS receiver 13: Notification unit 13a: Display 13b: Speaker 14: Drive control unit 15: Control unit 15a: Processor 15b: Memory 21: Communication unit 21a: Antenna 21b: Reception unit 21c: Transmission unit 22: Control unit 22a: Processor 22b: Memory 23: Interface 100: Vehicle 150: On-board unit 200: Roadside unit 300: Traffic signal 400: Central device 500: Camera

Claims (14)

A base station that acquires an image taken around the exit of the tunnel from a camera provided around the exit of the tunnel through which the vehicle passes, and transmits a message including data based on the image to the vehicle in the tunnel by wireless communication. ,
A traffic communication system provided in the vehicle, comprising a mobile station that receives the message from the base station in the tunnel and controls based on the data included in the message. The traffic communication according to claim 1, wherein when the base station detects an obstacle on the road around the exit of the tunnel based on the captured image, the base station transmits the message including detection data regarding the detected obstacle. system. When the mobile station receives the message including the detection data, the mobile station controls the operation for avoiding the contact of the vehicle with the obstacle based on the detection data, and the detection data to the occupant of the vehicle. The traffic communication system according to claim 2, wherein at least one of the notification controls for notifying the data is performed. The transportation communication system according to claim 2 or 3, wherein the detection data includes data indicating the type of the detected obstacle. The traffic communication system according to any one of claims 2 to 4, wherein the detection data includes data indicating the position of the detected obstacle. The traffic communication system according to any one of claims 2 to 5, wherein the detected data includes data indicating a movement state of the detected obstacle. The traffic communication system according to any one of claims 2 to 6, wherein the detected data includes data indicating the size of the detected obstacle. When the base station detects an obstacle on the road around the exit of the tunnel based on the captured image, the base station avoids contact of the vehicle with the obstacle based on the detection data regarding the detected obstacle. The traffic communication system according to claim 1, wherein the message including at least one of the instruction data for executing the driving control for executing the operation control and the instruction data for executing the notification control for notifying the occupant of the vehicle of the detection data is transmitted. .. The transportation communication system according to claim 1, wherein the base station transmits the message including image data of the captured image. When the mobile station receives the message including the image data and detects an obstacle on the road around the exit of the tunnel based on the captured image, the mobile station is based on the detection data regarding the detected obstacle. The traffic communication system according to claim 9, wherein at least one of driving control for avoiding contact of the vehicle with the obstacle and notification control for notifying the occupant of the vehicle of the detection data is performed. The 9 or 10 according to claim 9 or 10, wherein when the mobile station receives the message including the image data, the mobile station performs display control to display the captured image on a display provided in the vehicle based on the image data. Transportation communication system. A base station used for transportation communication systems
A communication unit that performs wireless communication with a mobile station installed in the vehicle,
An image taken around the exit of the tunnel is acquired from a camera provided around the exit of the tunnel through which the vehicle passes, and a message including data based on the captured image is transmitted from the communication unit to the vehicle in the tunnel. A base station equipped with a control unit. A mobile station installed in a vehicle in a transportation communication system.
A communication unit that receives a message including data based on a captured image obtained by a camera provided around the exit of the tunnel through which the vehicle passes in the tunnel.
A mobile station including a control unit that performs control based on the data included in the message. A vehicle comprising the mobile station according to claim 13.

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