JP2022002051A - Vehicle travel support system - Google Patents

Abstract

To provide a technique capable of more reliably performing communication, when the communication between a vehicle and infrastructure is required.SOLUTION: A vehicle travel support system comprises an information acquisition part 35 and a vehicle side communication part 37 as configurations on a vehicle 3 side and comprises an infrastructure side communication part 53 and a signal transmission part 51 as configurations on a traffic signal 5 side. According to these configurations, communication can be reliably performed when the communication between the vehicle 3 and the traffic signal 5 is required. That is, when V2X communication between the vehicle side communication part 37 and the infrastructure side communication part 53 is difficult to be performed due to influence of an obstacle such as a large truck or the like that is present between the vehicle 3 and the traffic signal 5, the information acquisition part transmits a signal obtainable as a signal from the infrastructure side to the information acquisition part of the vehicle by the signal transmission part provided separately from the infrastructure side communication part 53.SELECTED DRAWING: Figure 2

Description

The present disclosure relates to a technique for assisting the running of a vehicle.

Conventionally, various technologies for supporting the running of a vehicle have been known. For example, there is a technique of transmitting information about a moving body such as a plurality of vehicles or pedestrians from the moving body side to the server side by a well-known V2X wireless communication. In this technology, the server that receives the information of the moving body generates the travelable area of the vehicle as map information, determines the travel route from the travelable area, and supports the travel of the vehicle. See, for example, Patent Document 1.

Note that V2X is an abbreviation for "Vehicle to Everything", and it is possible to perform wireless communication (that is, V2X communication) between a vehicle and another person by, for example, a well-known wireless communication device using millimeter waves or the like. can. In addition, examples of others include other vehicles, people (that is, devices carried by people), roadside devices, and the like.

Japanese Unexamined Patent Publication No. 2019-215775

However, when various information is transmitted and received between the vehicle and the infrastructure (for example, a traffic light of a roadside device) by V2X communication using a wireless communication device, a truck or the like is used between the vehicle and the infrastructure. If there is an obstacle, V2X communication may be hindered.

For example, when it is desirable for the vehicle to perform an operation such as collision avoidance, if there is a problem with V2X communication, there is a possibility that necessary information cannot be transmitted from the infrastructure side to the vehicle side, for example. For example, there is a possibility that information for notifying a danger or information necessary for a vehicle to avoid a danger cannot be reliably transmitted.

One aspect of the present disclosure is to provide a technology capable of more reliably communicating when communication between the vehicle and the infrastructure is required.

One aspect of the present disclosure relates to a vehicle traveling support system (1) that communicates between a vehicle (3) and an infrastructure (5) around the vehicle.
This vehicle running support system includes an information acquisition unit (35) and a vehicle-side communication unit (37) as a vehicle-side configuration, and an infrastructure-side communication unit (53) and a signal transmission unit as an infrastructure-side configuration. (51) is provided.

The information acquisition unit is configured to acquire traveling information of surrounding moving objects.
The vehicle-side communication unit is configured to send and receive information to and from the infrastructure side.
The infrastructure-side communication unit is configured to send and receive information to and from the vehicle-side communication unit.

The signal transmission unit is configured to transmit a signal that can be acquired as a signal from the infrastructure side to the information acquisition unit of the vehicle when a predetermined condition is satisfied.
With such a configuration, in the present disclosure, when communication between the vehicle and the infrastructure is required, the communication can be performed more reliably than before. That is, it is possible to increase the redundancy when transmitting information and to transmit information more reliably.

Specifically, in the vehicle driving support system, for example, when communication between the vehicle side communication unit and the infrastructure side communication unit is difficult due to the influence of obstacles existing between the vehicle and the infrastructure, for example, the infrastructure side. A signal transmission unit provided separately from the communication unit transmits a signal that can be acquired by the information acquisition unit as a signal from the infrastructure side to the information acquisition unit of the vehicle.

By transmitting signals (and therefore information) in this way, even if communication between the vehicle-side communication unit and the infrastructure-side communication unit is difficult, there is a danger from the infrastructure side to the vehicle side, for example, to the driver. It is possible to reliably transmit necessary information on the vehicle side, such as information to be notified and information on driving control for avoiding danger.

Therefore, on the vehicle side, it is possible to perform appropriate operations and controls based on the information, for example, in order to avoid danger.
In addition, the reference numerals in parentheses described in this column and the scope of claims indicate the correspondence with the specific means described in the embodiment described later as one embodiment, and the technical scope of the present disclosure is defined. It is not limited.

The block diagram which shows the structure of the vehicle running support system of 1st Embodiment. The block diagram which functionally shows the vehicle running support system of 1st Embodiment. An explanatory diagram showing a relationship between a vehicle, a traffic light, a base station, and a server according to the first embodiment. Explanatory drawing which shows the state of communication using V2X communication and radar wave. Explanatory drawing which shows the state of a radar transmission wave, a reflected wave, and a danger signal. Explanatory diagram showing the state of the received reflected wave and the danger signal. The flowchart which shows an example of the processing on the infrastructure side of 1st Embodiment. The flowchart which shows an example of the processing on the vehicle side of 1st Embodiment. The block diagram which shows the structure of the vehicle running support system of 2nd Embodiment. The explanatory view which shows typically the structure of the vehicle running support system of 2nd Embodiment. An explanatory diagram showing a relationship between a vehicle, a traffic light, a base station, and a server according to a second embodiment.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.
[1. First Embodiment]
[1-1. overall structure]
First, the overall configuration of the vehicle running support system of the first embodiment will be described.

As shown in FIG. 1, the vehicle traveling support system 1 of the first embodiment includes a vehicle 3, a traffic light (that is, an infrastructure) 5, a server 7, and a base station 9. The vehicle 3 corresponds to a moving body, and examples of the vehicle 3 include the own vehicle 3a and another vehicle (that is, another vehicle) 3b described later other than the own vehicle 3a (for example, FIG. 3). reference).

Hereinafter, each configuration will be described in detail.
<Vehicle configuration>
First, the hardware configuration of the vehicle 3 (for example, the own vehicle 3a) will be described.

The vehicle 3 includes a navigation device 11, a position detection device 13, a vehicle speed sensor 15, a gyro sensor 17, a vehicle side monitoring device 19, a communication device (that is, a vehicle side communication device) 21, and a control unit (that is, that is). The vehicle side control unit) 23 is provided.

Further, the vehicle 3 is provided with a power train system 25, a brake system 27, a steering system 29, and a notification device, for example, in order to control the running of the vehicle 3 (for example, control to support the running). It is equipped with 30.

As is well known, the navigation device 11 is a device that guides the traveling route of the vehicle 3 based on the position information of the vehicle 3, map information, and the like. A storage device (not shown) of the navigation device 11 stores a map database showing map information such as roads.

The position detection device 13 is a device that detects the current position of the vehicle 3 based on a GPS signal or the like received via a GPS antenna (not shown). With this position detection device 13, it is possible to detect an absolute position represented by latitude, longitude and the like.

The vehicle speed sensor 15 is a sensor that detects the speed of the vehicle 3.
The gyro sensor 17 is a sensor that detects the moving direction (that is, the traveling direction) of the vehicle, and outputs a detection signal according to the angular velocity of the rotational motion applied to the vehicle.

The vehicle-side monitoring device 19 is an object (for example, a moving body) such as another vehicle 3 (for example, another vehicle 3b) around the vehicle 3 (for example, the own vehicle 3a) and a state of the object (for example, a moving state). ) Etc. are detected. Although not shown, examples of the vehicle-side monitoring device 19 include well-known millimeter-wave radars, riders, ultrasonic sensors, cameras, and the like.

Examples of the millimeter wave radar include an FMCW radar. As is well known, a radar such as an FMCW radar includes a transmitter for transmitting a radar wave and a receiver for receiving the radar wave.

In this FMCW radar, a radar wave frequency-modulated so that the frequency changes linearly with time is transmitted, a reflected wave from a target (that is, a target) reflecting the radar wave is received, and the transmission signal is used. A beat signal is created by mixing with the received signal. Then, the relative distance or distance to the target can be obtained based on the frequency (that is, the beat frequency) of the peak component detected by frequency analysis of the beat signal such as FFT. As the frequency of this radar wave, for example, 77 GHz to 81 GHz can be adopted. FMCW is an abbreviation for "Frequency Modulated Continuous Wave".

Further, the lidar is an acronym (LiDAR) for "light detection and ranging", and examples thereof include a laser lidar using a laser beam.

The vehicle-side communication device 21 is a communication device for performing wireless communication by a well-known V2X with the traffic light 5. Note that this wireless communication can be performed using a radio wave having high straightness (for example, a radio wave in the 5 GHz band) such as a millimeter wave or the like. Examples of this V2X communication include narrow-range communication called DSRC. DSRC is an abbreviation for "Dedicated Short Range Communication".

The vehicle-side communication device 21 can transmit data (for example, travel information) such as the position, speed, and travel direction of the vehicle 3 described above to the server 7 via the traffic light 5 and the base station 9. In addition, various data (for example, map information described later) transmitted from the server 7 via the base station 9 and the traffic light 5 can be received.

The power train system 25 is a system for driving the vehicle 3. Although not shown, examples of the powertrain system 25 include an engine, an injection valve for supplying fuel to the engine, a drive motor, and the like.

The brake system 27 is a system for decelerating or stopping the vehicle 3. Although not shown, examples of the brake system 27 include a wheel cylinder that applies braking force, a solenoid valve that drives the wheel cylinder, and the like.

The steering system 29 is a system for steering the vehicle. Although not shown, the steering system 29 includes, for example, a steering wheel, a motor for driving the steering wheel, and the like.

The notification device 30 is a device that uses a speaker or the like to perform notification by sound or voice for alerting such as an alarm.
The vehicle-side control unit 23 is mainly composed of a well-known microcomputer (that is, a microcomputer) having a CPU 31 and a semiconductor memory (that is, a vehicle-side memory) 33 such as a ROM, RAM, and a flash memory.

Various functions of the vehicle-side control unit 23 are realized by the CPU 31 executing a program stored in the non-transition tangible recording medium. In this example, the ROM corresponds to a non-transitional tangible recording medium in which a program is stored. In addition, when this program is executed, the method corresponding to the program is executed. The vehicle-side control unit 23 may be provided with one microcomputer or may be provided with a plurality of microcomputers.

The vehicle-side memory 33 is a storage medium for storing various information. In the vehicle side memory 33, the above-mentioned data such as the position, speed, and traveling direction of the vehicle 3 can be stored together with the data at the time when the data was obtained.

<Functional configuration of vehicle-side control unit>
Next, the functional configuration of the vehicle side control unit 23 of the vehicle 3 will be described.
As shown in FIG. 2, the vehicle-side control unit 23 functionally includes an information acquisition unit 35, a vehicle-side communication unit 37, and a traveling support unit 39.

The information acquisition unit 35 is configured to drive the vehicle-side monitoring device 19 to acquire travel information and the like indicating information on the travel of other moving objects such as other vehicles 3b around the own vehicle 3a. Examples of other moving bodies include other moving bodies such as other vehicles 3b and people around the own vehicle 3a. The traveling information includes position information indicating a position, speed information indicating a speed, and traveling direction information (for example, traveling direction information) indicating a traveling direction (for example, traveling direction) for another moving body.

The vehicle-side communication unit 37 is configured to drive the vehicle-side communication device 21 to communicate various information with the traffic light 5. For example, the vehicle-side communication unit 37 is configured to transmit the travel information detected by the vehicle 3 from the vehicle 3 side to the traffic light 5 side. Further, the vehicle-side communication unit 37 is configured to receive information such as map information transmitted from the traffic light 5 side, various information for supporting traveling, and information for avoiding danger and the like. ..

The travel support unit 39 is configured to control its own travel support (that is, travel support control) based on the various information received from the server 7 via the traffic light 5.
In this running support control, when danger is not predicted during running, the own vehicle 3a is controlled based on the information obtained from the traffic light 5 or the like, for example, the running state of another vehicle 3b around the own vehicle 3a. Normal control for traveling at an appropriate speed or the like can be mentioned.

In addition, if any danger is predicted during driving, the driver may be informed of other dangers based on the information obtained from the traffic light 5, for example, the information indicating that there is a danger such as contact with another moving object. A control for notifying a danger such as contact with a moving object by voice or the like can be mentioned. Further, control for braking or steering the own vehicle 3a based on information obtained from the traffic light 5, for example, an appropriate braking or steering instruction for preventing contact with another moving body can be mentioned.

<Traffic light configuration>
Next, the configuration of the traffic light 5 will be described.
As shown in FIG. 1, the traffic light 5 includes an infrastructure side monitoring device 41, a communication device (that is, an infrastructure side communication device) 43, and a control unit (that is, an infrastructure side control unit) 45.

The infrastructure-side monitoring device 41 is a device capable of detecting the state (for example, a position or a running state) of a moving body such as another vehicle 3 around the traffic light 5. As the infrastructure side monitoring device 41, the same configuration as that of the vehicle side monitoring device 19 can be adopted.

For example, examples of the infrastructure-side monitoring device 41 include well-known millimeter-wave radars (for example, FMCW radars), lidars, ultrasonic sensors, cameras, and the like, although not shown.
The infrastructure-side communication device 43 is a communication device for performing wireless communication with the traffic light 5 and with the base station 9. Information can be transmitted and received between the infrastructure-side communication device 43 and the vehicle-side communication device 21 by V2X communication using the DSRC or the like described above. Further, communication may be performed by wire between the traffic light 5 and the base station 9.

The infrastructure-side communication device 43 can receive information transmitted from the vehicle-side communication device 21 (for example, traveling information of the own vehicle 3a or another moving body). Further, the traveling information of the vehicle 3 or the like detected by the infrastructure side monitoring device 41 can be transmitted to the server 7 via the base station 9. Further, various data (for example, map information and information on danger) transmitted from the server 7 via the base station 9, information detected by the traffic light 5 itself, and the like can be transmitted to the vehicle 3 side.

The infrastructure side control unit 45 is mainly composed of a well-known microcomputer (that is, a microcomputer) having a CPU 47 and a semiconductor memory (that is, a vehicle side memory) 49 such as a ROM, RAM, and a flash memory.

Various functions of the infrastructure side control unit 45 are realized by the CPU 47 executing a program stored in the non-transition tangible recording medium. In this example, the ROM corresponds to a non-transitional tangible recording medium in which a program is stored. In addition, when this program is executed, the method corresponding to the program is executed. The infrastructure side control unit 45 may be provided with one microcomputer or may be provided with a plurality of microcomputers.

The infrastructure side memory 49 is a storage medium for storing various information. Data such as the traveling information of the vehicle 3 described above can be stored in the infrastructure side memory 49 together with the data at the time when the data was obtained.

<Functional configuration of the infrastructure control unit>
Next, the functional configuration of the infrastructure side control unit 45 of the traffic light 5 will be described.
As shown in FIG. 2, the infrastructure side control unit 45 functionally includes a signal transmission unit 51 and an infrastructure side communication unit 53.

The infrastructure-side communication unit 53 is configured to drive the infrastructure-side communication device 43 so that information can be transmitted / received to / from the vehicle-side communication unit 37 by the above-mentioned V2X communication. Further, the map information and the like received from the server 7 can be transmitted to the vehicle 3.

The signal transmission unit 51 transmits a signal (hence, information) that can be acquired as a signal from the infrastructure side to the information acquisition unit 35 of the vehicle 3 when a predetermined condition is satisfied. It is configured as follows.

Specifically, when a predetermined condition is satisfied, the signal transmitting unit 51 may be in a dangerous state such as contact with another vehicle 3b or the like or excessive (that is, more than a predetermined) approach. In addition, the infrastructure side monitoring device 41 is driven, and the vehicle side monitoring device 19 is configured to transmit a signal that can be acquired as a signal from the traffic light 5 side to the vehicle side monitoring device 19.

For example, a radar (for example, FMCW radar) of the infrastructure side monitoring device 41 is driven to indicate a preset danger to the radar of the vehicle side monitoring device 19 (for example, FMCW radar) (that is, a signal by radio wave). May be sent. As a result, when the radar of the vehicle side monitoring device 19 receives the signal indicating the danger, the vehicle 3 side can perform appropriate running support control so as to avoid the danger.

Similarly, the rider of the infrastructure-side monitoring device 41 may be driven to transmit a preset danger signal (for example, a laser beam signal) to the rider of the vehicle-side monitoring device 19. As a result, when the rider of the vehicle side monitoring device 19 receives the signal indicating the danger, the vehicle 3 side can perform appropriate running support control.

<Server configuration>
Next, the configuration of the server 7 will be described.
As shown in FIG. 1, the server 7 includes a communication device (that is, a server-side communication device) 61 and a control unit (that is, a server-side control unit) 63.

The server-side communication device 61 is a communication device for performing wireless communication or wired communication with the base station 9. The server-side communication device 61 can transmit map information and the like to the traffic light 5 via the base station 9. In addition, various data (for example, traveling information) transmitted from the traffic light 5 via the base station 9 can be received.

The server-side control unit 63 is mainly composed of a well-known microcomputer (that is, a microcomputer) having a CPU 65, a semiconductor memory (that is, a server-side memory) 67 such as a ROM, a RAM, and a flash memory.

Various functions of the server-side control unit 63 are realized by the CPU 65 executing a program stored in the non-transition tangible recording medium. In this example, the ROM corresponds to a non-transitional tangible recording medium in which a program is stored. In addition, when this program is executed, the method corresponding to the program is executed. The server-side control unit 63 may be provided with one microcomputer or may be provided with a plurality of microcomputers.

The server-side memory 67 is a storage medium for storing various information. Various data such as the above-mentioned traveling information of the moving body can be stored in the server-side memory 67 together with the data at the time when the data was obtained. In addition, map information including the above-mentioned various data can be stored.

<Functional configuration of the server-side control unit>
Next, the functional configuration of the server-side control unit 63 of the server 7 will be described.
As shown in FIG. 2, the server-side control unit 63 functionally includes an information receiving unit 71, a map information generating unit 73, an information processing unit 75, and an information transmitting unit 77.

The information receiving unit 71 is configured to acquire a plurality of traveling information about a moving body such as the vehicle 3 from the information acquisition unit 35 of the vehicle 3 via the traffic light 5. Here, examples of the plurality of traveling information include traveling information relating to a moving body such as a plurality of vehicles 3 and a plurality of traveling information such as the position and speed of the moving body.

By driving the server-side communication device 61, the information receiving unit 71 can receive the travel information via the infrastructure-side communication device 43.
The map information generation unit 73 is configured to generate map information stored by associating the plurality of travel information with a map based on the plurality of travel information received by the information receiving unit 71. The traveling information includes position information, speed information, and moving direction information of the vehicle 3 and the like.

The information processing unit 75 predicts a danger in running the vehicle 3 (for example, the possibility of contact or excessive approach) based on the map information generated by the map information generation unit 73, and the danger related to the danger. Create information.

This danger information may include the above-mentioned information for driving support control as information for avoiding the danger. For example, information instructing the driver to notify the driver of dangers such as contact with other moving objects by voice or the like, and appropriate braking or steering to the vehicle 3 to prevent contact with other moving objects. Information to instruct is given.

The information transmission unit 77 is configured to be able to transmit map information generated by the map information generation unit 73, danger information created by the information processing unit 75, and the like to the traffic light 5. By driving the server-side communication device 61, the information transmission unit 77 can transmit map information, danger information, and the like to the vehicle 3 side via the infrastructure-side communication device 43.

<Base station configuration>
As shown in FIG. 1, as is well known, the base station 9 is connected to the server 7 by wire or wirelessly. In addition, it may be configured so that communication with each vehicle 3 is possible by wireless communication.

[1-2. Control procedure for the entire vehicle driving support system]
Next, the control procedure in the vehicle traveling support system 1 of the first embodiment will be described.
[1-2-1. Operation when V2X communication is possible]
First, the operation of the vehicle traveling support system 1 when V2X communication is possible will be described.

<Vehicle operation>
First, in the vehicle 3 (for example, the own vehicle 3a), the position of the own vehicle 3a is detected by the position detection device 13, the speed of the own vehicle 3a is detected by the vehicle speed sensor 15, and the own vehicle 3a is detected by the gyro sensor 17. The moving direction (that is, the traveling direction) is detected. The detected information, that is, traveling information such as position information, speed information, and moving direction information of the own vehicle 3a is stored in the vehicle side memory 33 of the own vehicle side control unit 23.

Further, the vehicle-side monitoring device 19 detects the position, speed, and moving direction of another moving body such as another vehicle 3b around the own vehicle 3a. The vehicle-side monitoring device 19 can also detect a person or the like whose moving body is not the vehicle 3.

The detected information, that is, traveling information such as position information, speed information, and moving direction information of moving objects around the own vehicle 3a, is temporarily stored in the vehicle side memory 33 of the own vehicle side control unit 23.
Next, as shown in FIG. 3, in each vehicle 3 (for example, own vehicle 3a, other vehicle 3b), the vehicle side communication device 21 is driven to drive the above-mentioned traveling information of the vehicle 3 and traveling of another moving body. The information is transmitted to the infrastructure side communication device 43 (hence, the traffic light 5). For example, transmission is performed by well-known V2X communication using millimeter waves.

<Infrastructure operation>
The infrastructure-side control unit 45 stores the above-mentioned traveling information (that is, a plurality of traveling information) received from the vehicle-side communication device 21 by the infrastructure-side communication device 43 in the infrastructure-side memory 49.

Further, the traveling information and the like stored in the infrastructure side memory 49 are driven by the infrastructure side communication device 43 and transmitted to the base station 9 (hence, the server 7 side).
<Server operation>
The server-side communication device 61 receives travel information and the like transmitted via the base station 9 from the infrastructure-side communication device 43.

Next, the server-side control unit 63 creates map information based on the above-mentioned traveling information and the like received by the server-side communication device 61.
In addition, based on map information and the like, the possibility (that is, danger) of contact or excessive approach to a predetermined vehicle 3 (for example, own vehicle 3a) with respect to moving objects such as other vehicles 3b around the predetermined vehicle 3 is predicted. ..

Next, in the server-side control unit 63, if there is no danger described above, the map information is transmitted from the server-side communication device 61 to the base station 9 at a predetermined transmission timing as usual. It is transmitted to the communication device 43 on the infrastructure side (hence, the traffic light 5).

Further, when there is the above-mentioned danger, not only the above-mentioned map information but also the above-mentioned danger information is transmitted to the traffic light 5. That is, for example, information instructing the driver to notify the driver of dangers such as contact with other moving objects by voice or the like, and appropriate braking of the vehicle 3 to prevent contact with other moving objects. Information that instructs steering is transmitted.

<Infrastructure operation>
The infrastructure side control unit 45 stores the map information and the danger information received from the base station 9 by the infrastructure side communication device 43 in the infrastructure side memory 49.

Next, the infrastructure-side control unit 45 transmits the map information stored in the infrastructure-side memory 49 from the infrastructure-side communication device 43 to the vehicle-side communication device 21 (hence, the vehicle 3) at a predetermined transmission timing. For example, transmission is performed by well-known V2X communication using millimeter waves. If there is the above-mentioned danger information, not only the map information but also the danger information is transmitted.

<Vehicle operation>
The vehicle-side control unit 23 performs normal driving support control based on the map information received from the infrastructure-side communication device 43 and further based on its own driving information. For example, control such as traveling while maintaining a sufficient distance from another vehicle 3b is performed.

If there is danger information, driving support control corresponding to the danger information is performed. For example, the driver is notified by voice or the like of dangers such as contact with other moving objects, and vehicle control such as appropriate braking and steering is performed to prevent contact with other moving objects and excessive approach.

[1-2-2. Operation when V2X communication is cut off]
Next, the operation when the V2X communication is cut off will be described.
Normally, the traffic light 5 performs V2X communication with the vehicle 3 at a predetermined communication timing to send and receive travel information, map information, and the like.

However, as shown in FIG. 4, for example, when there is another vehicle 3x between the traffic light 5 and the own vehicle 3a, which is an obstacle such as a large truck, which is an obstacle to V2X communication, V2X communication is performed. May not be possible.

Therefore, in such a case, the FMCW radar of the infrastructure side monitoring device 41 of the traffic light 5 is used to perform emergency communication (that is, emergency communication) to the FMCW radar of the vehicle side monitoring device 19. .. The above-mentioned danger information can be transmitted by emergency communication.

That is, since the radio wave output by the FMCW radar of the infrastructure side monitoring device 41 is reflected by, for example, a building around the road or the surface of the road, even if there is an obstacle such as a truck, the vehicle side monitoring device 19 of the vehicle 3 Can be reached. See, for example, the radar signal transduction shown by the dashed line in FIG.

As the direction of the radar wave output from the FMCW radar of the infrastructure side monitoring device 41, for example, a wide angle with a viewing angle of 110 ° can be adopted. Therefore, the radio waves output by the FMCW radar of the infrastructure side monitoring device 41 easily reach the vehicle side monitoring device 19 due to the reflection on the building or road described above.

In addition, what kind of radio wave (that is, radio wave for emergency communication) to be transmitted may be set in advance. Then, when the vehicle 3 side receives the radio wave of the emergency communication, it is possible to control the traveling support based on the information included in the radio wave for the emergency communication.

Hereinafter, the FMCW radar will be described in detail by taking it as an example.
For example, as shown in the upper figure of FIG. 5, the FMCW radar of the vehicle-side monitoring device 19 outputs a radio wave whose frequency increases with time (that is, a radar transmission wave shown by a solid line).

When this radar transmitted wave is reflected by a target (that is, a target), the reflected wave shown by the alternate long and short dash line in the figure is obtained.
On the other hand, when V2X communication is cut off, the FMCW radar of the infrastructure side monitoring device 41 is different from the usual one, and as shown by the broken line in the figure, a radio wave of a certain frequency (that is, a danger signal indicating danger information) is emitted. ) Is output in a predetermined direction (that is, the vehicle 3 side) over a predetermined period.

This danger signal can be received by the FMCW radar of the vehicle side monitoring device 19. Therefore, when such a danger signal is received on the vehicle 3 side, it can be determined that there is a danger from anything in the current traveling state. For example, this danger signal can be regarded as a signal for notifying the driver of the danger or a signal for instructing the vehicle 3 to brake.

When the received radar transmission wave is FFT processed in the FMCW radar of the vehicle side monitoring device 19, for example, a signal having a shape as shown in FIG. 6 can be obtained. That is, the signal intensity (signal intensity) corresponding to the reflected wave of a certain target (for example, another vehicle 3b) has a shape as shown by a solid line. On the other hand, the signal corresponding to the danger signal output from the FMCW radar of the infrastructure side monitoring device 41 has a shape as shown by a broken line. Therefore, it is possible to extract a danger signal from the difference in shape between the two signals.

In addition to the upper diagram of FIG. 5, various danger signals may be output from the FMCW radar of the infrastructure side monitoring device 41 as shown in the middle diagram and the lower diagram of FIG.
For example, as shown in the middle figure of FIG. 5, the frequency of the danger signal may be set to be different for each predetermined period. Specifically, the frequency of the danger signal (that is, the frequency fa and the frequency fb) may be alternately switched at regular intervals.

Further, as shown in the lower figure of FIG. 5, a plurality of frequencies of the danger signal (that is, frequency fc, frequency fd, and frequency fe) are set, and the frequency is sequentially switched from the low frequency to the high frequency at regular intervals, and the frequency is switched. The operation itself may be repeated.

[1-3. Control processing in vehicle driving support system]
Next, the main control processes to be performed on the vehicle 3 side and the traffic light 5 side of the vehicle traveling support system 1 will be described. It should be noted that this control process is mainly a control process performed in connection with the case where the V2X communication is cut off.

<Control processing on the traffic light side>
First, the control process executed by the infrastructure side control unit 45 will be described.
As shown in the flowchart of FIG. 7, in step (hereinafter, S) 100, it is determined whether or not communication with the vehicle 3 side is possible by V2X communication. If an affirmative judgment is made here, the process proceeds to S110, while if a negative judgment is made, the process proceeds to S120.

For example, when a predetermined transmission is performed from the infrastructure side communication device 43 to the vehicle side communication device 21 by V2X communication, and there is no reply to the effect that it has been received from the vehicle side communication device 21, the vehicle 3 side is used. Judge that communication is not possible.

Since V2X communication is possible in S110, various information is transmitted and received by V2X communication as usual, and this process is temporarily terminated. For example, map information created by the server 7, information related to driving safety, and the like are transmitted from the server 7 to the vehicle 3 side via the traffic light 5. The information on driving safety includes, for example, danger information such as the existence of another vehicle 3 or the like on the traveling route of the vehicle 3 to which the information is transmitted.

On the other hand, since V2X communication is not possible in S120, the infrastructure side monitoring device 41, for example, the FMCW radar is driven to perform emergency communication for transmitting a danger signal indicating danger, and this process is temporarily terminated.

For example, as shown in the upper figure of FIG. 5, the FMCW radar of the vehicle side monitoring device 19 can receive the FMCW radar of the vehicle side monitoring device 19 from the FMCW radar of the infrastructure side monitoring device 41. , Transmits radio waves different from normal (that is, when V2X communication is possible). For details, refer to the danger signal (see the dashed line in the upper figure of FIG. 5) that is different from the reflected wave (see the reflected wave of the alternate long and short dash line in the upper figure of FIG. 5) that is normally received by the FMCW radar of the monitoring device 41 on the infrastructure side. ) Is sent.

It should be noted that such a danger signal is preset and stored in the infrastructure side memory 49 or the like of the traffic light 5. Further, the information when the danger signal is received on the vehicle 3 side, that is, the information on what kind of signal can be judged as the danger signal (for example, the data after the danger signal is FFT processed) is obtained. It is stored in advance in the vehicle side memory 33 or the like.

<Control processing on the vehicle side>
Next, the control process executed by the vehicle side control unit 23 will be described.
As shown in the flowchart of FIG. 8, in S200, it is determined whether or not communication with the infrastructure side is possible by V2X communication. If an affirmative judgment is made here, the process proceeds to S210, while if a negative judgment is made, the process proceeds to S220.

Since V2X communication is possible in S210, various information is transmitted and received by V2X communication as usual, and this process is temporarily terminated.
For example, the vehicle 3 transmits the traveling information of the vehicle 3 itself and the traveling information of a moving body such as another vehicle 3 around the vehicle 3 to the server 7 side via the traffic light 5. Further, from the server 7 side, the map information created by adding the plurality of traveling information transmitted from the vehicle 3 side and the above-mentioned information on the traveling safety are received via the traffic light 5.

On the other hand, in S220, it is determined whether or not an emergency communication has been received from the traffic light 5. That is, it is determined whether or not the danger signal indicating the emergency communication transmitted from the FMCW radar of the infrastructure side monitoring device 41 is received by the FMCW radar of the vehicle side monitoring device 19. If an affirmative judgment is made here, the process proceeds to S230, while if a negative judgment is made, the process returns to S200.

In S230, since the emergency communication is received from the traffic light 5, the traveling support control of the vehicle 3 is performed based on the emergency communication, and this process is temporarily terminated.
For example, since there is a possibility that an obstacle or the like may exist in front of the vehicle, control is performed to notify the driver of the danger by sound or voice, or to apply the brake of the vehicle 3 to reduce the speed. Can be done.

[1-4. effect]
In the first embodiment, the following effects can be obtained.
(1a) The first embodiment relates to a vehicle traveling support system 1 that performs V2X communication between a vehicle 3 and a traffic light 5 which is an infrastructure around the vehicle 3. The vehicle running support system 1 includes an information acquisition unit 35 and a vehicle side communication unit 37 as a configuration on the vehicle 3 side, and an infrastructure side communication unit 53 and a signal transmission unit 51 as a configuration on the traffic light 5 side. Be prepared.

With such a configuration, in the first embodiment, when communication between the vehicle 3 and the traffic light 5 is required, the communication can be performed more reliably than before. That is, it is possible to increase the redundancy when transmitting information and to transmit information more reliably.

Specifically, in the first embodiment, for example, V2X communication between the vehicle-side communication device 21 and the infrastructure-side communication device 43 is an obstacle such as a large truck existing between the vehicle 3 and the signal 5. If it is difficult due to the influence, the transmitter of the FMCW radar of the infrastructure side monitoring device 41 provided separately from the communication device 43 of the infrastructure side may be used for the receiver of the FMCW radar of the vehicle side monitoring device 19 (infrastructure). A radar wave indicating a danger signal that can be acquired by the vehicle side monitoring device 19 (as a signal from the side monitoring device 41) is transmitted.

By transmitting such a signal (hence, information), even when V2X communication between the vehicle side communication device 21 and the infrastructure side communication device 43 is difficult, the signal 5 side to the vehicle 3 side can be reached. For example, it is possible to reliably transmit necessary information on the vehicle 3 side, such as information for notifying the driver of the danger and information necessary for the vehicle 3 to perform control for avoiding the danger.

Therefore, on the vehicle 3 side, it is possible to perform appropriate operations and controls based on the information, for example, in order to avoid danger.
(1b) The first embodiment includes a server 7 that communicates with the traffic light 5. The server 7 can generate map information based on a plurality of travel information transmitted from the vehicle 3 side via the traffic light 5, and can create danger information from the map information. Then, the map information and the danger information can be transmitted to the vehicle 3 side via the traffic light 5.

Therefore, on the vehicle 3 side, various controls such as driving support control can be performed based on the map information and the danger information.
(1c) In the first embodiment, the vehicle 3 controls the traveling support of the vehicle 3 based on the information transmitted from the infrastructure side communication device 43 and the information transmitted from the infrastructure side monitoring device 41 in an emergency. It can be carried out.

(1d) In the first embodiment, as the control of the traveling support, it is possible to control to call attention to the driver and to control the traveling state of the vehicle 3.
(1e) In the first embodiment, the position information of the moving body, the speed information of the moving body, and the moving direction information of the moving body can be adopted as the traveling information.

(1f) In the first embodiment, the position information and speed information of the own vehicle 3a and other moving objects other than the own vehicle 3a are used by various sensors (that is, detection devices) 13, 15, 17 and the vehicle side monitoring device 19. And movement direction information can be acquired.

(1g) In the first embodiment, the infrastructure-side monitoring device 41 can transmit radar waves that can be received by the vehicle-side monitoring device 19.
(1h) In the first embodiment, the infrastructure side monitoring device 41 can transmit a light wave that can be received by the vehicle side monitoring device 19.

(1i) In the first embodiment, it is possible to adopt a configuration in which the vehicle 3 is provided with various sensors 13, 15, 17 and a vehicle-side monitoring device 19. Further, the traffic light 5 can be configured to include the infrastructure side monitoring device 41.

Information on vehicles and moving objects (for example, traveling information) may be acquired in an area where the accident rate is equal to or higher than a predetermined value (for example, in the vicinity of a predetermined traffic light 5). As a result, accidents in areas with a high accident rate can be suppressed.

[1-5. Correspondence of words]
In the relationship between the first embodiment and the present disclosure, the vehicle driving support system 1 corresponds to the vehicle driving support system, the vehicle 3 corresponds to the vehicle, the traffic light 5 corresponds to the infrastructure, and the server 7 corresponds to the server. The information acquisition unit 35 corresponds to the information acquisition unit, the vehicle side communication unit 37 corresponds to the vehicle side communication unit, the infrastructure side communication unit 53 corresponds to the infrastructure side communication unit, and the signal transmission unit 51 corresponds to the signal transmission unit. handle. Further, the information receiving unit 71 corresponds to the information receiving unit, the map information generating unit 73 corresponds to the map information generating unit, the information processing unit 75 corresponds to the information processing unit, and the information transmitting unit 77 corresponds to the information transmitting unit. Then, the driving support unit 39 corresponds to the driving support unit.

[2. Second Embodiment]
Since the basic configuration of the second embodiment is the same as that of the first embodiment, the differences from the first embodiment will be mainly described below. It should be noted that the same reference numerals as those in the first embodiment indicate the same configuration, and the preceding description will be referred to.

In the second embodiment, since the configuration in consideration of other vehicles other than the own vehicle is mainly different from that of the first embodiment, the differences will be mainly described.
[2-1. overall structure]
First, the overall configuration of the vehicle running support system of the second embodiment will be described.

As shown in FIG. 9, the vehicle traveling support system 81 of the second embodiment has a vehicle 3 (own vehicle 3a), an infrastructure (that is, a traffic light) 5, a server 7, and a base, as in the first embodiment. The station 9 is provided, and another vehicle 3b is provided as the vehicle 3.

<Vehicle configuration>
As in the first embodiment, the own vehicle 3a includes a navigation device 11, a position detection device 13, a vehicle speed sensor 15, a gyro sensor 17, a vehicle side monitoring device 19, a vehicle side communication device 21, and a vehicle side. A control unit 23 is provided.

Further, the own vehicle 3a includes a power train system 25, a brake system 27, a steering system 29, and a notification device 30 as in the first embodiment.
Further, as shown in FIG. 10, the vehicle-side control unit 23 functionally includes an information acquisition unit 35, a vehicle-side communication unit 37, and a traveling support unit 39, as in the first embodiment.

Further, the other vehicle 3a of the vehicle 3 has a navigation device 11, a position detection device 13, a vehicle speed sensor 15, a gyro sensor 17, a vehicle side monitoring device 19, and a vehicle side, similarly to the own vehicle 3a. A communication device 21 and a vehicle-side control unit 23 are provided. The other vehicle 3b may also be provided with the power train system 25, the brake system 27, the steering system 29, and the notification device 30 in the same manner as the own vehicle 3a.

Further, as shown in FIG. 10, the vehicle-side control unit 23 of the other vehicle 3b functionally includes an information acquisition unit 35 and a vehicle-side communication unit 37, similarly to the own vehicle 3a. In addition, like the own vehicle 3a, the traveling support unit 39 may be provided.

<Traffic light configuration>
As shown in FIG. 9, the traffic light 5 includes an infrastructure side monitoring device 41, an infrastructure side communication device 43, and an infrastructure side control unit 45, as in the first embodiment.

Further, as shown in FIG. 10, the infrastructure side control unit 45 functionally includes a signal transmission unit 51 and an infrastructure side communication unit 53, as in the first embodiment.
<Server configuration>
As shown in FIG. 9, the server 7 includes a server-side communication device 61 and a server-side control unit 63, as in the first embodiment.

Further, as shown in FIG. 10, the server-side control unit 63 functionally has the information receiving unit 71, the map information generation unit 73, the information processing unit 75, and the information transmission unit, as in the first embodiment. 77 and.

[1-2. Control procedure for the entire vehicle driving support system]
Next, the procedure in the vehicle traveling support system 1 of the second embodiment will be described.
<When V2X communication is possible>
As shown in FIG. 11, in each vehicle 3 (for example, own vehicle 3a, other vehicle 3b, 3c), traveling information of a moving body such as vehicle 3 detected by various sensors 13, 15, 17, 19 is obtained. Using V2X communication, transmission is performed from the vehicle-side communication device 21 to the infrastructure-side communication device 43.

The information transmitted to the traffic light 5 is transmitted from the base station 9 to the server 7.
On the other hand, information such as map information and danger information is transmitted from the server 7 to the traffic light 5 via the base station 9.

The information transmitted to the traffic light 5 is transmitted from the infrastructure side communication device 43 to the vehicle side communication device 21 by using V2X communication.
<When V2X communication is blocked>
Then, as described above, when the V2X communication between the signal 5 and the vehicle 3 is cut off, the FMCW radar of the infrastructure side monitoring device 41 to the FMCW radar of the vehicle side monitoring device 19 of each vehicle 3 , Send a danger signal.

Therefore, on the vehicle 3 side that has received this danger signal, various types of driving support can be controlled as in the first embodiment.
In the second embodiment, the same effect as that of the first embodiment is obtained by the above-described configuration.

[3. Other embodiments]
Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments, and can be variously modified and implemented.

(3a) In the present disclosure, as a moving body other than the own vehicle, another vehicle is taken as an example, but as the moving body, a person, an animal, or the like can be mentioned in addition to the other vehicle.
(3b) Examples of the infrastructure include traffic lights, but in addition to traffic lights, various devices (for example, roadside devices) arranged on the road and its surroundings can be mentioned.

(3c) In the above embodiment, a radar such as an FMCW radar is given as an example as a configuration for transmitting and receiving a danger signal between the infrastructure side monitoring device and the vehicle side monitoring device, but light from a rider or the like (for example, a laser) is used. A configuration using light) may be adopted.

For example, the light emitting unit that emits the laser beam of the rider of the infrastructure side monitoring device may irradiate the light receiving unit that receives the laser beam of the rider of the vehicle side monitoring device with the laser beam indicating a danger signal. The laser beam can be reflected by a building around the road, the surface of the road, or the like, and can be received by the rider of the vehicle-side monitoring device. It should be noted that what kind of laser light indicates a danger signal is preset.

(3d) The control unit (for example, vehicle side control unit, infrastructure side control unit, server side control unit) and the method thereof described in the present disclosure execute one or a plurality of functions embodied by a computer program. It may be realized by a dedicated computer provided by configuring a processor and memory programmed in this way.

Alternatively, the controls and methods thereof described in the present disclosure may be implemented by a dedicated computer provided by configuring the processor with one or more dedicated hardware logic circuits.

Alternatively, the controls and techniques described herein are by a combination of a processor and memory programmed to perform one or more functions and a processor configured by one or more hardware logic circuits. It may be realized by one or more dedicated computers configured.

The computer program may also be stored on a computer-readable non-transitional tangible recording medium as an instruction executed by the computer. The method for realizing the functions of each part included in the control unit does not necessarily include software, and all the functions may be realized by using one or a plurality of hardware.

(3e) A plurality of functions possessed by one component in the above embodiment may be realized by a plurality of components, or one function possessed by one component may be realized by a plurality of components. .. Further, a plurality of functions possessed by the plurality of components may be realized by one component, or one function realized by the plurality of components may be realized by one component. Further, a part of the configuration of the above embodiment may be omitted. Further, at least a part of the configuration of the above embodiment may be added or replaced with the configuration of the other above embodiment.

(3f) In addition to the above-mentioned control unit, a system having the control unit as a component, a program for operating a computer as the control unit, a non-transitional tangible recording medium such as a semiconductor memory in which this program is recorded, a control method, and the like. , The present disclosure can also be realized in various forms.

1, 81: Vehicle support driving system, 3: Vehicle, 5: Signal 7: Server, 9: Base station, 23: Vehicle side control unit, 45: Infrastructure side control unit, 63: Server side control unit

Claims (10)

It is a vehicle running support system (1) that communicates between the vehicle (3) and the infrastructure (5) around the vehicle.
As the configuration on the vehicle side,
An information acquisition unit (35) configured to acquire traveling information of surrounding moving objects, and
A vehicle-side communication unit (37) configured to send and receive information including the traveling information to and from the infrastructure side, and a vehicle-side communication unit (37).
Equipped with
As the configuration on the infrastructure side,
An infrastructure-side communication unit (53) configured to send and receive the information to and from the vehicle-side communication unit,
A signal transmission unit (51) configured to transmit a signal that can be acquired as a signal from the infrastructure side to the information acquisition unit of the vehicle when a predetermined condition is satisfied. )When,
With,
Vehicle driving support system. The vehicle running support system according to claim 1.
Further, a server (7) for communicating with the infrastructure is provided.
As the configuration on the server side,
An information receiving unit (71) configured to receive a plurality of the traveling information from the information acquisition unit of the vehicle via the infrastructure.
A map information generation unit (73) configured to generate map information stored by associating the plurality of traveling information received from the information reception unit with a map, and a map information generation unit (73).
Based on the map information generated by the map information generation unit (73), the information processing unit (75) that determines the danger in the running of the vehicle and creates the danger information regarding the danger, and the information processing unit (75).
An information transmission unit (77) configured to transmit the map information generated by the map information generation unit and / or the danger information generated by the information processing unit to the vehicle via the infrastructure.
A vehicle driving support system equipped with. The vehicle running support system according to claim 1 or 2.
The vehicle is a travel support unit (39) that controls the travel support of the vehicle based on the information transmitted from the infrastructure side communication unit and / or the information indicated by the signal transmitted from the signal transmission unit. With,
Vehicle driving support system. The vehicle running support system according to claim 3.
The control of the traveling support is a warning to the driver of the vehicle and / or a control of the traveling state of the vehicle.
Vehicle driving support system. The vehicle traveling support system according to any one of claims 1 to 4.
The traveling information includes at least the position information of the moving body, the speed information of the moving body, and the moving direction information of the moving body.
Vehicle driving support system. The vehicle traveling support system according to any one of claims 1 to 5.
The information acquisition unit is configured to acquire at least position information, speed information, and movement direction information of the own vehicle and / or the moving body other than the own vehicle by a sensor.
Vehicle driving support system. The vehicle traveling support system according to any one of claims 1 to 6.
The signal transmission unit is configured to transmit a radar wave that can be received by the information acquisition unit.
Vehicle driving support system. The vehicle traveling support system according to any one of claims 1 to 7.
The signal transmission unit is configured to transmit a light wave that can be received by the information acquisition unit.
Vehicle driving support system. The vehicle traveling support system according to any one of claims 1 to 8.
The information acquisition unit is arranged in the moving body and / or infrastructure other than the vehicle in addition to the vehicle.
Vehicle driving support system. The vehicle traveling support system according to any one of claims 1 to 9.
The information acquisition unit is configured to acquire the traveling information in an area where the accident rate is equal to or higher than a predetermined value.
Vehicle driving support system.

Images