JP2022021289A - On-vehicle device, road-side device, and communication method - Google Patents

Abstract

To provide an on-vehicle device capable of receiving a distribution service of road video.SOLUTION: An on-vehicle device mounted in a vehicle comprises: a receiver circuit for receiving an advertisement message indicating that a distribution service is being provided, from a road-side device which provides the distribution service of road video; a control circuit which generates a message relating to transmission of the road video with respect to the road-side device on the basis of the reception of the advertisement message; and a transmitter circuit which transmits the message to the road-side device.SELECTED DRAWING: Figure 2

Description

The present disclosure relates to in-vehicle devices, roadside devices, and communication methods.

As wireless communication used for ITS (Intelligent Transport System), for example, there is DSRC (Dedicated Short Range Communications). In IEEE802.11p, a technology that succeeds the wireless LAN (Local Area Network) technology is being studied as a standard conforming to DSRC.

Patent Document 1 discloses a method in which a roadside camera is installed at an intersection and the image thereof is transmitted to a right-turning vehicle by a wireless signal to display an image of a blind spot.

JP-A-2007-089644

However, in road-to-vehicle communication, there is no provision regarding the specifications for providing a road image distribution service by a camera installed at a place such as an intersection.

The non-limiting examples of the present disclosure contribute to the provision of an in-vehicle device, a roadside device, and a communication method capable of receiving a road image distribution service.

The in-vehicle device according to an embodiment of the present disclosure includes a receiving circuit that receives an advertisement message indicating that the distribution service is provided from a roadside device that provides a road image distribution service, and a receiving circuit for receiving the advertisement message. Based on this, it has a message generation circuit that generates a message regarding transmission of the road image to the roadside device, and a transmission circuit that transmits the message to the roadside device.

The roadside device according to an embodiment of the present disclosure includes a transmission circuit for transmitting an advertisement message indicating the provision of a road image distribution service, a reception circuit for receiving a message regarding transmission of the road image from an in-vehicle device, and the message. It has a message generation circuit that generates a video distribution message including the identification information of the camera that shoots the road image, the installation position, and the shooting direction based on the reception of the vehicle, and transmits it to the in-vehicle device.

The roadside device according to an embodiment of the present disclosure indicates the provision of a road image distribution service, and includes a transmission circuit for transmitting an advertisement message including identification information, installation position, and shooting direction of a plurality of cameras that shoot the road, and an in-vehicle device. A receiving circuit for receiving a message regarding the transmission of the road image from the apparatus, the transmitting circuit includes a road image image of one or more of the plurality of cameras based on the reception of the message. The signal is transmitted to the in-vehicle device.

The communication method according to an embodiment of the present disclosure is a communication method of an in-vehicle device, and receives an advertisement message indicating that the distribution service is provided from a roadside device that provides a road image distribution service. Based on the reception of the advertisement message, a message regarding the transmission of the road image is generated for the roadside device, and the message is transmitted to the roadside device.

The communication method according to an embodiment of the present disclosure is a communication method for a roadside device, which transmits an advertisement message indicating the provision of a road image distribution service, and receives a message regarding transmission of the road image from an in-vehicle device. Based on the reception of the message, a video distribution message including the identification information of the camera that captures the road image, the installation position, and the shooting direction is generated, and the video distribution message is transmitted to the in-vehicle device.

The communication method according to an embodiment of the present disclosure is a communication method of a roadside device, which indicates the provision of a road image distribution service, and is an advertisement including identification information, an installation position, and a shooting direction of a plurality of cameras that shoot a road. A message is transmitted, a message regarding the transmission of the road image is received from the in-vehicle device, and based on the reception of the message, the image signal of the road image of one or more of the plurality of cameras is transmitted to the in-vehicle device. Send to.

It should be noted that these comprehensive or specific embodiments may be realized in a system, an apparatus, a method, an integrated circuit, a computer program, or a recording medium, and the system, an apparatus, a method, an integrated circuit, a computer program, and a recording medium may be realized. It may be realized by any combination of.

According to one embodiment of the present disclosure, the in-vehicle device can receive a road image distribution service.

Further advantages and effects in one embodiment of the present disclosure will be apparent from the specification and drawings. Such advantages and / or effects are provided by some embodiments and the features described in the specification and drawings, respectively, but not all need to be provided in order to obtain one or more identical features. There is no.

The figure which shows the configuration example of the road vehicle cooperative driving support system Sequence diagram showing a schematic operation example of a road vehicle cooperative driving support system The figure which showed the block composition example of the roadside device The figure which showed the block composition example of the in-vehicle device Figure showing WSA format A diagram illustrating an example of an element included in a video delivery message. Sequence diagram showing an operation example of the road vehicle cooperative driving support system Sequence diagram showing an operation example of the road vehicle cooperative driving support system Sequence diagram showing an operation example of the road vehicle cooperative driving support system Sequence diagram showing an operation example of the road vehicle cooperative driving support system A diagram showing a modified example of the elements included in the video distribution message. The figure explaining the transformation example of the setting method of a camera shooting direction. Sequence diagram showing a modified example of the operation of the road vehicle cooperative driving support system Sequence diagram showing a modified example of the operation of the road vehicle cooperative driving support system Sequence diagram showing a modified example of the operation of the road vehicle cooperative driving support system Sequence diagram showing a modified example of the operation of the road vehicle cooperative driving support system

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings as appropriate. However, more detailed explanation than necessary may be omitted. For example, detailed explanations of already well-known matters and duplicate explanations for substantially the same configuration may be omitted. This is to avoid unnecessary redundancy of the following description and to facilitate the understanding of those skilled in the art.

It should be noted that the accompanying drawings and the following description are provided for those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

For example, at a right-handed intersection such as the United States, it may be possible to turn right at a red light. The driver of a right-turning vehicle will pause before turning right and check for possible collisions with vehicles entering the intersection from the left, but if the vehicle is in the lane to the left of the right-turning vehicle, turn left. It may be difficult to see the vehicle entering the intersection from the left because the view of the vehicle is obstructed. Further, when turning left at an intersection, if a left-turning vehicle is waiting on the oncoming lane side, it may be difficult to visually recognize the vehicle entering the intersection by going straight on the oncoming lane.

FIG. 1 is a diagram showing a configuration example of a road vehicle cooperative driving support system according to the present disclosure. The intersection 900 shown in FIG. 1 is composed of roads 910, 920, 930, 940, 950, 960, 970, and 980. In the example of FIG. 1, the vehicle travels on the right side.

At the intersection 900, a roadside device that wirelessly communicates with an in-vehicle device (not shown) of a vehicle entering the intersection 900 is installed. For example, at the intersection 900, a roadside device 100a that runs on the road 950 and wirelessly communicates with an in-vehicle device (not shown) of a vehicle entering the intersection 900 is installed. At the intersection 900, a roadside device 100b that wirelessly communicates with an in-vehicle device (not shown) of a vehicle (not shown) that travels on the road 970 and enters the intersection 900 is installed. At the intersection 900, a roadside device 100c that wirelessly communicates with the in-vehicle device of the vehicles 300, 500 that travels on the road 910 and enters the intersection 900 is installed. At the intersection 900, a roadside device 100d that runs on the road 930 and wirelessly communicates with the in-vehicle device of the vehicle 400 entering the intersection 900 is installed.

In the following, when the roadside devices 100a to 100d are not distinguished, they may be referred to as roadside devices 100. Although the roadside device 100 is shown on the road in FIG. 1 for simplification of the figure, the roadside device 100 may be installed in a structure such as a traffic light or a utility pole. Further, the roadside devices 100 may be connected to each other by a backhaul line such as wired or wireless.

At the intersection 900, a roadside camera that photographs a vehicle entering the intersection 900 is installed. For example, at the intersection 900, a roadside camera 200a for photographing the road 950 is installed. At the intersection 900, a roadside camera 200b for photographing the road 970 is installed. At the intersection 900, a roadside camera 200c for photographing the road 910 is installed. At the intersection 900, a roadside camera 200d for photographing the road 930 is installed.

In the following, when the roadside cameras 200a to 200d are not distinguished, it may be described as the roadside camera 200.

Roadside cameras 200a to 200d are connected to each of the roadside devices 100. For example, as shown in FIG. 1, roadside cameras 200a to 200d are connected to the roadside device 100c. In FIG. 1, for simplification of the figure, the illustration of the connection relationship between the roadside devices 100a, 100b, 100d and the roadside camera 200 is omitted.

The roadside camera 200 may be connected to one nearby roadside device 100 and may be connected to another roadside device 100 via a backhaul line connecting the roadside devices 100. For example, the roadside camera 200a may be connected to a nearby roadside device 100a and may be connected to other roadside devices 100b to 100d via the backhaul line of the roadside device 100.

The roadside device 100 wirelessly communicates with an in-vehicle device mounted on a vehicle using millimeter waves. For example, the millimeter-wave directional beam 600 of the roadside device 100c faces the road 910. As a result, the roadside device 100c wirelessly communicates with the in-vehicle device of the vehicles 300, 500 traveling on the road 910 and entering the intersection 900. Similarly, the roadside devices 100a, 100b, and 100d also use millimeter-wave directional beams to wirelessly communicate with the in-vehicle device of the vehicle entering the intersection 900. The communication area of the millimeter wave directional beam 600 is inside the intersection 900 in FIG. 1, but may reach roads 910 and 920.

As will be described later, the roadside device 100 may wirelessly communicate with the in-vehicle device using microwaves in transmitting a service advertisement message such as WSA (Wave Service Advertisement).

Further, the roadside device 100 and the vehicle-mounted device mounted on the vehicle may wirelessly communicate with each other according to, for example, a wireless system compliant with IEEE802.11p (also referred to as Wireless Access in Vehicular Environments (WAVE)).

Here, the vehicle 300 shown in FIG. 1 turns right from road 910 to road 980. A large vehicle 500 is parked in the lane to the left of the vehicle 300. Therefore, the visibility of the road 930 in the left direction may be low for the driver of the vehicle 300. For example, a vehicle 400 that goes straight on a road 930 and enters an intersection 900 may be difficult for the driver of the vehicle 300 to see.

Therefore, the roadside device 100 advertises (notifies) the provision of the video distribution service of the road image by the roadside camera 200 installed at the intersection 900 to the in-vehicle device by using a service advertisement message such as WSA. Thereby, for example, the in-vehicle device of the vehicle 300 can recognize the existence of the image distribution service of the road image at the intersection 900, and can receive the image of the road 930 at the roadside camera 200d. Therefore, the visibility of the driver of the vehicle 300 in the left direction is improved.

FIG. 2 is a sequence diagram showing a schematic operation example of the road vehicle cooperative driving support system. FIG. 2 shows a sequence example when the vehicle 300 traveling on the road 910 enters the intersection 900.

The roadside camera 200 transmits the captured video data to the roadside device 100c (S1).

The roadside device 100c advertises (notifies) the vehicle 300 (vehicle-mounted device mounted on the vehicle 300) that it is providing the video distribution service, and therefore transmits a service advertisement message indicating the provision of the video distribution service (S2). ).

The service advertisement message includes a service ID (identification) that identifies various services provided by the roadside device 100c. The vehicle 300 determines that the roadside device 100c provides the video distribution service of the road image by reading the service ID indicating the video distribution service included in the received service advertisement message.

When the vehicle 300 reads the service ID indicating the video distribution service, the vehicle 300 confirms the connection of the millimeter wave communication with the roadside device 100c (S3).

When the vehicle 300 confirms the connection of the millimeter wave communication, in order to apply for the video distribution service to the roadside device 100c, the vehicle 300 transmits a service application message including a service ID corresponding to the video distribution service to the roadside device 100c (S4).

When the roadside device 100c receives the service application message, it transmits a video distribution message including the camera ID of the roadside camera 200 installed at the intersection 900, the installation position of the roadside camera 200, and the shooting direction of the roadside camera 200 (S5). ). In the example of FIG. 1, the roadside device 100c transmits a video distribution message including the camera IDs, installation positions, and shooting directions of four cameras (roadside cameras 200a to 200d). The video delivery message will be described in detail in FIG.

The vehicle 300 may have a blind spot based on the installation position and shooting direction of the roadside camera 200 included in the received video distribution message, the position information of the vehicle 300, and the direction in which the vehicle 300 is going to travel. The camera ID of the roadside camera 200 that is photographing the road is determined (S6). For example, the vehicle 300 shown in FIG. 1 determines the camera ID of the roadside camera 200d that is photographing the road 930 where a blind spot may occur when turning right from the road 910 to the road 980. The vehicle 300 may acquire the position information of the vehicle 300 by using GPS (Global Positioning System). The vehicle 300 may acquire the direction in which the vehicle 300 is going to travel by using the signal of the direction indicator.

Since the vehicle 300 requests the distribution of the road image corresponding to the determined camera ID, the vehicle 300 transmits an image distribution request message including the determined camera ID to the roadside device 100c (S7).

The roadside device 100c transmits a video signal including video data of the roadside camera 200 corresponding to the camera ID included in the received video distribution request message to the vehicle 300 (S8). For example, the roadside device 100c transmits a video signal including video data of the roadside camera 200d to the vehicle 300.

In order to cancel the video distribution service, the vehicle 300 transmits a service cancellation message including a service ID corresponding to the video distribution service to the roadside device 100c (S9). For example, the vehicle 300 may send a service cancellation message to the roadside device 100c when the right turn is completed (for example, when the turn signal indicating the right turn is turned off).

As will be described in S20 of FIG. 7B, the vehicle 300 may omit the confirmation of the millimeter wave connection of S3.

FIG. 3 is a diagram showing a block configuration example of the roadside device 100. The roadside device 100 includes a local server 101, a message generation unit 102, a radio unit 103, an antenna 104, and a control unit 105. The roadside device 100 is connected to one or more roadside cameras 200.

The local server 101 receives the video data transmitted from the roadside camera 200. The local server 101 stores information about the roadside camera 200 such as a camera ID, a camera installation position, and a shooting direction, and associates the received video data with the information about the roadside camera 200 that has transmitted the video data. The local server 101 transmits a video signal including video data to the in-vehicle device via the wireless unit 103.

The message generation unit 102 generates a service advertisement message and a video delivery message. The service advertisement message includes a service ID corresponding to the video distribution service. The video distribution message includes information about the roadside camera 200 such as a camera ID, a camera installation position, and a camera shooting direction. The message generation unit 102 transmits the generated service advertisement message and the video distribution message to the in-vehicle device via the wireless unit 103.

The wireless unit 103 performs wireless communication using millimeter waves via the antenna 104. The radio unit 103 may use microwaves in transmitting the service advertisement message.

The control unit 105 controls the entire roadside device 100. The control unit 105 may be configured by a processor such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processor), for example.

The control unit 105 may realize a predetermined function according to, for example, a program stored in the storage device. For example, the control unit 105 assigns a camera ID to the roadside camera 200. The control unit 105 stores the camera ID and information regarding the installation position and shooting direction of the roadside camera 200 of the camera ID in the local server 101. The control unit 105 associates the video data transmitted from the local server 101 with the information (camera ID, installation position, and shooting direction) regarding the roadside camera 200. The control unit 105 instructs the message generation unit 102 to generate the service advertisement message and the video delivery message. The control unit 105 executes video distribution start processing and video distribution end processing.

FIG. 4 is a diagram showing a block configuration example of the in-vehicle device 700. The in-vehicle device 700 includes an antenna 701, a radio unit 702, a control unit 703, a message generation unit 704, a GPS unit 705, a map data storage unit 706, a direction indicator 707, and a display unit 708. ..

The radio unit 702 performs wireless communication using millimeter waves via the antenna 701. The radio unit 702 may use microwaves in receiving the service advertisement message.

The control unit 703 controls the entire in-vehicle device 700. The control unit 703 may be configured by a processor such as a CPU or a DSP.

The control unit 703 may realize a predetermined function according to, for example, a program stored in the storage device. For example, the control unit 703 includes the camera installation position and the camera shooting direction included in the received video distribution message, the vehicle position information acquired by the GPS unit 705, the map data stored in the map data storage unit 706, and the map data. Based on the state of the direction indicator 707, the camera ID of the roadside camera 200 that is photographing the road where the blind spot may occur is determined. The control unit 703 instructs the message generation unit 704 to generate a service application message, a video distribution request message, and a service cancellation message.

The message generation unit 704 generates a service application message and a video distribution request message. The service application message includes a service ID corresponding to the video distribution service. The video distribution request message includes the camera ID of the roadside camera 200 requesting video distribution. The message generation unit 704 transmits the generated service application message and the video distribution request message to the roadside device 100.

The GPS unit 705 receives a GPS signal transmitted from a GPS satellite and acquires the current position of the vehicle 300.

The map data storage unit 706 stores map data such as topographical information, road centerline information, and road edge information.

The turn signal 707 informs the state of turning left or right of the vehicle 300.

The display unit 708 displays the video data received from the roadside device 100 via the radio unit 702.

FIG. 5 is a diagram showing a WSA format. For example, the WSA format shown in FIG. 5 may be used for the service advertisement message transmitted by the roadside device 100 to the vehicle-mounted device 700. As shown in FIG. 5, the WSA has fields for a WSA header 1001, a service information segment 1002, a channel information segment 1003, and a WAVE routing advertisement 1004.

The service information segment 1002 has fields for a service information count 1005, a PSID (Provider Service Identifier) 1006, a channel index 1007, a spare 1008, a service information option indicator 1009, and a WAVE information element extension 1010.

PSID1006 is a service ID represented by an integer from 0 to 270549119 according to the service. PSID 1006 is assigned to an organization authorized to use PSID. Therefore, the PSID of the video distribution service for road video is assigned a value that is not yet associated with any service and is not assigned to any organization.

FIG. 6 is a diagram illustrating an example of an element included in the video distribution message. As shown in FIG. 6, the video distribution message transmitted by the roadside device 100 to the vehicle-mounted device 700 includes elements of a camera ID, a camera installation position, and a camera shooting direction.

The camera ID is a unique ID that identifies the roadside camera 200.

The camera installation position indicates the installation position of the roadside camera 200. The camera installation position may be indicated by, for example, latitude and longitude.

The camera shooting direction indicates the shooting direction of the roadside camera 200. The camera shooting direction may be indicated by an absolute azimuth, for example, with respect to the roadside camera 200, with true north as 0 degrees or 360 degrees, true east as 90 degrees, true south as 180 degrees, and true west as 270 degrees. good.

The video distribution message transmitted by the roadside device 100 to the vehicle-mounted device 700 includes elements for the number of roadside cameras 200 that capture the road image distributed by the roadside device 100. For example, in the case of the example of FIG. 1, the video distribution message transmitted by the roadside device 100 to the in-vehicle device 700 includes an element of the roadside camera 200a, an element of the roadside camera 200b, an element of the roadside camera 200c, and a roadside camera 200d. Elements and are included.

7A to 7D are sequence diagrams showing an operation example of the road vehicle cooperative driving support system. The circled A, B, and C shown in FIG. 7A are connected to the circled A, B, and C shown in FIG. 7B. The circled D shown in FIG. 7B is connected to the circled D shown in FIG. 7C. The circled E and F shown in FIG. 7C are connected to the circled E and F shown in FIG. 7D.

The roadside camera 200 transmits the captured video data to the local server 101 (S11). The local server 101 receives the video data transmitted from the roadside camera 200.

The control unit 105 sets a different camera ID for each roadside camera 200, associates the installation position and shooting direction of the roadside camera 200 with the video data received by the local server 101, and stores them in the local server 101 (S12 to S14). ).

The control unit 105 outputs a service advertisement instruction to the message generation unit 102 in order to advertise to the vehicle 300 that the video distribution service is being provided (S15).

The control unit 105 outputs a service ID (PSID) corresponding to the video distribution service to the message generation unit 102 (S16).

The message generation unit 102 generates a service advertisement message including the service ID output in S16, and transmits the service advertisement message to the in-vehicle device 700 via the radio unit 103 and the antenna 104 (S17).

When the vehicle 300 enters the communication area of the roadside device 100, the control unit 703 of the vehicle-mounted device 700 shown in FIG. 7B receives a service advertisement message via the antenna 701 and the radio unit 702 (S18). The received service advertisement message includes a service ID indicating that the video distribution service is being provided.

The control unit 703 reads the service ID included in the service advertisement message (S19). The control unit 703 recognizes that the road video video distribution service is provided at the intersection 900 by reading the service ID of the video distribution service included in the service advertisement message.

When the service advertisement message of S18 is received by the microwave, the control unit 703 confirms the connection of the millimeter wave communication with the roadside device 100 (S20). For example, the control unit 703 confirms whether or not the roadside device 100 of the transmission source of the service advertisement message received by using the microwave and the roadside device 100 connected by using the millimeter wave match. Match confirmation is realized by, for example, including information for identifying the roadside device 100 in a packet containing a service advertisement message and a packet used for millimeter wave connection, and the control unit 703 compares them. can.

When the control unit 703 receives the service advertisement message using millimeter waves, the processing of S20 may be omitted.

The control unit 703 outputs the service application instruction and the service ID read in S19 to the message generation unit 704 (S21, S22) in order to apply for the video distribution service to the roadside device 100.

The message generation unit 704 generates a service application message including the service ID output in S22, and transmits the service application message to the roadside device 100 via the radio unit 702 and the antenna 701 (S23). When the radio unit 702 receives the service advertisement message using microwaves, the radio unit 702 may transmit the service application message using microwaves.

As shown in FIG. 7A, the control unit 105 of the roadside device 100 receives the service application message for video distribution via the antenna 104 and the radio unit 103 (S24).

The control unit 105 reads the service ID included in the service application message (S25). By reading the service ID of the video distribution service included in the service application message, the control unit 703 recognizes that the vehicle-mounted device 700 has applied for the video distribution service of the road image at the intersection 900.

When the control unit 105 recognizes that the video distribution service has been applied for, the control unit 105 acquires the camera ID, the camera installation position, and the camera shooting direction stored in the local server 101 from the local server 101, and the message generation unit 102. Is output to (S26, S27, S28). For example, the control unit 105 acquires the camera IDs, camera installation positions, and camera shooting directions of the roadside cameras 200a to 200d installed at the intersection 900 from the local server 101 and outputs them to the message generation unit 102.

The control unit 105 sends a video to the message generation unit 102 in order to provide the vehicle 300 with the contents of the video distribution service (camera ID of the roadside camera 200 installed at the intersection 900, the camera installation position, and the camera shooting direction). The delivery instruction is output (S29).

The message generation unit 102 generates a video distribution message including the camera ID, the camera installation position, and the camera shooting direction output in S26, S27, and S28 in response to the video distribution instruction in S29, and the radio unit 103 and the antenna. It is transmitted to the in-vehicle device 700 via the 104 (S30).

The control unit 703 of the vehicle-mounted device 700 shown in FIG. 7B receives the video distribution message via the antenna 701 and the radio unit 702 (S31).

The control unit 703 receives a direction instruction signal from the direction indicator 707 (S32). For example, when the vehicle 300 shown in FIG. 1 makes a right turn from the road 910 to the road 980, the control unit 703 receives a turn signal indicating a right turn from the turn signal 707.

The control unit 703 receives map data from the map data storage unit 706 (S33).

The control unit 703 receives the current position information of the vehicle from the GPS unit 705 (S34).

The control unit 703 sets the installation position of the roadside camera 200 included in the video distribution message received in S31, the camera shooting direction, the direction indicated by the direction instruction signal received in S32 (the direction in which the vehicle is about to travel), and S33. Based on the map data received in S34 and the current position information of the vehicle received in S34, the camera ID corresponding to the roadside camera 200 that is photographing the road where the blind spot may occur is determined (S35).

For example, in the case of the vehicle 300 of FIG. 1, the control unit 703 determines the approach of the vehicle 300 to the intersection 900 based on the current position information of the vehicle 300 acquired by the GPS unit 705 and the map data. Further, the control unit 703 determines from the direction instruction signal output from the direction indicator 707 that the vehicle 300 is about to turn right on the road 980.

The control unit 703 takes a picture of the road 930 opposite to the road 980 at the right turn of the vehicle 300 based on the installation position of the roadside camera 200 included in the video distribution message received in S31 and the shooting direction. The camera 200d is determined, and the camera ID of the determined roadside camera 200d is determined. In this way, the control unit 703 determines the camera ID of the roadside camera 200d that captures the road 930 where the blind spot of the vehicle 300 turning right may occur.

When there are a plurality of roads where blind spots may occur, the control unit 703 may determine a plurality of camera IDs.

Further, for example, when the vehicle 500 shown in FIG. 1 turns left on the road 940, the road where a blind spot may occur is the road 950 which is an oncoming lane in front of the vehicle 500. Therefore, the in-vehicle device 700 mounted on the vehicle 500 has the camera IDs of the roadside cameras 200a and 200b as the camera IDs of the roadside cameras 200 for photographing the roads 950 and 970 where blind spots may occur when the vehicle 500 turns left. May be decided.

The control unit 703 outputs the video distribution request instruction and the determined camera ID to the message generation unit 704 (S36, S37) in order to request the distribution of the video corresponding to the determined camera ID.

The message generation unit 704 generates a video distribution request message including the camera ID output in S35 in response to the video distribution request instruction in S36, and transmits the video distribution request message to the roadside device 100 via the radio unit 702 and the antenna 701. (S38). When the service advertisement message is received by using the microwave, the radio unit 702 may transmit the video distribution request message by using the microwave.

As shown in FIG. 7C, the control unit 105 of the roadside device 100 receives the video distribution request message via the antenna 104 and the radio unit 103 (S39).

The control unit 105 reads the camera ID included in the video distribution request message received in S39 (S40).

The control unit 105 outputs the video distribution start instruction and the camera ID read in S40 to the local server 101 (S41, S42).

The local server 101 transmits a video signal including video data corresponding to the camera ID output in S42 to the in-vehicle device 700 via the radio unit 103 and the antenna 104 (S43). The radio unit 103 transmits a video signal using millimeter waves. The video distribution may be transmitted according to a protocol such as RTSP (Real Time Streaming Protocol) or RTP (Real-time Transport Protocol).

As shown in FIG. 7D, the display unit 708 of the vehicle-mounted device 700 receives a video signal via the antenna 701, the radio unit 702, and the control unit 703, and displays a road image (S44). For example, the display unit 708 displays a road image taken by the roadside camera 200d.

The direction indicator 707 outputs a direction indicator signal to the control unit 703 (S45). For example, when the vehicle 300 shown in FIG. 1 completes a right turn to the road 980, the turn signal 707 outputs a turn signal in the off state to the control unit 703.

When the control unit 703 receives the turn signal indicating in the off state from the turn signal 707, the control unit 703 sends a message of a service cancellation instruction and a service ID of the video distribution service to be canceled in order to cancel the video distribution service. It is output to the generation unit 704 (S46, S47).

The message generation unit 704 generates a service cancellation message including the service ID output in S47 in response to the service cancellation instruction in S46, and transmits it to the roadside device 100 via the radio unit 702 and the antenna 701 (S48). ). When the radio unit 702 receives the service advertisement message using microwaves, the radio unit 702 may transmit the service cancellation message using microwaves.

As shown in FIG. 7C, the control unit 105 of the roadside device 100 receives the service release message via the antenna 104 and the radio unit 103 (S49).

When the control unit 105 receives the service cancellation message in S49, the control unit 105 outputs an instruction to end the video distribution to the local server 101 (S50). The local server 101 ends the transmission of the video signal in response to the instruction to end the video distribution in S50.

As described above, the roadside device 100 transmits a service advertisement message indicating the provision of the road image distribution service, and receives the service application message indicating the road image transmission request from the in-vehicle device 700, and the radio unit 103. Based on the reception of the service application message, a video distribution message including the camera ID of the roadside camera 200 for shooting the road video, the installation position, and the shooting direction is generated and transmitted to the in-vehicle device 700 via the radio unit 103. It has a message generation unit 102 and a message generation unit 102.

Further, the in-vehicle device 700 receives the service advertisement message from the roadside device 100 that provides the road image distribution service to the radio unit 702 that receives the service advertisement message indicating that the road image distribution service is provided. Based on this, it has a message generation unit 704 that generates a service application message indicating a road image transmission request to the roadside device 100, and a radio unit 702 that transmits the service application message to the roadside device 100.

As a result, the in-vehicle device 700 can recognize that the roadside device 100 provides the road image distribution service by receiving the service advertisement message indicating the provision of the road image distribution service transmitted by the roadside device 100. , You can receive the road video distribution service.

Further, the roadside device 100 transmits a video signal to the in-vehicle device 700 using millimeter wave communication. As a result, the in-vehicle device 700 can receive high-quality video signals having a resolution of 1920 × 1080 pixels, a frame rate of 30 fps, and a color space of RGB24, for example.

Further, the in-vehicle device 700 is a camera of the roadside camera 200 that photographs a road that becomes a blind spot in the vehicle based on the position of the vehicle, the direction in which the vehicle is going to travel, the map data, the installation position, and the shooting direction. Determine the ID. As a result, even if the roadside device 100 for wireless communication is limited by the directivity of the millimeter-wave communication, the in-vehicle device 700 captures a road image of the roadside camera 200 that captures a blind spot from the roadside device 100 for millimeter-wave communication. Can be received.

Further, the roadside device 100 may transmit the service advertisement message by using microwave communication. As a result, the service advertisement message can have a wider communication area as compared with the case where the service advertisement message is transmitted using millimeter wave communication.

(Modification 1)
FIG. 8 is a diagram showing a modified example of the element included in the video distribution message. In addition to the elements shown in FIG. 6, the video distribution message may further include an intersection ID, a lane ID, and a URL (Uniform Resource Locator).

The intersection ID is a unique ID that identifies the intersection 900 in which the roadside device 100 and the roadside camera 200 are installed. The intersection ID is also included in the map data stored in the map data storage unit 706 of the vehicle-mounted device 700. For example, the intersection ID assigned to the intersection 900 is associated with the intersection 900 on the map data.

By including the intersection ID in the video distribution message by the roadside device 100, the in-vehicle device 700 can reduce erroneous selection of the camera ID of the roadside camera 200. For example, the in-vehicle device 700 compares the intersection ID included in the received video distribution message with the intersection ID corresponding to the intersection 900 included in the map data when the vehicle 300 shown in FIG. 1 enters the intersection 900. .. If the intersection IDs do not match, the in-vehicle device 700 discards the received video distribution message and does not determine the camera ID. As a result, the in-vehicle device 700 can reduce erroneous selection of the camera ID.

The lane ID is a unique ID that identifies the lane taken by the roadside camera 200. The lane ID is also included in the map data stored in the map data storage unit 706 of the in-vehicle device 700. For example, the road 910 on the map data is associated with the lane ID assigned to the road 910.

By including the lane ID in the video distribution message by the roadside device 100, the in-vehicle device 700 can reduce erroneous selection of the camera ID of the roadside camera 200. For example, the vehicle-mounted device 700 acquires a lane ID of a road on which a blind spot may occur, and determines a camera ID of a roadside camera 200 that captures the acquired lane ID. As a result, the in-vehicle device 700 can reduce erroneous selection of the camera ID.

The URL indicates the access destination of the video data in the local server 101. The in-vehicle device 700 transmits an HTTP request to the URL included in the video distribution message, and the roadside device 100 returns the video of the designated URL as an HTTP response. As a result, the in-vehicle device 700 can display the road image on the Web browser.

When the in-vehicle device 700 receives the video data using the URL, the vehicle-mounted device 700 does not have to transmit the video distribution request message in S38 of FIG. 7B to the roadside device 100. In other words, the vehicle-mounted device 700 may transmit the URL corresponding to the determined camera ID to the roadside device 100 instead of the video distribution request message of S38.

Further, the roadside device 100 may omit the transmission of the camera installation position, the camera direction, the intersection ID, and the URL. For example, the roadside device 100 may transmit a video distribution message including a camera ID and a lane ID to the vehicle-mounted device 700.

(Modification 2)
FIG. 9 is a diagram illustrating a modified example of the camera shooting direction setting method described with reference to FIGS. 5 and 8. In FIG. 9, the same components as those in FIG. 1 are designated by the same reference numerals.

The roadside device 100 assigns a number to the roads constituting the intersection 900 according to a predetermined rule based on the installation position of the roadside device 100. For example, the roadside device 100c shown in FIG. 9 is assigned a number 0 with reference to the road on which the roadside device 100c is installed, and the roads constituting the intersection 900 are assigned numbers 1, 2, and 3 clockwise. The roadside device 100d is assigned a number 0 (shown in parentheses in FIG. 9) based on the road on which the roadside device 100d is installed, and the roads constituting the intersection 900 are numbered 1, 2, and 3 clockwise. (Indicated in parentheses in FIG. 9) is added.

The roadside device 100 indicates the shooting direction of the roadside camera 200 with a number assigned to the road on which the roadside device 100 is installed, with reference to the road on which the roadside device 100 is installed. For example, as shown in FIG.
Since the roadside device 100c assigns a number 0 without parentheses to the road on which the roadside device 100c is installed, the roadside device 100c indicates the shooting direction of the roadside camera 200d with the number "3" without parentheses. Further, the roadside device 100c indicates the shooting direction of the roadside camera 200a by a number “0” without parentheses. Further, the roadside device 100c indicates the shooting direction of the roadside camera 200b by a number “1” without parentheses. Further, the roadside device 100c indicates the shooting direction of the roadside camera 200c by a number “2” without parentheses. The roadside device 100c transmits a video distribution message including the camera ID of the roadside camera 200 and the shooting direction (number assigned to the road) of the roadside camera 200 corresponding to the camera ID.

Similarly, for example, as shown in FIG. 9, since the roadside device 100d assigns a number 0 in parentheses to the road on which the roadside device 100d is installed, the roadside device 100d is used in the shooting direction of the roadside camera 200a. Is indicated by the number "3" in parentheses. Further, the roadside device 100d indicates the shooting direction of the roadside camera 200b by a number “0” in parentheses. Further, the roadside device 100d indicates the shooting direction of the roadside camera 200c by a number “1” in parentheses. Further, the roadside device 100d indicates the shooting direction of the roadside camera 200d by a number “2” in parentheses. The roadside device 100d transmits a video distribution message including the camera ID of the roadside camera 200 and the shooting direction (number assigned to the road) of the roadside camera 200 corresponding to the camera ID.

The in-vehicle device 700 recognizes in advance the rules of the shooting direction of the roadside camera 200. Therefore, for example, when the vehicle turns right at the intersection 900 of the crossroads shown in FIG. 9, the in-vehicle device 700 determines a camera ID for photographing the road of No. 3 as a roadside camera for photographing a road where a blind spot may occur. do it. Further, the in-vehicle device 700 determines, for example, a camera ID for photographing the road number 0 as a roadside camera for photographing a road where a blind spot may occur when the vehicle turns left at the intersection 900 of the crossroads shown in FIG. do it.

As described above, the shooting direction of the roadside camera 200 may be indicated by a number assigned to the road according to a predetermined rule based on the installation position of the roadside device 100. As a result, the in-vehicle device 700 reduces the amount of calculation required for determining the camera ID, and can determine the camera ID at high speed.

(Modification 3)
The roadside device 100 transmits the service advertisement message and the video distribution message together by inserting each element of the video distribution message shown in FIG. 6 or FIG. 8 into the field of the WAVE information element extension 1010 in the WSA format shown in FIG. You may. In this case, the in-vehicle device 700 may transmit the service application message and the video distribution request message together, or may transmit the service application message and the video distribution request message individually.

10A to 10D are sequence diagrams showing an operation example of the road vehicle cooperative driving support system in the modified example 3. The roadside device 100 transmitted the service advertisement message and the video distribution message separately in FIGS. 7A to 7D, but the roadside device 100 transmits the service advertisement message and the video distribution message together in FIGS. 10A to 10D. is doing.

The circled A shown in FIG. 10A is connected to the circled A shown in FIG. 10B. The circled B shown in FIG. 10B is connected to the circled B shown in FIG. 10C. The circled E and F shown in FIG. 10C are connected to the circled E and F shown in FIG. 10D. The description of the overlap with FIGS. 7A to 7D will be omitted.

After S14, the control unit 105 in the roadside device 100 shown in FIG. 10A acquires the camera ID, the camera installation position, and the camera shooting direction stored in the local server 101 from the local server 101, and causes the message generation unit 102 to acquire the camera ID, the camera installation position, and the camera shooting direction. Output (S49, 50, S51). For example, the control unit 105 acquires the camera IDs, camera installation positions, and camera shooting directions of the roadside cameras 200a to 200d installed at the intersection 900 from the local server 101 and outputs them to the message generation unit 102.

The control unit 105 advertises to the vehicle 300 that the content of the video distribution service (camera ID of the roadside camera 200 installed at the intersection 900, the camera installation position, and the camera shooting direction) and the video distribution service are provided. In addition, a service advertisement instruction is output to the message generation unit 102 (S52).

The message generation unit 102 generates a service advertisement message including the camera ID output in S49, S50, and S51, the camera installation position, the camera shooting direction, and the service ID output in S16, and the radio unit 103 and the antenna. It is transmitted to the in-vehicle device 700 via the 104 (S53).

When the vehicle 300 enters the communication area of the roadside device 100, the control unit 703 in the vehicle-mounted device 700 shown in FIG. 10B receives a service advertisement message via the antenna 701 and the radio unit 702 (S54). The received service advertisement message includes a service ID indicating that the video distribution service is being provided and the content of the video service (camera ID of the roadside camera 200 installed at the intersection 900, the camera installation position, and the camera). Shooting direction) is included.

When the service advertisement message of S54 is received by the microwave, the control unit 703 confirms the connection of the millimeter wave communication with the roadside device 100 (S20).

The control unit 703 sets the installation position of the roadside camera 200 included in the service advertisement message received in S54, the camera shooting direction, the direction indicated by the direction instruction signal received in S32 (the direction in which the vehicle is about to travel), and S33. Based on the map data received in S34 and the current position information of the vehicle received in S34, the camera ID corresponding to the roadside camera 200 that is photographing the road where the blind spot may occur is determined (S55).

The control unit 703 outputs the service application instruction, the service ID read in S19, and the camera ID determined in S55 to the message generation unit 704 in order to apply for the video distribution service to the roadside device 100 (S21, S22). , S56).

The message generation unit 704 generates a service application message including the service ID output in S22 and the camera ID output in S56, and transmits the service application message to the roadside device 100 via the radio unit 702 and the antenna 701. S57). When the radio unit 702 receives the service advertisement message using microwaves, the radio unit 702 may transmit the service application message using microwaves.

The control unit 105 in the roadside device 100 shown in FIG. 10C receives a service application message for video distribution via the antenna 104 and the radio unit 103 (S58).

The control unit 105 reads the service ID and the camera ID included in the service application message (S25, S59). By reading the service ID of the video distribution service included in the service application message, the control unit 703 recognizes that the vehicle-mounted device 700 has applied for the video distribution service of the road image at the intersection 900.

The control unit 105 outputs the video distribution start instruction and the camera ID read in S59 to the local server 101 (S41, S42).

Since the processing after S44 in FIG. 10D is the same as that in FIG. 7D, the description thereof will be omitted.

As described above, the roadside device 100 may transmit the service advertisement message and the video distribution message together, and the vehicle-mounted device 700 may transmit the service application message and the video distribution request message together.

As a result, the number of signal exchanges with the roadside device 100 between the time when the vehicle-mounted device 700 receives the service advertisement message and the time when the video signal is received is reduced, so that the video signal can be received earlier. It will be possible.

In the above-described embodiment, the notation "... part" used for each component is "... circuitry", "... assembly", "... device", "...". -It may be replaced with another notation such as "unit" or "... module".

Although the embodiments have been described above with reference to the drawings, the present disclosure is not limited to such examples. It is clear that one of ordinary skill in the art can come up with various modifications or modifications within the scope of the claims. It is understood that such modifications or modifications are also within the technical scope of the present disclosure. In addition, each component in the embodiment may be arbitrarily combined as long as the purpose of the present disclosure is not deviated.

The present disclosure can be realized by software, hardware, or software linked with hardware. Each functional block used in the description of the above embodiment is partially or wholly realized as an LSI which is an integrated circuit, and each process described in the above embodiment is partially or wholly. It may be controlled by one LSI or a combination of LSIs. The LSI may be composed of individual chips, or may be composed of one chip so as to include a part or all of functional blocks. The LSI may include data input and output. LSIs may be referred to as ICs, system LSIs, super LSIs, and ultra LSIs depending on the degree of integration.

The method of making an integrated circuit is not limited to LSI, and may be realized by a dedicated circuit, a general-purpose processor, or a dedicated processor. Further, an FPGA (Field Programmable Gate Array) that can be programmed after the LSI is manufactured, or a reconfigurable processor that can reconfigure the connection and settings of the circuit cells inside the LSI may be used. The present disclosure may be realized as digital processing or analog processing.

Furthermore, if an integrated circuit technology that replaces an LSI appears due to advances in semiconductor technology or another technology derived from it, it is naturally possible to integrate functional blocks using that technology. The application of biotechnology may be possible.

The present disclosure can be implemented in all types of devices, devices and systems (collectively referred to as communication devices) having communication functions. The communication device may include a wireless transceiver and a processing / control circuit. The wireless transceiver may include a receiver and a transmitter, or them as a function. The radio transceiver (transmitter, receiver) may include an RF (Radio Frequency) module and one or more antennas. The RF module may include an amplifier, an RF modulator / demodulator, or the like. Non-limiting examples of communication devices include telephones (mobile phones, smartphones, etc.), tablets, personal computers (PCs) (laptops, desktops, notebooks, etc.), cameras (digital stills / video cameras, etc.). ), Digital players (digital audio / video players, etc.), wearable devices (wearable cameras, smart watches, tracking devices, etc.), game consoles, digital book readers, telehealth telemedicines (remote health) Care / medicine prescription) devices, vehicles with communication functions or mobile transportation (automobiles, planes, ships, etc.), and combinations of the above-mentioned various devices can be mentioned.

Communication devices are not limited to those that are portable or mobile, but are all types of devices, devices, systems that are not portable or fixed, such as smart home devices (home appliances, lighting equipment, smart meters or or It also includes measuring instruments, control panels, etc.), vending machines, and any other "Things" that can exist on the IoT (Internet of Things) network.

Communication includes data communication by a cellular system, a wireless LAN system, a communication satellite system, etc., as well as data communication by a combination thereof.

Communication devices also include devices such as controllers and sensors that are connected or connected to communication devices that perform the communication functions described in the present disclosure. For example, it includes controllers and sensors that generate control and data signals used by communication devices that perform the communication functions of the communication device.

Communication devices also include infrastructure equipment that communicates with or controls these non-limiting devices, such as base stations, access points, and any other device, device, or system. ..

(Summary of this disclosure)
The in-vehicle device according to the present disclosure is based on a receiving circuit that receives an advertisement message indicating that the distribution service is provided from a roadside device that provides a road image distribution service, and the reception of the advertisement message. It has a message generation circuit that generates a message regarding transmission of the road image to the roadside device, and a transmission circuit that transmits the message to the roadside device.

In the vehicle-mounted device according to the present disclosure, a WSA (WAVE Service Advertisement) format is used as the format of the advertisement message.

In the vehicle-mounted device according to the present disclosure, when the transmitting circuit transmits the message, the receiving circuit receives identification information, an installation position, and a shooting direction of a plurality of cameras that shoot the road from the roadside device.

In the in-vehicle device according to the present disclosure, the road is photographed based on the position of the vehicle on which the in-vehicle device is mounted, the direction in which the vehicle is going to travel, map data, the installation position, and the photographing direction. It further has a control circuit, which determines one or more identification information of the camera to be used.

In the vehicle-mounted device according to the present disclosure, the transmitting circuit transmits the one or more identification information to the roadside device, and the receiving circuit is a road of one or more cameras corresponding to the one or more identification information. The video signal of the video is received from the roadside device.

In the vehicle-mounted device according to the present disclosure, the road includes a plurality of lanes, and the receiving circuit further includes intersection identification information of an intersection in which the plurality of cameras are installed and the plurality of lanes photographed by the plurality of cameras. Upon receiving the lane identification information of one or more of the lanes, the control circuit further determines the identification information of the camera for photographing the road based on the intersection identification information and the lane identification information.

In the vehicle-mounted device according to the present disclosure, the advertisement message includes the identification information, the installation position, and the shooting direction of the plurality of cameras that shoot the road.

In the vehicle-mounted device according to the present disclosure, the message generation circuit generates a second application message including the one or more determined identification information as the message, and the receiving circuit receives the one or more determined identification information. The image signal of the road image of one or more cameras corresponding to the information is received from the roadside device.

In the in-vehicle device according to the present disclosure, the road includes a plurality of lanes, and the advertisement message further includes intersection identification information of an intersection in which the plurality of cameras are installed, and the plurality of images taken by the plurality of cameras. The control circuit further includes one or more identification information of a camera for photographing the road based on the intersection identification information and the lane identification information, including lane identification information of one or more lanes of the lane. decide.

In the vehicle-mounted device according to the present disclosure, the shooting direction is indicated by an absolute azimuth angle with respect to a camera that shoots the road image.

In the in-vehicle device according to the present disclosure, the photographing direction is indicated by a number assigned to the road according to a predetermined rule with reference to the installation position of the roadside device.

The roadside device according to the present disclosure is based on a transmission circuit for transmitting an advertisement message indicating the provision of a road image distribution service, a reception circuit for receiving a message regarding transmission of the road image from an in-vehicle device, and reception of the message. It has a message generation circuit that generates a video distribution message including the identification information of the camera that shoots the road image, the installation position, and the shooting direction, and transmits the video distribution message to the in-vehicle device.

The roadside device according to the present disclosure indicates the provision of a road image distribution service, and is described from a transmission circuit that transmits an advertisement message including identification information, an installation position, and a shooting direction of a plurality of cameras that shoot the road, and an in-vehicle device. The transmission circuit includes a receiving circuit for receiving a message regarding transmission of a road image, and the transmission circuit transmits a video signal of the road image of one or more of the plurality of cameras based on the reception of the message. Send to the in-vehicle device.

The communication method according to the present disclosure is a communication method of an in-vehicle device, and receives an advertisement message indicating that the distribution service is provided from a roadside device that provides a road image distribution service, and receives the advertisement message of the advertisement message. Based on the reception, a message regarding the transmission of the road image is generated for the roadside device, and the message is transmitted to the roadside device.

The communication method according to the present disclosure is a communication method of a roadside device, which transmits an advertisement message indicating the provision of a road image distribution service, receives a message regarding transmission of the road image from an in-vehicle device, and receives the message of the message. Based on the reception, a video distribution message including the identification information of the camera that captures the road image, the installation position, and the shooting direction is generated, and the video distribution message is transmitted to the in-vehicle device.

The communication method according to the present disclosure is a communication method of a roadside device, which indicates the provision of a road image distribution service, and transmits an advertisement message including identification information, installation position, and shooting direction of a plurality of cameras that shoot the road. Receives a message regarding the transmission of the road image from the vehicle-mounted device, and transmits the video signal of the road image of one or more of the plurality of cameras to the vehicle-mounted device based on the reception of the message.

The present disclosure is suitable for, for example, wireless communication between a roadside device and an in-vehicle device.

100,100a, 100b, 100c, 100d Roadside device 200,200a, 200b, 200c, 200d Roadside camera 300,400,500 Vehicle 600 Directional beam 900 Intersection 910,920,930,940,950,960,970,980 Road 1001 WSA header 1002 service information segment 1003 channel information segment 1004 WAVE routing advertisement 1005 service information count 1006 PSID
1007 Channel Index 1008 Reserve 1009 Service Information Option Indicator 1010 WAVE Information Element Extension

Claims (16)

A receiving circuit that receives an advertisement message indicating that the distribution service is provided from a roadside device that provides a road image distribution service, and a receiving circuit.
A message generation circuit that generates a message regarding transmission of the road image to the roadside device based on the reception of the advertisement message.
A transmission circuit that transmits the message to the roadside device, and
In-vehicle device with. A WSA (WAVE Service Advertisement) format is used as the format of the advertisement message.
The in-vehicle device according to claim 1. The road is photographed based on the position of the vehicle on which the in-vehicle device is mounted, the direction in which the vehicle is going to travel, the map data, the identification information of a plurality of cameras for photographing the road, the installation position, and the photographing direction. Further has a control circuit, which determines one or more identification information of the camera to be used.
The vehicle-mounted device according to claim 1 or 2. In the receiving circuit, when the transmitting circuit transmits the first application message indicating the application for the distribution service as the message, the identification information, the installation position, and the photographing direction of a plurality of cameras for photographing the road are transmitted from the roadside device. Receive delivery messages, including
The in-vehicle device according to claim 3. The transmission circuit transmits a delivery request message containing the one or more determined identification information to the roadside device.
The receiving circuit receives a video signal of a road image of one or more cameras corresponding to the one or more determined identification information from the roadside device.
The vehicle-mounted device according to claim 3 or 4. The road contains multiple lanes
The receiving circuit further receives the intersection identification information of the intersection where the plurality of cameras are installed and the lane identification information of one or more lanes among the plurality of lanes captured by the plurality of cameras.
The control circuit further determines the identification information of the camera that photographs the road based on the intersection identification information and the lane identification information.
The vehicle-mounted device according to any one of claims 3 to 5. The advertising message includes the identification information, the installation position, and the shooting direction of the plurality of cameras that shoot the road.
The in-vehicle device according to claim 3. The message generation circuit generates a second application message including the one or more determined identification information as the message.
The receiving circuit receives a video signal of a road image of one or more cameras corresponding to the one or more determined identification information from the roadside device.
The vehicle-mounted device according to claim 3 or 7. The road contains multiple lanes
The advertisement message further includes intersection identification information of an intersection in which the plurality of cameras are installed, and lane identification information of one or more lanes among the plurality of lanes captured by the plurality of cameras.
The control circuit further determines one or more identification information of a camera for photographing the road based on the intersection identification information and the lane identification information.
The vehicle-mounted device according to any one of claims 3, 7, and 8. The shooting direction is indicated by an absolute azimuth with respect to the camera that shoots the road image.
The vehicle-mounted device according to any one of claims 3 to 9. The shooting direction is indicated by a number assigned to the road according to a predetermined rule based on the installation position of the roadside device.
The vehicle-mounted device according to any one of claims 3 to 9. A transmission circuit that sends an advertising message indicating the provision of a road video distribution service,
A receiving circuit for receiving a message relating to transmission of the road image from the in-vehicle device according to any one of claims 1 to 6, 10 and 11.
A message generation circuit that generates a video distribution message including the identification information of the camera that shoots the road image, the installation position, and the shooting direction based on the reception of the message, and transmits the message to the in-vehicle device.
Roadside device with. A transmission circuit that indicates the provision of a road image distribution service and sends an advertising message including identification information, installation position, and shooting direction of multiple cameras that shoot the road.
A receiving circuit for receiving a message relating to the transmission of the road image from the vehicle-mounted device according to any one of claims 1 to 3 and 7 to 11.
The transmission circuit transmits a video signal of a road image of one or more of the plurality of cameras to the vehicle-mounted device based on the reception of the message.
Roadside device. It is a communication method for in-vehicle devices.
An advertisement message indicating that the distribution service is provided is received from the roadside device that provides the distribution service of the road image, and the advertisement message is received.
Based on the reception of the advertisement message, a message regarding the transmission of the road image to the roadside device is generated.
Sending the message to the roadside device,
Communication method. It is a communication method of roadside equipment.
Send an advertising message indicating the provision of road video distribution service,
A message relating to the transmission of the road image is received from the in-vehicle device using the communication method of claim 14.
Based on the reception of the message, a video distribution message including the identification information of the camera that shoots the road video, the installation position, and the shooting direction is generated.
Sending the video delivery message to the in-vehicle device,
Communication method. It is a communication method of roadside equipment.
Indicates the provision of a road video distribution service, sends an advertising message containing the identification information, installation position and shooting direction of multiple cameras that shoot the road,
A message relating to the transmission of the road image is received from the in-vehicle device using the communication method of claim 14.
Based on the receipt of the message
A video signal of a road image of one or more of the plurality of cameras is transmitted to the in-vehicle device.
Communication method.

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