JP5278016B2 - Driving support information transmitting apparatus and driving support information transmitting method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve the problem that driving support information cannot be transmitted at proper intervals. <P>SOLUTION: A driving support information transmission device includes: a receiving part for receiving risk level information including other-vehicle risk levels showing degrees of risk of the other vehicle, and driving support information of the other vehicles via a wireless channel; an acquisition part for acquiring information of the user's vehicle for use in generating driving support information of the user's vehicle; a risk level determination part for determining a risk level of the user's vehicle on the basis of the risk level information and the driving support information of the other vehicles; a channel use state monitoring part for monitoring a use state of the wireless channel; a driving support information generation part for generating driving support information on the basis of information of the user's vehicle; a determination part for determining transmission intervals of driving support information on the basis of the use state of the wireless channel, risk levels of the other vehicles, and the determined risk level of the user's vehicle; and a transmission part for transmitting driving support information to the other vehicles via the wireless channel on the basis of the transmission intervals. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention relates to a driving support information transmitting apparatus and a driving support information transmitting method for transmitting driving support information indicating the state of a host vehicle.

  In recent years, research on advanced safety vehicles (ASVs) that automatically respond to surrounding conditions such as road surface conditions has been actively conducted.

 In ASV, in addition to analysis of various in-vehicle radars and in-vehicle camera images, efforts are made to use inter-vehicle communication in which vehicles communicate with each other wirelessly. Each vehicle can mutually exchange information on other vehicles that are out of sight that cannot be grasped by in-vehicle radar or in-vehicle camera, and driving support information indicating the state of the own vehicle, by inter-vehicle communication. The exchanged information can be used for driving support of the own vehicle.

  In addition, a roadside apparatus appropriately disposed on a road or the like and road-to-vehicle communication in which a vehicle performs wireless communication are also being studied. Road-to-vehicle communication transmits information collected by roadside devices such as sensors and cameras installed on roads to vehicles. Each vehicle can use the information transmitted from the roadside device for driving support of the own vehicle.

  Here, in general, in vehicle-to-vehicle communication and road-to-vehicle communication, surrounding conditions frequently fluctuate. As an access method, a CSMA / CA (Carrier Sense Multiple Access / Collision Avoidance) method that configures a network in an autonomous and distributed manner is used. It is being considered.

  However, in the CSMA / CA system, when the density of vehicles increases due to traffic jams, etc., the number of communication collisions increases, and the reliability and immediacy of information communicated by inter-vehicle communication and road-to-vehicle communication can be ensured. Therefore, there arises a problem that the communication quality is deteriorated.

  In order to deal with this problem, Patent Document 1 estimates the number of other vehicles existing around the host vehicle, and sets a transmission interval for transmitting driving support information of the host vehicle based on the estimated number of other vehicles. By changing, in the CSMA / CA system, a method for suppressing an increase in the number of communication collisions and preventing a deterioration in communication quality is disclosed.

JP 2008-278045 A

  However, in the method disclosed in Patent Document 1, since the transmission interval of driving assistance information is determined based only on the number of other vehicles existing around the host vehicle, there is a danger to other surrounding vehicles due to vehicle abnormality or the like. Vehicles that are likely to affect and normal vehicles transmit driving support information only at the same transmission interval. Therefore, in the method disclosed in Patent Document 1, driving support information used for driving support of a vehicle is transmitted more appropriately according to the state of each vehicle, such as the possibility of danger to other vehicles. There is a problem that transmission cannot be performed at intervals.

  An object of the present invention is to provide a driving assistance information transmitting apparatus and driving assistance capable of transmitting driving assistance information at a more appropriate transmission interval based on the state of each vehicle while preventing deterioration in communication quality due to concentration of vehicles. It is to provide an information transmission method.

In order to achieve the above object, the driving support information transmitting device of the present invention is
A driving support information transmitting device that is mounted on a vehicle and transmits driving support information indicating a state of the vehicle,
A receiver for receiving the danger level information including the danger level of the other vehicle indicating the degree of danger of the other vehicle and the driving support information of the other vehicle via a wireless channel;
An acquisition unit for acquiring information of the host vehicle used for generating driving support information of the host vehicle;
A danger level determination unit for determining the own vehicle danger level based on the received danger level information and the driving assistance information of the other vehicle, and the acquired information of the own vehicle;
A channel use state monitoring unit for monitoring the use state of the radio channel;
Based on the acquired information of the own vehicle, a driving support information generating unit that generates the driving support information;
A determination unit that determines a transmission interval of the generated driving assistance information based on a use state of the wireless channel, the received other vehicle danger level, and the determined own vehicle danger level;
A transmission unit configured to transmit the generated driving support information to the other vehicle based on the determined transmission interval via the wireless channel.

In order to achieve the above object, the driving support information transmitting method of the present invention is:
A driving support information transmitting method by a driving support information transmitting device that is mounted on a vehicle and transmits driving support information indicating the state of the vehicle,
A receiving step for receiving, via a wireless channel, danger level information including a danger level of another vehicle indicating a degree of danger of the other vehicle and driving support information of the other vehicle;
An acquisition step of acquiring information of the host vehicle used for generating driving support information of the host vehicle;
A danger level determination step of determining the own vehicle danger level based on the received danger level information and the driving assistance information of the other vehicle, and the acquired information of the own vehicle;
A channel usage state monitoring step for monitoring the usage state of the wireless channel;
A driving support information generating step for generating the driving support information based on the acquired information of the own vehicle;
A determination step of determining a transmission interval of the generated driving assistance information based on the use state of the wireless channel, the received other vehicle danger level, and the determined own vehicle danger level;
And a transmission step of transmitting the generated driving support information to the other vehicle based on the determined transmission interval via the wireless channel.

  According to the present invention, the driving support information transmitting device determines a transmission interval for transmitting driving support information indicating the state of the host vehicle based on the usage rate of the wireless channel for communication and the danger levels of the host vehicle and other vehicles. Therefore, it is possible to transmit the driving support information at a more appropriate transmission interval based on the state of each vehicle while preventing a decrease in communication quality due to concentration of vehicles.

It is a block diagram which shows the structure of the driving assistance information transmitter of one Embodiment of this invention. It is a figure which shows an example of a structure of a danger level notification message. It is a figure which shows an example of a structure of a danger level setting request message. It is a figure which shows an example of a structure of driving assistance information. It is a flowchart which shows an example of operation | movement of the driving assistance information transmitter of one Embodiment of this invention. It is a graph which shows the relationship between a channel usage rate and the transmission interval of driving assistance information.

  EMBODIMENT OF THE INVENTION Below, the form for implementing this invention is demonstrated with reference to drawings.

  FIG. 1 is a block diagram showing a configuration of a driving assistance information transmitting apparatus 100 according to an embodiment of the present invention.

  Note that the driving support information transmitting apparatus 100 of the present invention is mounted on a vehicle.

  1 includes a vehicle / road-to-vehicle communication unit 101, a channel use state monitoring unit 102, an other vehicle information storage unit 103, a navigation unit 104, an in-vehicle radar unit 105, an in-vehicle radar The network monitoring unit 106, the host vehicle information storage unit 107, the danger level determination unit 108, the warning unit 109, the vehicle control unit 110, the driving support information generation unit 111, and the transmission availability determination unit 112 are included. The vehicle / road-to-vehicle communication unit 101 is an example of a reception unit and a transmission unit. The transmission permission / inhibition determination unit 112 is an example of a determination unit. Moreover, the navigation part 104, the vehicle-mounted radar part 105, and the vehicle interior network monitoring part 106 are examples of an acquisition part.

  The vehicle / road-to-vehicle communication unit 101 performs vehicle-to-vehicle communication and road-to-vehicle communication with other vehicles or roadside devices that are appropriately arranged on roads, etc., and includes a later-described danger level notification message 200, danger level setting request message 300, driving The support information 400 is transmitted and received. Examples of the vehicle / road-to-vehicle communication unit 101 include a wireless LAN device, a DSRC (Dedicated Short Range Communications) communication device, an amateur wireless device, and a transceiver device.

 The channel use state monitoring unit 102 monitors and records the use state of a wireless channel on which the vehicle / road-to-vehicle communication unit 101 performs wireless communication. Then, the channel usage status monitoring unit 102 calculates the usage rate of the radio channel based on the recorded usage status of the radio channel. The usage rate of the radio channel is expressed, for example, as a percentage of time that the radio channel is occupied per unit time.

 The other vehicle information accumulating unit 103 accumulates the information related to the other vehicle included in the danger level notification message 200, the danger level setting request message 300, and the driving support information 400 received from the other vehicle together with the reception time. In the following, information related to other vehicles stored in the other vehicle information storage unit 103 is referred to as other vehicle information.

 The navigation unit 104 includes a GPS (Global Positioning System), a gyro sensor, and a recording medium on which map information is recorded, and guides the driver to the destination. In addition, the navigation unit 104 is based on the GPS, the gyro sensor, and the recorded map information, the position information of the own vehicle, the road classification (highway or general road) on which the own vehicle is traveling, the road width, the next intersection Information based on the traveling position of the host vehicle, such as the distance to the vehicle and information on surrounding structures.

 The in-vehicle radar unit 105 is provided, for example, on the front, rear, left, and right sides of the vehicle, and acquires information on the surroundings of the host vehicle by measuring the distance between the vehicle and the obstacle with an electromagnetic wave or a laser. The in-vehicle radar unit 105 can also grasp the rough shape of other surrounding vehicles or obstacles by three-dimensional scanning.

 The in-vehicle network monitoring unit 106 monitors a network connected to various control devices such as an in-vehicle skid prevention device and an ABS (not shown), so that the traveling state of the host vehicle is determined from the control device connected to the network. Get the information shown.

 Information indicating the traveling state of the host vehicle acquired by the in-vehicle network monitoring unit 106 includes information such as front / rear / left / right acceleration, steering angle, accelerator opening, and the like from an electronic stability control (ESC), ABS (Antilocked Braking). Information on the brake state, wheel speed, etc. from the System), information on the lighting state of the blinker, hazard lamp, etc. from the LIN (Local Interconnect Network) controller.

 The own vehicle information accumulation unit 107 accumulates information on the own vehicle acquired by the navigation unit 104, the in-vehicle radar unit 105, and the in-vehicle network monitoring unit 106 together with the time when the information is acquired. Hereinafter, information related to the host vehicle stored in the host vehicle information storage unit 107 is referred to as host vehicle information.

 The danger level determination unit 108 determines the danger level of the host vehicle based on the other vehicle information stored in the other vehicle information storage unit 103 and the host vehicle information stored in the host vehicle information storage unit 107. Here, the danger level refers to the degree of danger that the risk factor determined to be potentially dangerous to the host vehicle based on the host vehicle information and other vehicle information, for example, This indicates the degree of danger for each risk factor with respect to the risk factor that the speed of the host vehicle is high or the predicted passing lines of the host vehicle and other vehicles intersect.

 Further, the danger level determination unit 108 determines whether or not it is necessary to change the danger levels of the host vehicle and other vehicles. If the danger level determination unit 108 determines that it is necessary to change the danger level of the own vehicle, the danger level determination unit 108 generates a danger level notification message 200 for notifying other vehicles of the danger level of the own vehicle. / Send to other surrounding vehicles via the road-to-vehicle communication unit 101.

 In addition, when the danger level determination unit 108 determines that it is necessary to change the danger level of another vehicle that is highly likely to pose a danger to the host vehicle, the danger level setting request that requests the other vehicle to change the danger level. A message 300 is generated and transmitted to another vehicle having a high possibility of causing danger to the host vehicle via the vehicle / road-vehicle communication unit 101.

 The warning unit 109 outputs information that needs to be notified to the driver among the risk factors determined by the risk level determination unit 108 to be potentially dangerous to the host vehicle. Specific examples of the warning unit 109 include a liquid crystal display, an LED display board, a voice synthesizer, a buzzer, and a chime.

 The vehicle control unit 110 determines that the danger level determination unit 108 has determined that there is a possibility of danger to the host vehicle, and the warning unit 109 notifies the driver that the risk cannot be avoided in time. To avoid the risk factor by automatically controlling the vehicle. Specific examples of automatic control include automatic braking and automatic steering.

 The driving support information generation unit 111 generates driving support information 400 indicating the state of the host vehicle from the host vehicle information stored in the host vehicle information storage unit 107.

 The transmission permission / inhibition determining unit 112 determines whether or not the driving support information 400 can be transmitted by performing carrier sense as in the conventional method. Further, the transmission permission / inhibition determination unit 112 uses the wireless channel usage rate that the vehicle / road-to-vehicle communication unit 101 calculates by the channel usage state monitoring unit 102 and other information stored in the other vehicle information storage unit 103. The transmission interval of the driving support information 400 is determined based on the danger level of the other vehicle included in the vehicle information and the danger level of the host vehicle determined by the danger level determination unit 108.

 Next, the configuration of the danger level notification message 200 in which the driving support information transmitting apparatus 100 according to the present embodiment transmits and receives with other vehicles will be described.

 FIG. 2 is a diagram illustrating an example of the configuration of the danger level notification message 200.

 As shown in FIG. 2, the danger level notification message 200 includes a host vehicle ID, a danger level, a danger level setting reason, and a danger level setting valid period.

 The own vehicle ID indicates an ID for identifying the vehicle that has transmitted the danger level notification message 200.

 The danger level indicates the danger level of the host vehicle that notifies other vehicles.

 The reason for setting the danger level indicates the reason for setting the danger level of the host vehicle that has notified the other vehicle.

 The danger level setting valid period indicates a period during which the danger level of the host vehicle that has notified the other vehicle is valid for the other vehicle.

 Thus, the driving assistance information transmitting device 100 transmits the danger level notification message 200 having the own vehicle ID for identifying the own vehicle and the danger level indicating the danger level of the own vehicle to the other vehicle. Thus, the danger level of the own vehicle can be notified.

 Further, the driving support information transmitting apparatus 100 can store the danger level of the other vehicle in the other vehicle information storage unit 103 by receiving the danger level notification message 200 transmitted from the other vehicle.

 Next, the configuration of the danger level setting request message 300 that is transmitted and received by the driving support information transmitting apparatus 100 of this embodiment with other vehicles will be described.

 FIG. 3 is a diagram illustrating an example of the configuration of the danger level setting request message 300.

 As shown in FIG. 3, the danger level setting request message 300 includes a request destination vehicle ID, a requested danger level, a request reason, and a request valid period.

 The request destination vehicle ID indicates an ID for identifying another vehicle that requests the change of the danger level.

 The required danger level indicates a danger level at which a change is requested to another vehicle that requests a change in the danger level.

 The request reason indicates the reason for requesting the other vehicle to change the danger level.

 The required effective period indicates a period for requesting another vehicle to change the danger level.

 As described above, the driving support information transmitting apparatus 100 includes the ID for identifying the other vehicle that requests the change of the danger level and the danger level that requests the change of the other vehicle that requests the change of the danger level. By transmitting the possessed danger level setting request message 300, it is possible to request the other vehicle to change the danger level of the own vehicle.

 Further, the driving assistance information transmitting apparatus 100 can change the danger level of the other vehicle stored in the other vehicle information storage unit 103 by receiving the danger level setting request message 300 transmitted from the other vehicle.

 Next, the configuration of the driving support information 400 that is transmitted and received by the driving support information transmitting apparatus 100 of this embodiment with other vehicles will be described.

 FIG. 4 is a diagram illustrating an example of the configuration of the driving support information 400.

 As shown in FIG. 4, the driving support information 400 includes the host vehicle ID, host vehicle position, host vehicle speed, host vehicle traveling direction, host vehicle traveling direction acceleration, host vehicle shift position, host vehicle brake. A vehicle, a vehicle blinker state, a vehicle hazard state, and a vehicle accelerator pedal position.

 The own vehicle ID indicates an ID that identifies the own vehicle.

 The own vehicle position indicates the position of the own vehicle.

 The own vehicle speed indicates the traveling speed of the own vehicle.

 The own vehicle traveling direction indicates the direction in which the own vehicle is traveling.

 The own vehicle traveling direction acceleration indicates the acceleration in the traveling direction of the host vehicle during traveling.

 The own vehicle shift position indicates the position of shift of the own vehicle during traveling.

 The own vehicle brake state indicates the operation state of the brake of the own vehicle.

 The own vehicle turn signal state indicates a lighting state of the turn signal of the own vehicle.

 The own vehicle hazard state indicates a lighting state of a hazard lamp of the own vehicle.

 The own vehicle accelerator pedal position indicates the position of the accelerator pedal of the own vehicle.

 The driving assistance information transmitting apparatus 100 can grasp the state of other vehicles existing around by transmitting and receiving driving assistance information 400 indicating the state of the host vehicle to and from other vehicles.

 FIG. 5 is a flowchart showing an example of the operation of the driving support information transmitting apparatus 100 according to the embodiment of the present invention.

 First, the vehicle / road-vehicle communication unit 101 confirms whether or not a danger level notification message 200 or a danger level setting request message 300 is received from another vehicle (step S1).

 When the danger level notification message 200 or the danger level setting request message 300 is received from another vehicle (step S1: YES), the other vehicle information storage unit 103 together with the reception time, the danger level notification message 200 or the danger level setting request message 300. The information regarding the other vehicles contained in is accumulated (step S2).

 Next, the vehicle / road-to-vehicle communication unit 101 confirms whether or not the driving support information 400 is received from another vehicle (step S3).

 When the driving support information 400 is received from another vehicle (step S3: YES), the other vehicle information accumulating unit 103 accumulates information on the other vehicle included in the driving support information 400 together with the reception time (step S4).

 Next, the host vehicle information storage unit 107 displays information based on the travel position of the host vehicle acquired by the navigation unit 104, the in-vehicle radar unit 105, and the in-vehicle network monitoring unit 106, information about the host vehicle, and the travel state of the host vehicle. The information shown is accumulated as own vehicle information together with the time when the information is acquired (step S5).

 Examples of information accumulated here include the position of the host vehicle, the traveling direction, the speed, the acceleration, the information about the road that is running, the information about the intersection in front, the information about the surrounding structures, Information on obstacles, shift position of the own vehicle, brake state, turn signal state, hazard lamp lighting state, accelerator pedal position, operation state of each ECU (Engine Control Unit), and the like.

 Next, the danger level determination unit 108 determines the danger level of the host vehicle based on the other vehicle information stored in the other vehicle information storage unit 103 and the host vehicle information stored in the host vehicle information storage unit 107. It performs (step S6).

 Specifically, the danger level determination unit 108 determines whether the host vehicle approaches an intersection with poor visibility, approaches an expressway junction, a skid prevention device (ESC) operates, or an ABS operates. If there is a risk factor determined to be potentially dangerous to the host vehicle in the host vehicle information stored in the host vehicle information storage unit 107, the risk of the host vehicle is determined according to the importance of the risk factor. If the level is raised and the risk factor disappears, the danger level of the own vehicle is lowered.

 Further, the danger level determination unit 108 increases the danger level of the own vehicle based on the other vehicle information accumulated in the other vehicle information accumulation unit 103 and the own vehicle information accumulated in the own vehicle information accumulation unit 107. There is. For example, the case where the predicted passing lines of the other vehicle and the host vehicle intersect each other, or the case where the inter-vehicle distance is rapidly shortening is an example.

 Further, the danger level determination unit 108 also changes the danger level of the host vehicle by receiving the danger level setting request message 300 from another vehicle.

 Next, the danger level determination unit 108 determines whether it is necessary to change the danger level of the host vehicle (step S7).

 When it is determined that the danger level of the own vehicle needs to be changed (step S7: YES), the vehicle / road-to-vehicle communication unit 101 sends a danger level notification message 200 for notifying the danger level of the own vehicle to the surroundings. It transmits with respect to the other vehicle (step S8).

 Next, the danger level determination unit 108 determines whether it is necessary to change the danger level of the other vehicle (step S9).

 Specifically, the danger level determination unit 108 determines the danger level of the host vehicle when there is an influence of another vehicle and it is necessary to increase the transmission frequency of the driving support information 400 from the other vehicle. If the danger level of the other vehicle stored in the storage unit 103 is lower than the danger level required by the own vehicle, the risk of the own vehicle can be increased so that the transmission frequency of the driving support information 400 from the other vehicle can be increased. It is determined that a change that increases the danger level of another vehicle that affects the level determination is necessary.

 When it is determined that it is necessary to change the danger level of another vehicle that affects the determination of the danger level of the host vehicle (step S9: YES), the vehicle / road-to-vehicle communication unit 101 is dangerous to the other vehicle. A danger level setting request message 300 for requesting a level change is transmitted to another vehicle that requests a danger level change (step S10).

 Next, the channel usage state monitoring unit 102 calculates the usage rate of the wireless channel in which the vehicle / road-to-vehicle communication unit 101 performs wireless communication. Specifically, the channel usage state monitoring unit 102 monitors and records the wireless channel usage state. Then, the channel usage state monitoring unit 102 calculates the usage rate of the wireless channel by counting the recorded usage state of the wireless channel in a certain time (step S11).

 Next, the transmission permission / inhibition determination unit 112 determines whether transmission of the driving support information 400 is permitted and determines a transmission interval (step S12).

 Specifically, the transmission permission / inhibition determination unit 112 determines whether transmission of the driving assistance information 400 is possible by performing carrier sense as in the conventional method. Further, the transmission permission / inhibition determination unit 112 uses the wireless channel usage rate calculated by the channel usage state monitoring unit 102, the other vehicle risk level included in the other vehicle information stored in the other vehicle information storage unit 103, The transmission interval of the driving support information 400 is determined based on the risk level of the host vehicle determined by the level determination unit 108.

 FIG. 6 is a graph showing an example of the relationship between the channel usage rate and the transmission interval of the driving support information 400.

 The vertical axis of the graph shown in FIG. 6 indicates the transmission interval of the driving support information 400. The horizontal axis of the graph indicates the channel usage rate. The solid line in the graph indicates the relationship between the channel usage rate and the transmission interval of the driving support information 400 when the danger level of the vehicle is “high”. Similarly, the broken line, dotted line, and alternate long and short dash line in the graph indicate that the danger level is “medium” (no vehicles with a danger level of “high” in the surrounding area) and the danger level is “medium” (the danger level is “high” in the surrounding area). ”And the transmission interval of the driving support information 400 when the danger level is“ low ”.

 As illustrated in FIG. 6, the transmission permission / inhibition determining unit 112 basically determines the transmission interval so that the transmission interval of the driving support information 400 becomes longer as the channel usage rate increases.

 Further, even if the channel usage rate is the same, the transmission permission / inhibition determination unit 112 determines the transmission interval of the driving support information 400 according to the danger level of the host vehicle. That is, the transmission permission / inhibition determination unit 112 determines the transmission interval such that the transmission interval of the driving support information 400 is shortened as the danger level of the host vehicle is higher.

Further, even if the risk level of the own vehicle is the same, the transmission permission / inhibition determining unit 112 sets the transmission interval of the driving support information 400 according to the risk level of other vehicles existing in the surroundings stored in the other vehicle information storage unit 103. decide. That is, the transmission permission determination unit 112, when there is another vehicle having a higher danger level than the own vehicle around the own vehicle, than when there is no other vehicle having a higher danger level than the own vehicle around the own vehicle, the transmission interval become longer so the driving support information 400, determines a transmission interval.

 When the transmission permission / inhibition determining unit 112 determines that the driving support information 400 can be transmitted (step S12: YES), the driving support information generating unit 111 is based on the own vehicle information accumulated in the own vehicle information accumulating unit 107. The driving support information 400 is generated. Then, the vehicle / road-to-vehicle communication unit 101 transmits the driving support information 400 of the host vehicle at the transmission interval determined by the transmission permission / inhibition determining unit 112 (step S13).

 Thereafter, the same operation is repeated from step S1.

 As described above, in the present embodiment, the driving support information transmitting apparatus 100 determines the transmission interval for transmitting the driving support information 400 indicating the state of the own vehicle, the usage rate of the wireless channel for communication, the own vehicle, and the like. Decide based on the danger level of the vehicle. As described above, the driving support information transmitting apparatus 100 determines the transmission interval of the driving support information according to the usage rate of the radio channel and the danger level of each vehicle, thereby preventing the communication quality from being deteriorated due to the concentration of the vehicles. However, the driving support information 400 can be transmitted at a more appropriate transmission interval based on the state of each vehicle.

 Further, in the present embodiment, the driving support information transmitting device 100 transmits a danger level setting request for requesting a change of the danger level to another vehicle, and the other vehicle that may cause danger to the own vehicle. Increase the danger level. For this reason, the other vehicle whose danger level has been raised transmits the driving support information 400 at a higher frequency, and the driving support information transmitting device 100 may cause other vehicles that may be dangerous. Thus, more driving support information 400 can be acquired.

DESCRIPTION OF SYMBOLS 100 Driving assistance information transmitter 101 Vehicle / road-to-vehicle communication part 102 Channel use state monitoring part 103 Other vehicle information storage part 104 Navigation part 105 Car-mounted radar part 106 Car network monitoring part 107 Self-vehicle information storage part 108 Risk level determination part 109 Warning unit 110 Vehicle control unit 111 Driving support information generation unit 112 Transmission enable / disable determination unit

Claims (14)

A driving support information transmitting device that is mounted on a vehicle and transmits driving support information indicating a state of the vehicle,
A receiver for receiving the danger level information including the danger level of the other vehicle indicating the degree of danger of the other vehicle and the driving support information of the other vehicle via a wireless channel;
An acquisition unit for acquiring information of the host vehicle used for generating driving support information of the host vehicle;
A danger level determination unit for determining the own vehicle danger level based on the received danger level information and the driving assistance information of the other vehicle, and the acquired information of the own vehicle;
A channel use state monitoring unit for monitoring the use state of the radio channel;
Based on the acquired information of the own vehicle, a driving support information generating unit that generates the driving support information;
A determination unit that determines a transmission interval of the generated driving assistance information based on a use state of the wireless channel, the received other vehicle danger level, and the determined own vehicle danger level;
A transmission unit that transmits the generated driving support information to the other vehicle based on the determined transmission interval via the wireless channel;
A driving support information transmitting device having   The driving support information transmitting device according to claim 1, wherein the usage state of the wireless channel is a usage rate of the wireless channel by the host vehicle and another vehicle.  The driving support information transmitting apparatus according to claim 2, wherein the determination unit increases the transmission interval of the driving support information as the usage rate of the wireless channel is higher.   When the other vehicle with the other vehicle danger level higher than the predetermined level exists around the host vehicle, the determination unit may have another vehicle with the other vehicle danger level higher than the predetermined level around the host vehicle. The driving assistance information transmitting device according to any one of claims 1 to 3, wherein a transmission interval of the driving assistance information is increased as compared with a case where there is no vehicle.  The driving support information transmitting apparatus according to any one of claims 1 to 4, wherein the determining unit shortens the transmission interval of the driving support information as the own vehicle danger level is higher. A danger level setting request information generating unit for generating danger level setting request information for requesting the change of the other vehicle danger level;
When the transmission unit determines that the transmission interval of the driving assistance information transmitted from the other vehicle needs to be shortened in the determination of the own vehicle risk level, the generated risk level is transmitted via the radio channel. The driving support information transmitting device according to claim 5, wherein the setting request information is transmitted to the other vehicle.   The said transmission part transmits the said changed danger level information to the said other vehicle via the said radio channel, when the said own vehicle danger level is changed in the said danger level determination part. The driving assistance information transmitting device according to any one of claims 1 to 6. A driving support information transmitting method by a driving support information transmitting device that is mounted on a vehicle and transmits driving support information indicating the state of the vehicle,
A receiving step for receiving, via a wireless channel, danger level information including a danger level of another vehicle indicating a degree of danger of the other vehicle and driving support information of the other vehicle;
An acquisition step of acquiring information of the host vehicle used for generating driving support information of the host vehicle;
A danger level determination step of determining the own vehicle danger level based on the received danger level information and the driving assistance information of the other vehicle, and the acquired information of the own vehicle;
A channel usage state monitoring step for monitoring the usage state of the wireless channel;
A driving support information generating step for generating the driving support information based on the acquired information of the own vehicle;
A determination step of determining a transmission interval of the generated driving assistance information based on the use state of the wireless channel, the received other vehicle danger level, and the determined own vehicle danger level;
A transmission step of transmitting the generated driving support information to the other vehicle based on the determined transmission interval via the wireless channel;
A driving assistance information transmission method comprising:   The driving support information transmission method according to claim 8, wherein the usage state of the wireless channel is a usage rate of the wireless channel by the host vehicle and another vehicle.  10. The driving support information transmission method according to claim 9, wherein the determination step increases the transmission interval of the driving support information as the usage rate of the wireless channel is higher.   In the determination step, when there is another vehicle having the other vehicle danger level higher than the predetermined level around the host vehicle, the other vehicle having the other vehicle danger level higher than the predetermined level around the host vehicle. The driving support information transmission method according to any one of claims 8 to 10, wherein a transmission interval of the driving support information is increased as compared to a case where there is no vehicle.  The driving support information transmission method according to any one of claims 8 to 11, wherein the determination step shortens a transmission interval of the driving support information as the host vehicle danger level is higher. A risk level setting request information generating step for generating risk level setting request information for requesting the change of the other vehicle risk level;
In the transmission step, when it is determined that it is necessary to shorten the transmission interval of the driving support information transmitted from the other vehicle in the determination of the own vehicle risk level, the generated risk level is transmitted via the radio channel. The driving support information transmission method according to claim 12, wherein the setting request information is transmitted to the other vehicle.   The transmission step transmits the changed danger level information to the other vehicle via the radio channel when the own vehicle danger level is changed in the danger level determination step. 14. The driving support information transmission method according to any one of items 1 to 13.

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