JP5427265B2 - Navigation device and receiving device - Google Patents

Description

  The present invention collects moving body information including a position and a direction to be transmitted by a moving body such as a vehicle or a pedestrian via a moving body-moving body communication (vehicle-to-vehicle communication), and moves around the own vehicle. The present invention relates to a navigation device for observing body movement, a vehicle-to-vehicle wireless communication device, and a mobile body information providing device.

In order to realize services aimed at improving safety and convenience, development of Intelligent Transport Systems (ITS) that integrates roads and vehicles is underway.
In the above system, the realization of various services using wireless communication such as road-to-vehicle communication between base stations installed on the road and mobile stations mounted on vehicles and vehicle-to-vehicle communication between mobile stations is considered. For example, in vehicle-to-vehicle wireless communication, a service that supports obstacle avoidance such as a collision is being introduced.
In this support service, the vehicle notifies the surroundings of the state of the own vehicle to other vehicles and pedestrians existing in the vicinity. For this reason, the vehicle periodically transmits mobile body information including information such as position and direction generated by the navigation device using the inter-vehicle wireless communication device, and moves from the mobile body around the own vehicle. Collect body information. Then, the collected moving body information is processed by a navigation device or the like mounted on the own vehicle, and through the user interface, for example, the driver is made aware of the presence and state of the moving body around the own vehicle, (See, for example, Patent Document 1 of the invention name “in-vehicle information providing apparatus”).
In addition, the communication area (information collection range) of vehicle-to-vehicle communication required for this support service is based on the relationship between the event recognition and response of the driver who operates the vehicle, the traveling speed and deceleration of the vehicle, etc. It is supposed to be several hundred meters. In this case, the number of vehicles that can exist simultaneously in the communication area is on a scale of one thousand.

JP-A-11-195196

As described above, according to the prior art, the situation of the host vehicle is periodically broadcast from the inter-vehicle wireless communication device of the mobile information providing device, so that the mobile information providing device exists in the communication area. It operates to collect mobile body information transmitted from all mobile body information providing apparatuses. For this reason, traffic is always concentrated on the receiving side of the inter-vehicle wireless communication device of the mobile information providing device. Moreover, traffic fluctuates according to the density of vehicles that perform vehicle-to-vehicle communication within the communication area, and the influence is received by all the mobile information providing devices.
On the other hand, the observation of the moving body performed by the position detection device such as the navigation device sequentially processes the mobile body information output from the inter-vehicle communication device of the mobile body information providing device, so that the traffic of the inter-vehicle wireless communication device is increased. If it becomes higher, the observation of moving objects will be delayed. That is, it is impossible to collect all the moving body information within the time determined from the relationship between the traveling speed and deceleration of the vehicle and the time from the event recognition of the driver who operates the vehicle to the reaction.
This delay also occurs when a moving body that causes a failure such as a collision is observed, so in some cases, the driver's event recognition may be delayed and may not contribute to obstacle avoidance. .
In view of the above-described problems, the object of the present invention is to provide a vehicle or a pedestrian that may cause a failure such as a collision due to the influence of traffic caused by the density of vehicles performing vehicle-to-vehicle communication within the information collection range. It is an object of the present invention to provide a navigation device, a wireless communication device, and a mobile object information providing device that can suppress the occurrence of delay in observation of a mobile object.

In order to achieve the above object, a mobile body information providing apparatus of the present invention includes a navigation unit that acquires movement state information of the mobile body and a transmission unit that broadcasts the movement state information of the mobile body. The navigation unit includes a wireless communication unit, and the navigation unit acquires at least position information, a traveling direction, speed information, and acceleration information of the mobile body.
Preferably, in the mobile body information providing apparatus, the wireless communication unit further receives other mobile body state information broadcast from another mobile body, and the received other mobile body state information is transmitted to the mobile body information providing apparatus. A navigation unit that outputs to the navigation unit, the navigation unit based on the other mobile body state information received by the wireless communication unit and the movement state information of the own mobile body; It includes at least a moving body observation unit for displaying the display and the position of the own vehicle and the positions of moving bodies around the own vehicle.
Preferably, in the mobile body information providing apparatus, the navigation unit is configured such that at least a position indicated by the other mobile body state information of each of the other mobile bodies received by the wireless communication unit is wireless communication of the mobile body. The priority set in the attention area and the source of the other mobile state information can be identified when it is in one of the attention areas for each priority set in the communication area of the unit. A priority determination unit that generates a determination result associated with a transmission source identifier and outputs the generated determination result to the reception unit, and from the other mobile state information received by the wireless communication unit, This is to observe the movement of other moving objects around the vehicle.
Preferably, in the mobile information providing apparatus, the reception unit includes a priority management table unit that registers the determination result output from the priority determination unit of the navigation unit as a priority management table, A priority of the other moving body state information is determined with reference to a priority management table, and the other moving body state information is output to the navigation unit in a predetermined order according to the determined priority. It is.
Preferably, in the mobile information providing apparatus, the receiving unit further includes a storage unit that stores the other mobile unit state information for each priority, and the priority management table in the priority management table unit. The priority of the other mobile state information is determined with reference to the selecting unit that outputs to the storage unit corresponding to each priority according to the determined priority, and the storage unit for each priority. An output order control unit that outputs the stored other mobile unit state information to the navigation unit in the predetermined order according to the priority.
Preferably, in the mobile information providing apparatus, the selecting unit of the receiving unit further searches the storage unit by a transmission source identifier of the other mobile state information received by the wireless communication unit, and transmits the transmission. The other mobile unit state information received by the wireless communication unit after deleting the other mobile unit state information in the storage unit when other mobile unit state information of the same transmission source identifier as the original identifier is stored Is to save.
Preferably, in the mobile information providing apparatus, the output order control unit of the receiving unit further has no other mobile state information stored in the storage unit having the highest priority of the storage unit. In addition, the other mobile unit state information stored in the storage unit having the next highest priority is output to the navigation unit.
Preferably, in the mobile body information providing apparatus, the attention area is set based on at least the position of the mobile body, the traveling direction, and map information.
Preferably, in the mobile body information providing apparatus, the attention area is set based on at least a position and a traveling direction of the mobile body.
Preferably, in the mobile body information providing apparatus, the priority determination unit of the navigation unit corrects the position of the attention area or the size or shape of the area based on at least the speed of the mobile body. Is.
Preferably, in the mobile body information providing apparatus, the priority determination unit of the navigation unit corrects the position of the region of interest or the size or shape of the region based on at least road traffic information. .
Preferably, in the mobile body information providing apparatus, the priority determination unit of the navigation unit is configured such that the position indicated by the other mobile body state information is within any one of the regions of interest and the other Compare the traveling direction indicated by the moving body state information with the traveling direction of the host vehicle, and if the other moving body that is the transmission source of the other moving body state information takes an azimuth approaching the host vehicle, the observation target It is what.
Preferably, in the mobile body information providing apparatus, the priority determination unit of the navigation unit is configured such that the position indicated by the other mobile body state information is within any one of the regions of interest and the other The traveling direction indicated by the moving body state information is compared with the traveling direction of the host vehicle, and the observation target is selected according to the attribute of the other moving body information.
Preferably, in the mobile information providing apparatus, the priority control unit has a plurality of the predetermined orders of a first order and a second order, and the navigation unit is arranged in the first order. It outputs to the said priority determination part, and outputs to the said mobile body observation part in the said 2nd order.

Further, the navigation device of the present invention includes a moving body observing unit, acquires the moving state information of the own moving body, and displays the road map around the own vehicle together with the display on the moving body observing unit. The body observation unit further receives other moving body state information of the other moving body acquired from the wireless communication device, and displays the position of the other moving body around the host vehicle from the received other moving body state information. When it is an observation unit and the position indicated by the other mobile state information is in any one of the attention areas for each priority set in the communication area of the wireless communication device of the own mobile body In addition, the wireless communication device generates a determination result that associates the priority set in the region of interest with a transmission source identifier that can identify the transmission source of the other mobile unit state information, and the wireless communication apparatus generates the determination result. Other mobile body received The status information, but having a priority determination unit that outputs to the wireless communication device as a priority management information for controlling the order in which input to the moving object observed section.
Preferably, in the navigation device, the region of interest is set based on at least the position of the moving body, the traveling direction, and map information.
Preferably, in the navigation device, the region of interest is set based on at least a position and a traveling direction of the mobile body.
Preferably, in the navigation device, the priority determination unit corrects the position of the region of interest or the size or shape of the region based on at least the speed of the moving body.
Preferably, in the navigation device, the priority determination unit corrects the position of the region of interest or the size or shape of the region based on at least road traffic information.
Preferably, in the navigation device, the priority determination unit includes a position indicated by the other moving body state information within any one of the attention areas and a progress indicated by the other moving body state information. The direction is compared with the traveling direction of the host vehicle, and the target is an object to be observed when another moving body that is the transmission source of the other moving body state information takes a direction approaching the host vehicle.
Preferably, in the navigation device, the priority determination unit is configured such that the position indicated by the other moving body state information is within one of the regions of interest and the other moving body state information indicates. A navigation apparatus characterized by comparing a traveling direction and a traveling direction of a host vehicle and selecting an observation target according to an attribute of the other moving body information.

Furthermore, the receiving device of the present invention is a receiving device that receives other moving body state information of another moving body, and outputs the received other moving body state information to the navigation device, the priority being output from the navigation device. A priority management table unit for registering the degree determination result as a priority management table, and the priority of the other moving body state information is determined with reference to the priority management table, and in accordance with the determined priority The other moving body state information acquired from the wireless communication device in a predetermined order is output to the navigation unit.
Further preferably, in the receiving apparatus, the other mobile unit state is further referred to by referring to the storage unit that stores the other mobile unit state information for each priority and the priority management table in the priority management table unit. The priority of the information is determined, and the selection unit that outputs to the storage unit corresponding to each priority according to the determined priority, and the other mobile state stored in the storage unit for each priority And an output order control unit that outputs information to the navigation device in the predetermined order according to the priority.
Preferably, in the receiving apparatus, the selecting unit further searches the storage unit by a transmission source identifier of the other mobile unit state information, and other mobile unit state information having the same transmission source identifier as the transmission source identifier is obtained. If stored, the other mobile unit state information acquired from the wireless unit is deleted after deleting the other mobile unit state information in the storage unit.
Preferably, in the receiving device, the output order control unit further determines the next priority when there is no other mobile state information stored in the storage unit with the highest priority of the storage unit. The other moving body state information stored in the high storage unit is output to the navigation device.

According to the present invention, due to the influence of traffic caused by the density of vehicles performing vehicle-to-vehicle communication within the information collection range, a delay occurs in observation of a moving body such as a vehicle or a pedestrian that may cause a failure such as a collision. Can be suppressed.
In addition, if there is a mobile information providing device in the mobile body, there is no need to install a base station, a relay station, etc. on the road or in the vicinity, and at an early, easy, inexpensive, new or existing road Can be deployed and applied.

The block diagram which shows the structure of one Example of the mobile body information provision apparatus of this invention. The block diagram which shows the structure of one Example of the mobile body information provision apparatus of this invention. The figure which shows one Example of the priority control part of this invention. The figure which shows one Example of the priority control part of this invention. The figure which shows one Example of the priority determination part of this invention. The figure which shows one Example of the priority determination part of this invention. The figure which shows one Example of the registration content of the priority management table which the priority control part of this invention refers. The flowchart which shows one Example of the process sequence of the selection part which comprises the priority control part of this invention. The flowchart which shows one Example of the process sequence of the output order control part which comprises the priority control part of this invention. The figure for demonstrating an example of the operation | movement based on one Example of the process sequence of the output order control part which comprises the priority control part of this invention. The flowchart for demonstrating an example of the operation | movement based on one Example of the process sequence of the output order control part which comprises the priority control part of this invention. The figure for demonstrating an example of the operation | movement based on one Example of the process sequence of the output order control part which comprises the priority control part of this invention. The flowchart which shows one Example of the process sequence of the judgment value production | generation part which comprises the priority determination part of this invention. The flowchart which shows one Example of the process sequence of the judgment value production | generation part which comprises the priority determination part of this invention. The flowchart which shows one Example of the process sequence regarding the priority setting of the priority calculation part which comprises the priority determination part of this invention. The flowchart which shows one Example of the process sequence regarding the priority cancellation of the priority calculation part which comprises the priority determination part of this invention. The flowchart which shows an example of the process sequence of the correction value calculation part which comprises the priority determination part of this invention. The figure for demonstrating one Example of attention area arrangement | positioning in the priority determination part of this invention. The figure for demonstrating one Example of attention area arrangement | positioning in the priority determination part of this invention. The figure for demonstrating one Example of attention area arrangement | positioning in the priority determination part of this invention. The figure for demonstrating one Example of attention area arrangement | positioning in the priority determination part of this invention. The figure for demonstrating one Example of attention area arrangement | positioning in the priority determination part of this invention. The figure for demonstrating one Example of attention area arrangement | positioning in the priority determination part of this invention.

The present invention determines one or more attention areas for each priority in the communication area of inter-vehicle communication in order to suppress delays in observation of a moving body such as a vehicle or a pedestrian that may cause a failure such as a collision, A transmission source that can be an observation target when at least the position indicated by the received mobile object information is within the region of any attention area, and that can identify at least the priority set in the attention area and the transmission source of the mobile object information The priority determination means that constitutes the determination result with the identifier, the transmission source identifier of the received mobile body information, the priority of the mobile body information is determined with reference to the determination result of the priority determination means, and the priority And a priority control means for outputting the moving body information in the order set based on the main feature.
The present invention determines one or more attention areas for each priority in the communication area of inter-vehicle communication in order to suppress delays in observation of a moving body such as a vehicle or a pedestrian that may cause a failure such as a collision, The determination value generation function for generating a determination value composed of information capable of calculating at least the position and size of the region of interest is compared with the received mobile object information and the determination value, and at least which position indicated by the mobile object information If it is determined that it is within the region of the attention area, the determination result is composed of at least a priority set in the attention area and a transmission source identifier that can identify the transmission source of the mobile object information. A priority determination unit having a priority calculation function to be generated, and a source identifier of the received mobile body information, a priority is obtained by referring to a determination result of the priority determination unit, and mobile body information is selected by priority. Possible A sorting function for storing the queue, and key; and a priority control means and an output order control function for outputting mobile body information at a set order based on priorities.
The main feature of the present invention is that the attention area determined by the priority determination means for each priority is set based on at least the position and orientation of the host vehicle.
The main feature of the present invention is that the attention area determined by the priority determination means for each priority is set based on at least map information including the position, direction, and road shape of the host vehicle.
The main feature of the present invention is to correct the position and size of the attention area determined by the priority determination unit for each priority based on at least the speed of the host vehicle.
The main feature of the present invention is that the priority determination means corrects the position and size of the region of interest determined for each priority based on at least road traffic information including environmental information.
The present invention, in the priority determination means, the position indicated by the received moving body information is within any region of interest, and the direction indicated by the moving body information is compared with the direction of the host vehicle, The main feature is that the mobile object that is the transmission source of the mobile object information is an observation target when the mobile object is in the direction of approaching the host vehicle.
The main point of the present invention is that, in the priority determination means, the position indicated by the received mobile object information is within the region of any attention area, and the observation target is selected according to the attribute indicated by the mobile object information. Features.
In the priority control means, the queue is searched by the transmission source identifier of the received mobile body information. When mobile body information having the same transmission source is stored in the queue, the priority control means The main feature is that the mobile body information is stored after the mobile body information is deleted.
In addition, for example, the main feature of the present invention is that the navigation apparatus includes at least a priority determination unit, a priority control unit, and an inter-vehicle communication unit.
Further, for example, the present invention is mainly characterized in that it includes a navigation device having at least priority determination means and priority control means, and an inter-vehicle communication device having at least inter-vehicle communication means.
Further, for example, the present invention is mainly characterized in that it includes a navigation device having at least priority determination means, and an inter-vehicle communication device having at least priority control means and inter-vehicle communication means.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In each figure, components having common functions are denoted by the same reference numerals, and description thereof is avoided as much as possible to avoid duplication.

FIG. 1 is a diagram illustrating an embodiment of a mobile body information providing apparatus mounted on a vehicle. 100 is a mobile body information providing device, 1 is an antenna, 2 is a vehicle-to-vehicle communication section, 3 is a priority control section, 4 is a priority determination section, 5 is a mobile body observation section, 6 is a mobile body information generation section, and 7 is a position. Detection unit, 8 is heading detection unit, 9 is speed detection unit, 10 is acceleration detection unit, 11 is real-time road traffic information using information service such as VICS (Vehicle Information and Communication System) , 12 is a map information acquisition unit, 13 is an in-vehicle LAN (Local Area Network), 101 is an inter-vehicle communication unit, and 102 is a navigation unit. In FIG. 1, the inter-vehicle communication unit 101 includes an antenna 1, an inter-vehicle communication unit 2, and a priority control unit 3. The navigation unit 102 includes a priority determination unit 4, a moving body observation unit 5, a moving body information generation unit 6, a road traffic information acquisition unit 11, a map information acquisition unit 12, an in-vehicle LAN 13, and a position detection unit 7. , A direction detection unit 8, a speed detection unit 9, an acceleration detection unit 10, and the like. The in-vehicle LAN is a component of the navigation unit 102 in the vehicle (priority determination unit 4, moving body observation unit 5, moving body information generation unit 6, position detection unit 7, direction detection unit 8, speed detection unit 9, acceleration detection Part 10, road traffic information acquisition part 11, and map information acquisition part 12).
In addition, the position detection unit 7, the direction detection unit 8, the speed detection unit 9, the acceleration detection unit 10, the road traffic information acquisition unit 11, and the map information acquisition unit 12 that acquire autonomous navigation information by various sensors For example, a car navigation device using map information using GIS (Geographic Information Systems) such as acquisition of self-contained navigation information and GPS (Global Positioning System) may be used.
In this embodiment, only the components related to the present invention are shown, and the others are omitted.

  In FIG. 1, a moving body information generation unit 6 notifies a position of the host vehicle to other moving bodies (vehicles, pedestrians, etc.) existing in the vicinity, so that a position detection unit 7, an orientation detection unit 8, a speed detection unit 9, information such as position, azimuth, speed, and acceleration is periodically collected from various sensors such as the acceleration detection unit 10, and for example, a moving body configured from information such as the current position, traveling direction, traveling speed, attributes, etc. Information Tx1 is generated and output to the inter-vehicle communication unit 2. The attribute is information (for example, an identifier such as an identification code) indicating the type of the moving body such as a vehicle type or a pedestrian, and is registered in advance in the moving body information generating unit 6 as an attribute of the own vehicle. ing. In addition, for example, if the moving object is a pedestrian, the attribute may be a pedestrian if the code information is a personal code when there is a personal code for identifying the person. . For example, it may be an identification code of a small telephone such as a cellular phone held by a pedestrian or a PHS (Personal Handy-phone System).

  The inter-vehicle communication unit 2 includes a transmission unit (not shown) and a reception unit (not shown). The transmission unit of the inter-vehicle communication unit 2 broadcasts the mobile unit information Tx1 generated by the mobile unit information generation unit 6 to other mobile units around the host vehicle via the antenna 1. In addition, the receiving unit of the inter-vehicle communication unit 2 reproduces the mobile unit information Rx1 for each mobile unit from the signal transmitted by other mobile units around the host vehicle that is input via the antenna 1 and transmits the priority control unit. Output to 3. In the above embodiment, the antenna 1 is used for both transmission and reception, but may be separate.

  The priority determination unit 4 sets at least the attention area for each priority in the communication area of the inter-vehicle communication in order to capture a moving object that may cause a failure in the own vehicle (self-moving object) as an observation target. Define one or more. For this attention area, for example, a place to be noted is set based on the physical distance to the host vehicle, the geographical position, and the urgency. For example, the position detection unit 7, the direction detection unit 8, the speed detection unit 9, Based on information obtained from the unit 10, the road traffic information acquisition unit 11, the map information acquisition unit 12, etc., one or more are generated by generating information capable of calculating the position and size of a place of interest (region of interest). Set multiple attention areas.

The attention area is an area for capturing a moving object that may cause an obstacle to the host vehicle as an observation target.For example, due to physical distance from the host vehicle, geographical position, and urgency, Areas where failure is likely to occur (high priority), areas that require monitoring of the moving body in preparation for failure (medium priority), and areas where failure is unlikely to occur with the vehicle Classify (low priority) and place.
The priority determination unit 4 gives priority to the transmission source identifier of the mobile information when at least the position indicated by the received mobile information is within the set attention area.
The priority control unit 3 refers to the priority with the transmission source identifier, and controls the output order so as to preferentially output the mobile information set with a high priority.
The priority rankings for classification by the priority determination unit 4 are usually two or more types. For example, the priority rank is divided into a region having no priority (a region that is not a region of interest) and a region of interest having a priority. One type of ranking may be used.
Next, the priority determination unit 4 compares the input moving object information Rx3 with the attention area, and at least one of the attention areas in which the position of the moving object indicated by the moving object information Rx3 is set. If it is within the region, the mobile body of the input mobile body information Rx3 is determined as an observation target, the priority of the region of interest is associated with the mobile body information, and a determination result S1 is generated. The generated determination result S1 includes at least a transmission source identifier that can identify the mobile body of the mobile body information Rx3, and a priority set in the attention area obtained for the observation target associated with the transmission source identifier. And output to the priority control unit 3.

The priority control unit 3 registers the input determination result S1 in the priority management table of the priority management table unit (described later) inside the priority control unit 3. In addition, when the mobile unit information Rx1 is input from the inter-vehicle communication unit 2, the priority control unit 3 refers to the priority management table in the priority management table unit and sets the source identifier of the mobile unit information Rx1. It is checked whether or not it is registered in the priority management table. If it is registered, its priority is obtained, and mobile body information Rx2 and Rx3 are created in which the obtained priority is associated with the mobile body information Rx1. Then, the priority control unit 3 performs control so that at least the moving body information Rx2 output to the moving body observation unit 5 is output in the order set based on the priority.
Note that the case where the priority control unit 3 outputs the mobile body information Rx3 to the priority determination unit 4 may be the same as the case where the mobile body information Rx2 is output to the mobile body observation unit 5.

The moving body observation unit 5 makes the driver recognize the existence and state of the own vehicle and a moving body around the own vehicle. For this reason, the moving body observation unit 5 includes a display (not shown), and displays at least the presence and state of the moving body around the host vehicle on the display screen of the display. Preferably, a speaker that outputs a warning sound or a warning word (may be a pseudo sound) is provided. The display may be integrated or displayed by connecting the output to a display device of an external device.
That is, the mobile unit observation unit 5 refers to at least the mobile unit information Rx2 input from the priority control unit 3 and the mobile unit information of the host vehicle, and recognizes the presence and state of the mobile unit around the host vehicle to the driver. It is intended to make it. For example, the moving object observation unit 5 displays a road map around the own vehicle, and displays the position of the own vehicle and the vicinity of the own vehicle based on information such as the position and direction of each moving object in the moving object information Rx2. The position of a certain moving body is displayed on the display screen. As a result, the moving body observation unit 5 can allow the driver to recognize the presence of the moving body around the host vehicle, and the attribute indicated by the displayed moving body (attribute indicating the vehicle type, pedestrian, etc.). By referring to, it becomes possible to make the driver recognize the type of the moving body.
Further, on the display screen, in addition to the mobile object information Rx2, the mobile object observation unit 5 includes, for example, the position, direction, and position obtained from the position detection unit 7, the direction detection unit 8, the speed detection unit 9, the acceleration detection unit 10, and the like. By displaying information such as speed and acceleration on the display screen with numerical values or schematic figures representing numerical values, the moving object in the vicinity of the vehicle (distance, speed, acceleration, direction, It is also possible to make the driver recognize the absolute or relative state information).

In the embodiment of FIG. 1, the priority determination unit 4 can also reset the priority of the area when a mobile object that has already been set with priority is detected again in the attention area. The promotion or demotion of the set priority is evaluated and determined by, for example, the type of area in which the moving body is detected again based on the newly input moving body information Rx3. That is, the priority determination unit 4 again generates the determination result S1 from the newly input moving body information Rx3 according to the rank of the attention area including the detected position of the moving body, and outputs the determination result S1 to the priority control unit 3. The priority control unit 3 updates the priority management table registered in the priority management table unit (not shown) inside the priority control unit 3 with the determination result S1 input again. The priority determination unit 4 determines the detected position of the moving object from the newly input moving object information Rx3. If the position is out of the attention area, the priority is canceled (priority). The determination result S1 is generated again and output to the priority control unit 3. The priority control unit 3 updates the priority management table with the determination result S1 input again.
In order to cancel the set priority, for example, the priority determination unit 4 or the moving body observation unit 5 defines the observation area of the mobile body to which the priority is set, and cancels it when the observation area is outside. May be.

According to the embodiment of FIG. 1, even when the vehicle density in the communication area increases and traffic increases, priority control can be performed to preferentially output the mobile body information transmitted from the mobile body captured in the area of interest. Therefore, it is possible to avoid a delay in observation of a moving object that may cause a failure such as a collision.
Preferably, according to the embodiment of FIG. 1, the priority determined by the priority determination unit 4 is given to the transmission source identifier of the mobile body information and managed by the priority management table. The priority can be determined without performing the analysis. Therefore, it is possible to reduce the processing load on the priority control unit 3 and perform control with little delay.
In the embodiment of FIG. 1, the mobile body information providing apparatus 100 may include at least an inter-vehicle communication unit 101 and a navigation unit 102 in order to perform priority control of mobile body information alone. In this case, the present invention can be applied not only to the vehicle but also to a portable mobile information providing apparatus.

  In FIG. 1, via a network such as an in-vehicle LAN (Local Area Network), a plurality of inter-vehicle communication units (for example, an inter-vehicle communication unit 101a mounted on the front part of the vehicle and a vehicle for the front and the rear) It is also possible to configure a mobile body information providing apparatus 100 having a vehicle-to-vehicle communication unit 101b) mounted on the rear part and to perform priority control of mobile body information. For example, a plurality of vehicle-to-vehicle communication units 101a and 101b connected to a network are provided with at least a vehicle-to-vehicle communication unit 2 and a priority control unit 3 to constitute the mobile body information providing apparatus 100. In this case, for example, the front vehicle-to-vehicle communication unit 101a receives the moving body information of the other front vehicle, and the rear vehicle-to-vehicle communication unit 101b receives the moving body information of the other rear vehicle. The received moving body information is output to the navigation unit 102 via the network. In addition, the mobile body information Tx of the own vehicle may be transmitted by the front vehicle-to-vehicle communication unit 101a and the rear vehicle-to-vehicle communication unit 101b. In addition, the priority determination unit 4 of the navigation unit 102 may control the priority control unit 3 included in the inter-vehicle communication units 101a and 101b via a network. In this case, the vehicle-to-vehicle communication units 101a and 101b can flow information to the network in order from the mobile information with the highest priority, so that a high effect can be obtained particularly in a network with a narrow band.

  Preferably, in the embodiment of FIG. 1, a plurality of inter-vehicle communication units (for example, for front and rear use) are connected via a network such as an in-vehicle LAN (Local Area Network). In order to configure the mobile body information providing apparatus 100 so as to include the communication unit 101a and the inter-vehicle communication unit 101b) mounted on the rear part of the vehicle and perform priority control of the mobile body information, at least the priority control unit 3 is navigated. The inter-vehicle communication unit 101 is provided with at least the inter-vehicle communication unit 2. In this case, since the data transfer queue (described later) can be concentrated in the priority control unit 3 in the navigation unit 102, the memory mounted in the vehicle-to-vehicle communication units 101a and 101b connected to the network can be reduced, and the mobile information The providing device 100 can be provided at a low cost.

  Preferably, in the embodiment of FIG. 1, the inter-vehicle communication unit 101 includes the antenna 1, the inter-vehicle communication unit 2, and the priority control unit 3. However, as in the configuration shown in FIG. 2, the inter-vehicle communication unit 101 ′ configured by the antenna 1, the duplexer 1-1, the transmission unit 2 ′, and the reception unit 3 ′ may be used. In this case, as in FIG. 1, the transmission unit 2 ′ transmits the mobile body information Tx1 input from the mobile body information generation unit 6 of the navigation unit 102 via the duplexer 1-1 and the antenna 1. In addition, the mobile unit information of other mobile units is received by the receiving unit 3 ′ via the antenna 1 and the duplexer 1-1. The receiving unit 3 ′ reproduces the mobile body information Rx1 for each mobile body from the signal transmitted by other mobile bodies around the host vehicle. Then, similarly to the priority control unit 3 in FIG. 1, the reception unit 3 ′ creates mobile unit information Rx2 and RX3 associated with priority from the mobile unit information Rx1, and outputs the mobile unit information Rx2 to the mobile unit observation unit 5. The mobile unit information Rx3 is output to the priority determination unit 4.

In FIG. 2, for example, the mobile body information providing apparatus 200 may be configured to include a plurality of antennas for front and rear, and priority control of mobile body information may be performed. For example, in the embodiment shown in FIG. 2, a plurality of antennas (antenna 1a arranged at the front part of the vehicle and antenna 1b arranged at the rear part of the vehicle) are at least the moving body information of the other vehicles ahead. Similarly, the rear antenna 1b receives the moving body information of other vehicles behind. Since there are two antennas, front and rear, two reception functions of duplexer 1-1 and receiver 3 ′ are required. However, a common priority control unit is provided in receiver 3 ′, and navigation unit 102 is provided. Output to. The transmission may be performed by broadcasting the vehicle information Tx of the own vehicle and the same information from the front and rear transmission units. In FIG. 2, the antennas 1a and 1b are not shown. However, for example, instead of the antenna 1 in FIG. 2, an antenna 1a installed at the front of the vehicle and an antenna 1b installed at the rear of the vehicle are provided, and one antenna 1a is connected to the duplexer and the other antenna 1b is received. It may be configured to connect to part 3 ′.
In this case, since the data transfer queue (described later) can be concentrated on the priority control unit in the receiving unit 3 ′, the memory mounted in the inter-vehicle communication unit 101 ′ can be reduced, and the mobile information providing apparatus 200 is inexpensive. Can be provided to.

Next, an example of the priority control unit 3 in the mobile information providing apparatus will be described with reference to FIGS. 3 and 7 to 10. FIG. 3 is a diagram showing an embodiment of the priority control unit 3 in the mobile information providing apparatus 100 of FIG. 31 is a selection unit, 32 is a first queue storage unit, 33 is a second queue storage unit, 34 is a third queue storage unit, 35 is an output order control unit, and 36 is a priority management table unit. is there.
FIG. 7 is a diagram showing an example of registration contents of the priority management table registered in the priority management table unit 36 managed by the priority control unit 3. FIG. 8 is a flowchart showing an embodiment of the processing procedure of the selection unit 31 constituting the priority control unit 3. FIG. 9 is a flowchart showing an embodiment of a processing procedure of the first output order control unit 35 constituting the priority control unit 3. FIG. 10 is a diagram for explaining an example of an operation based on an embodiment of the processing procedure of the output order control unit 35 constituting the priority control unit 3.

In the priority management table of the priority management table unit 36, for example, as shown in FIG. 7, items such as a transmission source identifier and priority are associated and registered. If the transmission source identifier of the determination result S1 newly input from the priority determination unit 4 has been registered, the contents of the associated item are updated. When deletion is instructed by the new determination result S1 that has been input, the specified transmission source identifier is deleted from the priority management table and excluded from the target of priority control.
The sorting unit 31 stores the stored data 302 to 304 in the queue storage units 32 to 34 so that the mobile body information Rx1 input from the inter-vehicle communication unit 2 can be sorted by priority. Get the source identifier and priority obtained from part 36.

Next, the sorting unit 31 sorts the input mobile unit information Rx1 and uses the stored data 302 in the first queue storage unit and the second queue storage unit as data based on the transmission source identifier and priority. A processing procedure for executing processing stored in 303 and the third queue storage unit 304 will be described with reference to FIG.
In this process, first, in step S3101, information that makes the transmission source the same as the mobile information Rx1 input for all queues is obtained as a first queue storage unit 32, a second queue storage unit 33, And whether it is stored in the third queue storage unit 34. If it is stored, the information already stored in step S3102 is deleted, and the process proceeds to step S3103. If it is not stored, do nothing and go to step S3103.
Next, in step S3103, the selection unit 31 retrieves the transmission source identifier of the mobile unit information Rx1 from the priority management table unit 36 to obtain the priority, and in step S3104 determines the transmission source priority. As a result of the determination, if the transmission source identifier is already registered in the priority management table in the priority management table unit 36 and the priority is “high”, the process proceeds to step S3106, and the first queue storage unit Store in 32. If the transmission source identifier has already been registered in the priority management table and the priority is “medium”, the process proceeds to step S3107 and is stored in the second queue storage unit 33. If the transmission source identifier is not registered in the priority management table, the process proceeds to step S3108, and the mobile object information Rx1 is stored in the third queue storage unit 34.
According to the above processing, the selection unit 31 can select the input mobile object information Rx1 by priority.

The output order control unit 35 gives priority to the mobile body information (stored data 302 to 304) stored in the first queue storage unit 32, the second queue storage unit 33, and the third queue storage unit 34. Control to output in the order set based on the degree. The processing procedure of the output order control unit 35 will be described with reference to FIG.
In this process, first, in step 3501, it is checked whether or not the first queue storage unit 32 is empty. If the stored data 302 is stored (not empty), in step S3502, The storage data 302 of the first queue storage unit 32 is output to the mobile unit observation unit 5 and the priority determination unit 4 as mobile unit information Rx2 and mobile unit information Rx3 one by one. If there is no data stored in the first queue storage unit 32 (empty state), the process proceeds to step S3503.
Next, in step S3503, it is checked whether or not the second queue storage unit 33 is empty. If there is stored storage data 303, the storage of the second queue storage unit 33 is performed in step S3504. The data 303 is output to the mobile observation unit 5 and the priority determination unit 4 as mobile information Rx2 and mobile information Rx3 one by one. On the other hand, if there is no data stored in the second queue storage unit 33, the process proceeds to step S3505.
Further, in step S3505, it is checked whether or not the third queue storage unit 34 is empty. If there is stored storage data 304, the storage in the third queue storage unit 34 is performed in step S3506. The data 304 is output to the moving body observation unit 5 and the priority determination unit 4 as moving body information Rx2 and moving body information Rx3. Further, when there is no data stored in the third queue storage unit 34, the output order control unit 35 terminates this process and starts the process from step S3501 again.

  In FIG. 10, storage data 302 (data A1, A2, A3, A4) is stored in the first queue storage unit 32 one by one in order for each individual mobile unit, and stored in the second queue. Stored data 303 (data B1, B2, B3, B4) is stored in the unit 33 in order for each individual mobile unit, and stored in the third queue storage unit 34 is stored data 304 ( Data C1, C2, C3, C4) are stored one by one in order for each individual mobile unit. The output control unit 35 first controls the data stored in the first queue storage unit 32 one by one in the order of data A1, A2, A3, A4 according to the processing shown in the flowchart of FIG. After the data in the first queue storage unit 32 is output, the data stored in the second queue storage unit 33 is output in the order of data B1, B2, B3, B4. One by one is output from the priority control unit 3. After the data in the second queue storage unit 33 is lost, the data stored in the third queue storage unit 34 is prioritized one by one in the order of data C1, C2, C3, and C4. Output from control unit 3.

  The processing is performed as described above, and the stored data in the queue storage unit is output as the mobile object information Rx2 and the mobile object information Rx3. According to this procedure, for example, as shown in FIG. 10, the data stored in the first queue storage unit 32 having the highest priority is first output and stored in the first queue storage unit 32. When the data becomes empty and becomes empty, the data stored in the second queue storage unit 33 having the next highest priority is output. Then, when the second queue storage unit 33 becomes empty, the stored data in the third queue storage unit 34 can be output.

In the processing procedure shown in the flowchart of FIG. 9, when one piece of moving body information data is output from the priority control unit 3, the process starts again from step S3501, so that the first wait with the highest priority is performed. When data is newly input and stored in the queue storage unit 32, only the data 302 stored in the first queue storage unit 32 is always output from the priority control unit 3.
Similarly, when there is no data in the first queue storage section 32, if new data is continuously stored in the second queue storage section 33, the third queue storage section 34 is stored. The data 304 in is not output.
If such a state continues for a long time, the driver cannot grasp the entire information, which may lead to an accident. Therefore, for example, if the data 302 continues to be output in the first queue storage unit 32 for a predetermined time, an alarm sound such as an alarm or a warning may be output from the moving body observation unit 5. In such a situation, the driver checks the safety and stops the host vehicle, so that the processing procedure shown in the flowchart of FIG. 9 can be prevented from being executed, and the situation around the host vehicle moves. It may be output from the body observation unit 5 so that all the situations can be grasped. Further, the processing of FIG. 9 may be operable so as to be stopped temporarily or for a predetermined time.

According to the embodiments of FIG. 3 and FIG. 7 to FIG. 10, based on the transmission source identifier and priority registered in the priority management table, the input mobile body information is sorted by priority and queued. Since the data can be stored and output in order from the stored data of the queue with the higher priority, priority control of the mobile object information becomes possible.
According to the above-described embodiment, when mobile body information having the same transmission source is already stored in the queue storage unit, the mobile body information in the queue storage unit is deleted and stored. There is an advantage that the person can always recognize the existence and state of the moving object based on the latest information.
Further, according to the embodiments of FIG. 3 and FIGS. 7 to 10, since the priority can be acquired by the transmission source identifier, the priority control unit can determine the priority without analyzing the input mobile object information. Therefore, it is possible to reduce the processing load and control with less delay.
Further, according to the embodiments of FIG. 3 and FIGS. 7 to 10, when data is stored in a queue storage unit with a high priority, output from a queue with a lower priority is suppressed. High priority data can be output.
Thus, in the present invention, even when the vehicle density in the communication area increases and traffic increases, priority control can be provided to preferentially output the mobile body information transmitted from the mobile body captured in the attention area. There is an advantage that it is possible to avoid a delay in observation of a moving object that may cause a failure such as a collision. In addition, since the determined priority is given to the source identifier of the mobile information, the priority control means can determine the priority without analyzing the mobile information, thereby reducing the processing load and reducing the delay. There is also an advantage that you can.

Another embodiment of the priority control unit 3 in the mobile information providing apparatus of the present invention will be described with reference to FIGS. FIG. 11 is a flowchart showing another embodiment of the processing procedure of the output order control unit 35 constituting the priority control unit 3 of FIG. Others are the same as the previous embodiment. FIG. 12 is a diagram for explaining an example of an operation based on an embodiment of the processing procedure of the output order control unit 35 of FIG.
In FIG. 11, the output order control unit 35 first checks in step S3511 whether or not the first queue storage unit 32 is empty, and if it is not empty (stored data 302 exists), the step In S3512, n pieces (n is a natural number) of stored data are output as moving body information Rx2 and moving body information Rx3 to the moving body observation unit 5 and the priority determination unit 4, and the process proceeds to Step S3513. If it is empty (when there is no stored data), the process directly proceeds to step S3513.
In step S3513, it is checked whether or not the second queue storage unit 33 is empty. If it is not empty (there is storage data 303), m (m is a natural number, n> m) in step S3514. Are stored as mobile body information Rx2 and mobile body information Rx3 to mobile body observation unit 5 and priority determination unit 4, and the process proceeds to step S3515. If it is empty (when there is no stored data), the process proceeds to step S3515.
Similarly, in step S3515, it is checked whether or not the third queue storage unit 35 is empty. If it is not empty (stored data 304 is present), k pieces (k is a natural number, m> in step S3515). The stored data of k) is output to the mobile observation unit 5 and the priority determination unit 4 as the mobile unit information Rx2 and the mobile unit information Rx3, and the process ends. If there is no space (when there is no stored data), the process is terminated.

According to the procedure of FIG. 10, for example, when the ratio of the number of stored data output is n: m: k = 3: 2: 1, the first queue having the highest priority as shown in FIG. After three stored data 302 in the storage unit 32 are output, two stored data 303 in the second queue storage unit 33 are output, and then one stored data 304 in the third queue storage unit 34 is output. To work.
Therefore, the stored data of the queue with low priority can be output at a certain rate.

Another embodiment of the priority control unit 3 in the mobile information providing apparatus of the present invention will be described with reference to FIG. FIG. 4 is a diagram showing another embodiment of the priority control unit 3 in the mobile information providing apparatus 100 of FIG. 3 'is a priority control unit, and 35-1 and 35-2 are output order control units. Others are the same as the embodiment of FIG. In FIG. 4, two types of output order are used properly.
In FIG. 4, the priority control unit 3 ′ has a dedicated output order control unit 35-1 for controlling the output order of the mobile body information Rx 2 output to the mobile body observation unit 5 and a mobile body output to the priority determination unit 4. And a dedicated output order control unit 35-2 for controlling the output order of information Rx3.
According to the embodiment of FIG. 4, since the mobile object information Rx3 to be output to the priority determination unit 4 and the mobile object information Rx2 to be output to the mobile object observation unit 5 can be controlled independently, the priority order is determined. For the mobile body information Rx3 output to the section 4, for example, the storage data of the third queue storage section 34 with the priority not set is output preferentially to detect the mobile body that enters the attention area. Control that gives priority is also possible.
In the embodiment of FIG. 4, there are two output control units, but three or more may be used.

  Furthermore, the Example of the priority determination part 4 in the mobile body information provision apparatus of this invention is demonstrated with FIG.5, FIG.13, FIG.15 and FIGS. FIG. 5 is a diagram showing an embodiment of the priority determination unit 4 in the mobile information providing apparatus 100 of FIG. 41 is a judgment value generator, and 42 is a priority calculator. FIG. 13 is a flowchart illustrating an example of a processing procedure of the determination value generation unit 41 constituting the priority determination unit 4. FIG. 15 is a flowchart showing an embodiment of a processing procedure related to priority setting of the priority calculating unit 42 constituting the priority determining unit 4. FIG. 17 is a flowchart showing an embodiment of a processing procedure related to priority cancellation by the priority calculation unit 42 constituting the priority determination unit 4. FIG. 18 is a diagram for explaining an embodiment of the attention area arrangement in the priority determination unit 4. FIG. 19 is a diagram for explaining another example of attention area arrangement in the priority determination unit 4. FIG. 20 is a diagram for explaining still another embodiment of the attention area arrangement in the priority determination unit 4. FIG. 21 is a diagram for explaining still another embodiment of the attention area arrangement in the priority determination unit 4.

In FIG. 5, the determination value generation unit 41 arranges the attention area based on the physical distance. For this reason, at least the absolute information of the region of interest based on the current location and traveling direction of the host vehicle and the definition information composed of the relative arrangement information and priority with respect to the moving object in the region with the host vehicle as the origin. A determination value that can calculate the correct position and size is generated.
The attention area defined by the definition information is, for example, a moving body that is defined by the position of the attention area based on the time from the driver's event recognition to the reaction in the host vehicle, the vehicle traveling speed, the deceleration, etc. The size of the region of interest is defined from the information transmission cycle and the traveling speed of the moving body. In addition, for example, the shape of the attention area is defined as a circular area having center coordinates and a radius as arrangement information, or a rectangular area is defined with two coordinates on a diagonal line as arrangement information.

An example of a processing procedure for generating determination values for four attention areas in the determination value generation unit 41 will be described with reference to FIG. The four attention areas are, for example, attention area Rc1 (priority “high”), attention area Rc2 (priority “high”), attention area Rc3 (priority “medium”) in FIG. Region Rc4 (low priority).
In this process, first, in step S4101, the current position p0 of the host vehicle is obtained from the information obtained from the position detector 7 (see FIG. 1). In step S4101, the current traveling direction d0 of the host vehicle is acquired from the information obtained from the direction detection unit 8 (see FIG. 1).
Next, in step S4103, in order to obtain the determination value J1, the absolute coordinates of the region Rc1 are calculated from the arrangement information of the definition information of the region Rc1, the current position p0 of the host vehicle and the traveling direction d0. Similarly, in step S4104, in order to obtain the determination value J2 of the region Rc2, the absolute coordinates of the region Rc2 are calculated from the arrangement information of the definition information of the region Rc2, the position p0 of the host vehicle, and the traveling direction d0. In step S4105, in order to obtain the determination value J3 of the region R3, the absolute coordinates of the region Rc3 are calculated from the arrangement information of the definition information of the region Rc3, the position p0 of the host vehicle, and the traveling direction d0. In step S4106, in order to obtain the determination value J4 of the region Rc4, the absolute coordinates of the region Rc4 are calculated from the arrangement information of the definition information of the region Rc4, the position p0 of the host vehicle, and the traveling direction d0.
In the embodiment of FIG. 13, steps S4101 to S4106 are described to be processed in order. However, in actuality, there is no order in processing, and the processing may be performed simultaneously or from possible processing. However, it is preferable to set the priority “high” first.

  For example, the priority calculation unit 42 sets the priority for the mobile object information Rx3 using the determination value J1 of the region Rc1, the determination value J2 of the region Rc2, and the determination value J3 of the region Rc3, and sets the priority of the region Rc4. The determination value J4 is used to determine whether the priority set in the mobile object information Rx3 is deleted, and the result is output to the priority control means 3 as the determination result S1.

In the priority setting, the priority determination unit 4 generates a determination result S1 composed of at least the transmission source identifier of the mobile body information Rx3 and the priority, so that the determination value J1 generated by the determination value generation unit 41, Judgment value J2 and judgment value J3 are compared with the position indicated by mobile object information Rx3.
In the process of setting the priority, for example, the procedure for determining the region Rc1 and the region Rc2 as the priority “high” and determining the region Rc3 as the priority “medium” will be described with reference to the flowchart of FIG. To do.

In the processing of FIG. 17, in step S4201, in the moving body information Rx3 input from the priority control unit 3, information with a priority not set or a priority “medium” is set as a processing target. The position information (position of other vehicle) p1 of the moving body is calculated. Next, in step S4202, intra-region determination is performed on region R1 using the acquired position information p1 and determination value J1.
In step S4203, if the position information p1 indicates the area Rc1, the priority is set to “high” in step S4204, and the determination result is associated with the processing source identifier in step S4205. Outputs S1. When the position information p1 indicates that the region Rc1 is out of the region, the region Rc2 is determined in the region using the determination value J2 in step S4206.
In step S4207, if the position indicates the region, the process proceeds to step S4204, and the above-described steps S4204 and S4205 are executed to output the determination result S1 with the priority set to “high”.

If the position information p1 indicates that the region Rc2 is out of the region, the process proceeds to step S4208, and the determination value J3 is used to perform the in-region determination for the region Rc3. In S4210, the priority is set to “medium”, and in step S4211, the determination result S1 is output in association with the processing source identifier.
Note that if the position information p1 indicates outside the region Rc3 in step S4209, the priority is not set and the determination result S1 is not output (end of processing).
As described above, it is possible to give a new priority to a moving body detected in the attention area or to promote the priority. In addition, since the determination of the attention area within the region is performed in order from the highest priority, even if attention areas with different priorities are arranged in an overlapping manner, the priority can be determined not to be low.

  If the direction information indicating the traveling direction of the moving body is stored in the moving body information Rx3, it is possible to compare the azimuth information with the traveling direction of the host vehicle and discriminate the moving body in the traveling direction. . Furthermore, when the attribute information of a moving object such as a pedestrian, a motorcycle, or an automobile is stored in the moving object information Rx3, it is possible to detect a moving object having a specific attribute.

Next, in the priority deletion determination, the priority determination unit 4 generates a determination result S1 composed of at least the transmission source identifier of the mobile body information Rx3 and the deletion instruction, so that the determination value J4 and the mobile body information Rx3 are Compare the indicated positions. The procedure for deleting the priority will be described with reference to the flowchart of FIG.
In the processing of FIG. 16, in step S4212, information with priority “high” or priority “medium” set in the moving body information Rx3 input from the priority control unit 3 is set as the processing target, and the processing target movement is performed. The position information p1 is calculated from the body. Next, in step S4213, intra-region determination is performed for region Rc4 using the acquired position information p1 and determination value J4.
In step S4214, if the position information p1 indicates outside the area Rc4 as a result of the determination, the deletion instruction is set in step S4215, and the determination result S1 is output in association with the processing source identifier in step S4216. To do.
If the position information p1 indicates the inside of the area Rc4, step S4214 does not set an erasure instruction and does not output the determination result S1 (end of processing).

As described above, according to the embodiment shown in FIG. 13, the region Rc4 can be set to a region where it is possible to determine that there is no possibility of causing a failure on the host vehicle. When it is located outside the area, it can be excluded from the target to be observed with priority.
Note that the attention area is defined by considering the expected time to receive the next moving body information Rx1 from the moving body, the traveling speed and moving direction of the vehicle, the moving body, and the presence of the vehicle at the expected time. Can be predicted and defined. The attention area defined by predicting the occurrence of this dangerous event is set with a high priority. Conversely, it is possible to predict and define a region where there is no danger if the vehicle at the estimated time exists. The attention area defined by predicting that this dangerous event does not occur is set to the priority “low”. By setting the attention area including such predictions, the moving object information is managed and output to the moving object observation unit 5 more preferentially and quickly, so that the driver can avoid dangerous events. can do.
According to the above-described fifth embodiment, it is possible to capture a moving object in a region of interest arranged based on a physical distance and set a priority to a transmission source identifier that can identify the moving object.

Further, according to the fifth embodiment, the attention area defined based on the physical distance can be appropriately arranged according to the traveling position of the host vehicle. Hereinafter, specific examples will be further described with reference to FIGS.
The definition of the attention area based on this physical distance is based on the driving lane Rd2 of the host vehicle MC1 as the attention area with the priority of “high” in each of the immediate forward and rearward areas, and the further forward in the traveling direction as the priority. This is set as a “medium” attention area.

  In FIG. 18, the host vehicle MC1 and the surrounding vehicles MC2, MC3, and MC4 are traveling on the lane Rd2 in the direction of the arrow F2. The surrounding vehicles MC5, MC6, and MC7 are traveling in the direction of arrow F1 on the opposite lane Rd1. At this time, in the forward direction of the host vehicle MC1, an attention area with a high priority within a circle with a radius r1, centered on a position P1 (coordinates (X1, Y1)) at a predetermined distance from the position of the host vehicle Rc1 is the center of the rear position P2 (coordinates (X2, Y2)) at a predetermined distance from the position of the host vehicle MC1, and the inside of the circle with the radius r2 is the attention area Rc2 with high priority. In addition, centering on the position P3 (coordinates (X3, Y3)) ahead of the attention area Rc1, the inside of the circle with the radius r3 is the attention area Rc3 with the medium priority.

Note that the attention area Rc2 in the rear is set to a radius that includes the width of the lane Rd2 (for two lanes) and the width of the sidewalk that travels the radius of the area Rc2, and the center point is located at the center of the two-lane width. It is said. In the case of the attention area Rc1 with high priority ahead, it is possible to enter from the opposite lane, so the setting position of the setting center point is set closer to the median strip and the setting radius is set. It is getting bigger. Furthermore, in the case of the attention area Rc3 of the priority “middle” ahead, the change of the situation may change greatly, so that the radius is wider and the center position is also set to the center separation band position. Also, the physical distance as a reference is set such that the front distance is small and the rear distance is large.
Preferably, since the number of lanes and the width of the road on which the vehicle travels differ depending on the road on which the vehicle travels, the radius and center position of the region of interest to be defined should be corrected with information acquired from the map information. The correction value may be manually input or switched by the driver.
In the example of FIG. 18, the vehicles MC4 and MC5 are detected simultaneously in the regions Rc1 and Rc2 and the two regions of interest. However, the priority level is not set low because the high priority area is detected first and priorities are set in order for the moving bodies (vehicles MC4 and MC5).

FIG. 20 is a diagram for explaining another example of the definition of the attention area when the moving body is on the same road as in FIG. At this time, a position P211 (coordinates (X211, Y211)) and a position P212 (coordinates (X212, Y212)) are diagonally positioned in front of the traveling direction of the host vehicle MC1, and are located at a predetermined distance from the position of the host vehicle. The region of interest is the attention region Rc21 with a priority of “high.” In addition, the position P221 (coordinates (X221, Y221) and position P222 (coordinates (X222, Y222)) are diagonally located from the position of the host vehicle MC1. A rectangular area behind the distance is set as an attention area Rc22 having a high priority, and a position P231 (coordinates (X231, Y231) and a position P232 (coordinates (X232, Y232)) further ahead of the attention area Rc21. A rectangular area with a diagonal line position is the attention area Rc23 with medium priority.
The definition of the attention area based on this physical distance is based on the driving lane Rd2 of the host vehicle MC1 as the attention area with the priority of “high” in each of the immediate forward and rearward areas, and the further forward in the traveling direction as the priority. This is set as a “medium” attention area.

Note that the rear attention area is set to include the width of the lane Rd2 (two lanes) that travels the width of the rectangular area. In addition, in the attention area of high priority ahead, it is possible to enter from the opposite lane, so the width of the lane Rd2 that travels (2 lanes) and the width of the opposite lane, and the sidewalk Including the width of. Further, in the case of the attention area with the priority “middle” at the front, since the change in the situation may change greatly, the width is made wider.
Preferably, the physical distance serving as a reference is set such that the front distance is small and the rear distance is large. Further, the length of the rectangular shape in the traveling direction is preferably set corresponding to the relative speed and acceleration with the moving body by increasing the front and shortening the rear.
In addition, preferably, since the number of lanes and the width of the traveling road differ depending on the traveling road, it is preferable to correct the width and center position of the region of interest to be defined by information acquired from the map information. The correction value may be manually input or switched by the driver.
In the embodiment of FIG. 20, there is no region that overlaps the attention regions Rc21 and Rc23, but they may be adjacent or may overlap. In this case, the priority level is not set low because an area having a high priority level is detected first and priorities are set in order for the moving object.

  As shown in FIG. 18 or 20, the area Rc1 or Rc21 (priority “high”), the area Rc3 or Rc23 (priority “medium”) for detecting pedestrians and oncoming vehicles ahead of the host vehicle, and the rear The region Rc2 or Rc22 (priority “high”) can be defined by circular or square regions to detect vehicles approaching from

In addition, as a region of interest for performing priority deletion determination, for example, as shown in FIGS. 19 and 21, a region such as a circle or a rectangle centering on the own vehicle and surrounding the periphery can be defined.
19 and FIG. 21 are the same road conditions as FIG. 18 and FIG.
In FIG. 19, a circle of radius r41 centered on the physical position P40 (coordinates (X40, Y40)) of the host vehicle MC1 is set as an attention area Rc41 with a priority “high”, and the center is the same and the radius is the attention area. A circle with a radius r42 larger than the radius r41 of Rc41 is set as the attention area Rc42 with a medium priority.
Next, in FIG. 21, in order to surround the host vehicle MC1, a square having a position P311 (coordinates (X311, Y311) and a position P312 (coordinates (X312, Y312)) at a predetermined distance from the position of the host vehicle. The area of is marked with a high priority area Rc31, and has the position P321 (coordinates (X321, Y321) and position P322 (coordinates (X322, Y322)) on the diagonal position that surrounds the host vehicle MC1 larger. Then, a rectangular area within a predetermined distance from the position of the host vehicle is set as an attention area Rc32 with a priority “medium”.

In the embodiment shown in FIGS. 18 and 19, the shape of the attention area may be an ellipse or the like. For example, in the case of an ellipse, the major axis direction may be the traveling direction of the vehicle, and the focal point may be in front of and behind the host vehicle. Alternatively, the setting may be centered on a position where the two regions are different. For example, the center of the region Rc41 may be set to the physical position P40 of the host vehicle MC1, and the center of the region Rc42 may be set to a physical position separated by a predetermined distance in front of the host vehicle MC1. Further, this distance may be changed according to the traveling speed of the host vehicle MC1. The region Rc41 may be a perfect circle and the region Rc42 may be an ellipse.
20 and 21, the width of the attention area in the lane width direction may be the same. Further, for example, the long axis direction in the case of a square may be set as the vehicle traveling direction, the traveling direction (front) of the host vehicle may be set long, and the rear may be set short.

Further, according to the fifth embodiment, since the traveling direction of the moving body and the traveling direction of the own vehicle can be compared, the moving object having a low possibility of causing the obstacle to the own vehicle in the attention area is discriminated and observed. Therefore, it is possible to reduce the processing load of the moving object observation unit 5 and the like.
Furthermore, according to the fifth embodiment, since the attributes of a moving object can be inspected, for example, only a moving object having a pedestrian attribute or a moving object having a motorcycle attribute is set as an observation target. It becomes possible to give.
In the fifth embodiment, the case has been described where three attention areas for setting priority and one attention area for determining priority deletion are set. However, the number of attention areas to be set is described. It is clear that there are no restrictions on.
Further, in the above-described fifth embodiment, an example in which the priority calculation unit 42 performs the priority deletion determination has been described. However, in the moving body observation unit 5, for example, there is a possibility that the moving body has an obstacle to the own vehicle. For example, the determination result can be used.
Further, in the above-described fifth embodiment, the arrangement of the area centered on the own vehicle has been described as a setting for performing priority deletion determination. However, it is also possible to use the arrangement of the area centered on the host vehicle as the attention area for setting the priority. In this case, for example, the region Rc41 or Rc31 shown in FIG. 19 or FIG. 21 is set as the region of priority “high”, the region illustrated by the broken line outside the region is set as the region of priority “medium”, Arrangements that detect pedestrians, oncoming vehicles, and vehicles approaching from behind are also possible. In addition, the area where the priority deletion determination is performed may be outside the area illustrated by the broken line.

  Another embodiment of the priority determination unit 4 in the mobile information providing apparatus will be described with reference to FIGS. FIG. 14 is a flowchart illustrating another example of the processing procedure of the determination value generation unit 41 constituting the priority determination unit 4. FIG. 22 is a diagram for explaining another example of attention area arrangement in the priority determination unit 4. FIG. 23 is a diagram showing still another embodiment of the attention area arrangement in the priority determination unit 4. The process of the flowchart of FIG. 14 is executed by, for example, the priority determination unit 4 shown in FIG.

The determination value generation unit 41 arranges the attention area based on the geographical position. For this reason, the map information search range is determined from at least the map information in which the location information of the region of interest determined by the road shape and the event to be detected and the definition information composed of the priority are registered, and the current position and traveling direction of the host vehicle. Find the definition information from the search range and generate a decision value.
The region of interest defined by this definition information is defined based on the road shape and the detected event, and the size is defined based on the transmission cycle of the mobile body information transmitted by the mobile body and the traveling speed of the mobile body. In addition, the shape of the attention area is defined, for example, as a circular area using center coordinates and a radius as arrangement information, a square area or the like using two coordinates on a diagonal line as arrangement information, and a map From the information, the shape of the road and the height of the road may be taken into consideration. Note that the search range of the map information is determined based on the time from the driver's event recognition to the reaction in the own vehicle, the traveling speed and deceleration of the vehicle, and the like.

An example of a processing procedure for generating determination values for four attention areas in the determination value generation unit 41 will be described with reference to FIG. The four attention areas are, for example, attention area Rc4 (priority “high”), attention area Rc5 (priority “high”), attention area Rc6 (priority “medium”) in FIG. Region Rc7 (low priority).
In this process, first, as in FIG. 13, the current position p0 and the traveling direction d0 of the host vehicle are acquired from the information obtained from the position detection unit 7 and the direction detection unit 8 (steps S4101 and S4102).
Next, in step S4111, a map information search range is determined from the current position p0 of the host vehicle and the traveling direction d0. In step S4112, attention area definition information is acquired from the map information acquisition unit 12 based on the map information in the determined search range. The map information stored in the map information acquisition unit 12 includes, for example, a region of interest selected and arranged based on the road shape such as a crossroad or a T-junction or an accident type such as a collision at the time of a right turn or a left turn. The absolute position and size are registered in advance. Therefore, the determination value generation unit 41 can read the definition information from the map information in the set search range.
Next, in step S4113, the determination value J1 of the region R4 is set from the read definition information. Similarly, the judgment value J2 of the region R5 is set in step S4114, the judgment value J3 of the region R6 is set in step S4115, and the judgment value J4 of the region R7 is set in step S4116.
In the embodiment of FIG. 14, steps S4111 to S4116 are described to be processed in order, but in actuality, the processing is not in order, and may be executed simultaneously or from possible processing. However, it is preferable to set the priority “high” first.

According to the sixth embodiment described above, the attention area defined based on the geographical position can be appropriately set in correspondence with the position of the host vehicle. That is, according to the sixth embodiment, it is possible to capture a mobile object based on a region of interest arranged based on a geographical position and set a priority to a transmission source identifier that can identify the mobile object.
In addition, by performing the determination of the attention area within the region in order from the highest priority, it is possible to prevent the priority from being determined to be low even if attention areas having different priorities are arranged in an overlapping manner. Specific examples will be further described with reference to FIGS.

In FIG. 22 and the host vehicle MC21 and the surrounding vehicles MC22 and MC24 are traveling on the lane Rd2 in the direction of the arrow F2. The surrounding vehicles MC25, MC26, MC27, and MC28 are traveling in the direction of arrow F1 on the opposite lane Rd1. Lane Rd2 also has another road consisting of lanes Rd3 and Rd4 from the side, forming a T-junction. This T-shaped intersection is ahead of the host vehicle MC21, and the vehicle MC23 currently traveling on the lane Rd4 is about to enter the lane Rd2. In addition, there is a pedestrian MH21 near the intersection, which may cross the lane Rd2 or jump out on the lane.
At this time, the center of the intersection P4 (X4, Y4) is the center of the circle with radius r4 as the attention area Rc4 of high priority, and the center of the position P5 (X5, Y5) is within the circle of radius r5 The attention area Rc5 with the priority “high” is arranged so as to occupy the width of one lane of the lane Rd3 sidewalk and the lane Rd2. Next, an attention area Rc6 with a medium priority is placed in order to monitor the vehicle MC25 that is about to turn right in the opposite lane Rd1 within the circle of radius r6 centered on position P6 (X6, Y6). .
Also, in FIG. 23, a rectangular attention area is set instead of a circle in the traffic situation similar to FIG. Instead of the attention area Rc4, for example, in order to monitor a vehicle entering the lane Rd2 from the lane Rd4, priority is given to the inside of the rectangle having the position P241 (X241, Y241) and the position P242 (X242, Y242) in the diagonal position. Set it to the attention area Rc24 of degree “High”. Also, for example, instead of the attention area Rc5, in order to monitor pedestrians walking on the sidewalk, the priority in the rectangle with the position P251 (X251, Y251) and the position P252 (X252, Y252) in the diagonal position is high. To the attention area Rc24. Also, for example, instead of the attention area Rc6, in order to monitor a vehicle that is about to turn right from the lane Rd1 to the lane Rd3, the inside of the rectangle having the diagonal positions P261 (X261, Y261) and P246 (X246, Y262) Set to attention area Rc26 with medium priority.

As can be seen from the examples of the T-shaped roads in FIGS. 22 and 23 described above, according to the embodiment of FIG. 14, the attention area defined from the road shape and the detected event is appropriately set according to the traveling position of the host vehicle. It becomes possible to arrange. That is, in the intersection, the area Rc4 or Rc24 (high priority) for detecting an approaching vehicle, the area Rc5 or Rc25 (high priority) for detecting a pedestrian, the area Rc6 or Rc26 (medium priority) for detecting a right turn vehicle Etc. can be defined by areas such as circles and rectangles. In addition, the attention area for performing the priority deletion determination can be defined by an area such as a circle or a rectangle as in the previous embodiment.
In the present embodiment, as in the fifth embodiment described above, a case has been described in which three attention areas for setting priority and one attention area for performing priority deletion determination are set. However, it is clear that there is no restriction on the number of attention areas to be set.

The determination value generation unit 41 combines the attention area based on the physical distance and the attention area based on the geographical position. For example, when the vehicle is traveling on a straight road without a crossroad or a T-shaped road, It is also possible to arrange a region of interest based on the target distance and superimpose the regions of interest based on the geographical position when a crossroad or T-junction is detected. In addition, for example, the determination value generation unit 41 sets a range area in the case where the surroundings of the host vehicle are monitored in the attention area based on the geographical position in advance in the own map information, and the position of the host vehicle is the range area. An attention area may be generated based on a geographical position by detecting that it has entered.
In this case as well, as in the previous embodiment, by determining the priority in order from the area where the priority is set higher, it is determined that the priority is low even if attention areas with different priorities are arranged in an overlapping manner. You can avoid it.

  Still another embodiment of the priority determination unit 4 in the mobile information providing apparatus will be described with reference to FIGS. FIG. 6 is a diagram showing another embodiment of the priority determination unit 4 in the mobile body information providing apparatus 100. 43 is a correction value calculation unit. FIG. 6 is obtained by adding a correction value calculation unit 43 to the configuration of the priority determination unit 4 in FIG. FIG. 17 is a flowchart showing an embodiment of the processing procedure of the correction value calculation unit 43 constituting the priority determination unit 4.

In FIG. 6, the correction value calculation unit 43, for example, based on information obtained from the speed detection unit 9 and the road traffic information acquisition unit 11 in FIG. Make corrections.
In this process, in step S4301, for example, as shown in FIG. 17, the traveling speed v0 of the host vehicle is obtained from the information obtained from the speed detector 9.
In Step S4302, the road traffic information acquisition unit 11 that acquires real-time road traffic information using an information service such as VICS (Road Traffic Information Communication System) obtains the environment such as the road surface condition and the weather in the destination local area. Get information E.
Next, in step S4303, the attention area is corrected based on the acquired environmental information E and the state of the host vehicle.
When based on the state of the host vehicle, for example, a change in travel speed v0 affects the braking distance and relative speed, so if the travel speed v0 increases, for example, move the attention area far away. A correction value for arranging and enlarging the area is generated.
In addition, when the environmental information E senses changes in the environment, such as road surface freezing or fog, for example, a correction value is generated for disposing the attention area far away in consideration of the braking distance. Then, the size and position of the attention area are corrected by the correction value.
In addition, what is necessary is just to correct | amend the position and magnitude | size of the definition information of each area | region for the correction | amendment of the attention area arrange | positioned based on a physical distance. The attention area arranged based on the geographical position may be corrected by correcting the position and size of the search range of the map information.

According to the sixth embodiment, the position and size of the attention area are corrected by the traveling speed of the host vehicle. This makes it possible to correct the timing at which the driver recognizes the presence and state of the moving body in accordance with the change in the distance necessary for deceleration.
According to this embodiment, the position and size of the attention area are corrected by the environment information provided by the road traffic information. This makes it possible to correct the timing at which the driver recognizes the presence and state of the moving body in response to changes in environmental conditions such as fog generation and road surface freezing.
Further, according to the sixth embodiment, it is only necessary to use map information and a position information detection system such as GPS, and to exchange information with a moving body around the host vehicle through inter-vehicle communication. Accordingly, since a facility such as a base station and a relay device is not required, the traffic information providing system can be operated at low cost.

The present invention has been described with reference to Examples 1 to 6.
According to the embodiment of the present invention, the attention area determined by the priority determination unit for each priority is set based on the position and direction of the host vehicle. The position of the area can be set. Thereby, in this invention, there exists an advantage that an attention area | region can be arrange | positioned in the state which maintained the positional relationship with the own vehicle in the arbitrary positions set beforehand.

  Further, according to the embodiment of the present invention, the attention area determined for each priority by the priority determination means is set based on the position and direction of the host vehicle and the map information. For example, the position of the intersection in the traveling direction It becomes possible to set the position of the attention area on the basis of. Thus, in the present invention, it is possible to adaptively arrange a region of interest according to the road shape.For example, in a crossing road, when a right turn or a left turn, an obstacle with a moving body such as a vehicle or a pedestrian occurs. There is an advantage that the arrangement of the prepared area can be handled.

  Further, according to the embodiment of the present invention, the attention area determined by the priority determination unit for each priority corrects the position and size of the attention area based on the speed of the host vehicle. Thereby, in this invention, there exists an advantage that the driver | operator can correct | amend the timing which recognizes presence or a state of a moving body according to the change of the distance required for deceleration.

  Further, according to the embodiment of the present invention, the attention area determined by the priority determination unit for each priority corrects the position and size of the attention area by the environment information provided by the road traffic information. Thereby, in this invention, there exists an advantage of being able to correct | amend the timing which a driver | operator recognizes the presence and state of a moving body corresponding to the change of environmental conditions, such as generation | occurrence | production of fog and road surface freezing.

  Further, according to the above embodiment of the present invention, the priority determination means gives priority as an observation target when the traveling direction of the mobile body that is the transmission source of the mobile body information is in a direction approaching the host vehicle. As a result, in the present invention, it is possible to discriminate a moving body that is unlikely to cause an obstacle to the host vehicle within the attention area, and it is possible to reduce the object for observing the movement of the moving body, thereby reducing the processing load such as moving body observation. There is an advantage to say.

  According to the above embodiment of the present invention, the priority determination means selects the observation target according to the attribute indicated by the moving body information and gives the priority. Thereby, in this invention, there exists an advantage that priority can also be given only to the mobile body which has the attribute of a pedestrian, and the mobile body which has the attribute of a motorcycle, for example.

  Further, according to the above embodiment of the present invention, the priority control means deletes the mobile body information in the queue when mobile body information having the same transmission source is already stored in the queue. The moving body information is stored. Thereby, in this invention, there exists an advantage that a driver | operator can always recognize presence and a state of a moving body based on the newest information.

  Moreover, according to the said Example of this invention, it comprises with the navigation apparatus which comprises a priority determination means, a priority control means, and a vehicle-to-vehicle communication means at least. Thereby, priority control of moving body information can be performed by a single device, and there is an advantage that it can be applied to, for example, a portable navigation device.

  According to the above-described embodiment of the present invention, the navigation device includes at least a priority determination unit and a priority control unit, and the inter-vehicle communication device includes at least an inter-vehicle communication unit. Thus, in the present invention, priority control of mobile object information can be performed even when a plurality of inter-vehicle communication devices such as for front and rear use and a navigation device are connected via a network such as an in-vehicle LAN. There is an advantage that it can be provided. In addition, since the queue can be collected in the navigation device, there is an advantage that the memory mounted in the inter-vehicle communication device can be reduced and the device can be provided at a low cost.

  According to the above-described embodiment of the present invention, the navigation apparatus includes at least priority determination means, and the inter-vehicle communication apparatus includes at least priority control means and inter-vehicle communication means. As a result, in the present invention, even when a plurality of inter-vehicle communication devices such as front and rear vehicles and a navigation device are connected via a network such as an in-vehicle LAN, priority determination means for the navigation device Thus, there is an advantage that priority control can be provided by controlling the priority control means of each inter-vehicle communication device. In addition, since the inter-vehicle communication device includes a queue, it is possible to flow information from mobile information with high priority to the network, and there is an advantage that a high effect can be obtained particularly in a network with a narrow band.

  In the above-described embodiments, the vehicle traveling on the road has been described. However, for example, not only on the road, but also on a railroad track and other moving bodies, such as trains, equipped with the mobile body information providing device of the present invention, the driver is scattered in the railroad track for track maintenance work etc. Safe driving can be performed by checking the position of the security staff or by monitoring the position of the moving body near the station or near the railroad crossing. Further, for example, the mobile body is not limited to a vehicle, but may be a ship, a flying machine, or the like, for example, a mobile body information providing apparatus that is on a sea route, underwater, or an air route.

  1: Antenna, 1-1: Duplexer, 2: Radio unit, 2 ': Transmitter unit, 3: Priority control unit, 3': Receiver unit, 4: Priority judgment unit, 5: Mobile unit observation unit, 6: Mobile body information generation unit, 7: position detection unit, 8: bearing detection unit, 9: speed detection unit, 10: acceleration detection unit, 11: road traffic information acquisition unit, 12: map information acquisition unit, 13: in-vehicle LAN, 31: Selection unit, 32, 33, 34: Queue storage unit, 35, 35-1, 35-2: Output order control unit, 36: Priority management table unit, 41: Judgment value generation unit, 42: Priority level Calculation unit, 100: moving body information providing device, 101, 101a, 101b: inter-vehicle communication unit, 102: navigation unit, 200: moving body information providing device.

Claims (11)

In a navigation device comprising a moving body observation unit, acquiring movement state information of the moving body and displaying it on the moving body observation unit together with a display of a road map around the moving body ,
The mobile body observation unit further receives other mobile body state information of another mobile body acquired from the wireless communication device, and displays the position of the other mobile body around the mobile body from the received other mobile body state information Mobile object observation unit
A sensor for detecting the state of the moving body;
A mobile body information generator that periodically collects the state of the mobile body from the sensor and generates the mobile body information of the mobile body;
A priority determination unit that sets one or more attention areas for each priority within a communication area of the wireless communication device of the own mobile body, wherein the position indicated by the other mobile body state information is one of the attention areas A determination result in which the priority set in the attention area and the transmission source identifier that can identify the transmission source of the other mobile state information are generated, and the generated determination result is Priority control of the wireless communication device as priority management information for inputting the other mobile state information received by the wireless communication device to the mobile observation unit in a predetermined order according to the priority. navigation apparatus characterized by comprising a priority determination section for outputting the part.   The navigation device according to claim 1, wherein the attention area is set based on at least a position, a traveling direction, and map information of the mobile body. The navigation device according to claim 1 or 2,
The navigation device according to claim 1, wherein the attention area is set based on at least a position and a traveling direction of the mobile body.   4. The navigation device according to claim 1, wherein the priority determination unit is based on at least the position of the region of interest or the size or shape of the region based on at least the speed of the moving body. 5. A navigation device characterized by correcting the above.   4. The navigation device according to claim 1, wherein the priority determination unit corrects the position of the region of interest or the size or shape of the region based on at least road traffic information. A navigation device characterized by that. 6. The navigation device according to claim 1, wherein the priority determination unit is configured such that a position indicated by the other moving body state information is within any one of the regions of interest, and The traveling direction indicated by the other moving body state information is compared with the traveling direction of the own moving body , and the other moving body that is the transmission source of the other moving body state information takes the direction in which the other moving body approaches the own moving body . A navigation device characterized in that it is an object to be observed when there is. 6. The navigation device according to claim 1, wherein the priority determination unit is configured such that a position indicated by the other moving body state information is within any one of the regions of interest, and A navigation apparatus characterized in that the traveling direction indicated by the other moving body state information is compared with the traveling direction of the own moving body , and an observation target is selected according to the attribute of the other moving body information. Other moving body state information received from other moving bodies, the received other moving body state information is output to the navigation device, and the other movement around the own moving body is generated from the other moving body state information generated by the navigation device. When the position of the body is detected and the position indicated by the other moving body state information is in any one of the attention areas for each priority set in the communication area of the wireless communication apparatus of the own mobile body A receiving device that inputs, as priority management information, a determination result that associates a priority set in a region with a transmission source identifier that can identify the transmission source of the other mobile state information ,
A priority management table unit for registering the priority management information output from the navigation device as a priority management table;
The priority of the other mobile unit state information is determined with reference to the priority management table, and the other mobile unit state information acquired from the wireless communication device in a predetermined order according to the determined priority. receiver and outputting to the navigation device. The receiving device according to claim 8, further comprising:
The priority of the other mobile unit state information is determined by referring to the storage unit that stores the other mobile unit state information for each priority and the priority management table in the priority management table unit. According to the priority, the selection unit to be output to the storage unit corresponding to each priority, and the other mobile state information stored in the storage unit for each priority are determined in advance according to the priority. An output order control unit for outputting to the navigation device in a predetermined order. The receiving device according to claim 9, wherein the selection unit further includes:
When the storage unit is searched by the transmission source identifier of the other mobile unit state information and other mobile unit state information of the same transmission source identifier as the transmission source identifier is stored, the other mobile unit in the storage unit A receiver that stores the other mobile state information acquired from the wireless unit after deleting the state information. The receiving device according to claim 9 or 10, wherein the output order control unit further includes:
When there is no other mobile unit state information stored in the storage unit with the highest priority of the storage unit, the other mobile unit state information stored in the storage unit with the next highest priority is sent to the navigation device. A receiving device for outputting.

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