JP5649813B2 - Anti-collision device, anti-collision method, anti-collision program, and anti-collision system - Google Patents

Description

  The present invention relates to a collision prevention device, a collision prevention method, a collision prevention program, and a collision prevention system that prevent a vehicle from colliding with an intersection or the like.

  Conventionally, intelligent transport systems (ITS: Intelligent Transport Systems) have been widely used for the purpose of assisting safe driving of vehicles in road traffic and improving the efficiency of road traffic.

  In ITS, as one of the services that support safe driving of vehicles, a vehicle equipped with a wireless communication device can be used from a roadside communication station installed on the roadside or a vehicle equipped with a wireless communication device to find out the position of surrounding vehicles, road conditions, etc. A service for preventing a collision between vehicles by receiving the traffic information of the vehicle and giving a warning to the driver to avoid a traffic collision accident between the vehicles has been studied.

  In this service, an in-vehicle wireless device mounted on a vehicle periodically measures vehicle travel information such as the position, moving direction, or speed of the host vehicle, and periodically transmits a vehicle travel information packet. is there. By receiving the vehicle travel information packet, the surrounding vehicles determine the possibility of collision with surrounding vehicles other than the subject vehicle, and prevent a collision accident between the vehicles.

  However, when the vehicle wireless communication device cannot communicate directly with another vehicle wireless communication device, for example, when the vehicle is located at an intersection where the line-of-sight does not work, the vehicle In order to prevent a collision accident at the beginning of each other, it is necessary to install a roadside communication device at a position where vehicle travel information packets can be transmitted and received on all approach directions of the intersection and to notify a warning or the like.

  For example, in Patent Document 1, when a roadside communication device periodically sends out a packet toward an approach road in all directions of an intersection, an in-vehicle wireless device of a vehicle attempting to enter the intersection receives the packet. A packet including a code for identifying the host vehicle and the other vehicle is returned to the communication device.

  Then, the roadside communication device receives the packet returned from the vehicle, determines entry permission of the vehicle, and transmits the determination result to the in-vehicle wireless device of the vehicle. The in-vehicle wireless device of the vehicle receives the packet returned from the roadside communication device, notifies the driver of the determination result, and if it is determined that entry is impossible, a display that causes the driver to stop the vehicle, or By displaying a warning, a vehicle collision at an intersection is prevented.

JP-A-11-175896

  However, the technology described in Patent Document 1 communicates by forming a network autonomously without using a base station, unlike a network system in which a base station used in a mobile phone or the like is responsible for control. The inter-vehicle communication device of the vehicle exchanges the vehicle traveling information indicating the traveling state of the vehicle such as the position, speed, and moving direction of the own vehicle with the vehicle-mounted wireless communication devices of all other nearby vehicles together with the vehicle ID. As a result, packet collision may occur during communication and communication may fail.

  When performing wireless communication, communication is usually performed by sharing a wireless channel between a plurality of wireless communication devices, so that only one wireless communication device can transmit information within the transmission range, and other transmission ranges The wireless communication device inside can only receive. For this reason, when a plurality of wireless communication devices communicate simultaneously, a signal collision phenomenon called wireless collision occurs, and the above-described phenomenon occurs.

  By the way, in a wireless collision avoidance technique called CSMA / CA (Carrier-Sense Multiple Access with Collision Avoidance), a wireless communication device detects whether another wireless communication device is communicating before transmitting a packet. Stop sending once. Then, after waiting for a certain randomly determined time, the wireless communication apparatus retransmits the packet so that a collision phenomenon does not occur.

  However, when the number of wireless communication devices increases, there is a problem that communication waits for retransmitted packets occur frequently, resulting in communication delays and failures, which degrades the quality of wireless communication and reduces communication capacity. . In ITS, since wireless communication is performed for the purpose of providing a service that supports safe driving of vehicles, it is important to enable smooth communication even when a large number of vehicles exist within the communication range. The

  In this regard, a case where a collision phenomenon occurs will be described using the technique described in Patent Document 1 described above. The maximum accommodation number N of vehicles within the communication range. Here, if the communication range of the roadside communication device is defined as a roadside communication network, the roadside communication device in the roadside communication network periodically transmits packets in all directions. The vehicle that has received the packet returns a packet including a code for identifying the host vehicle and the other vehicle to the roadside communication device. The roadside communication device receives the packet returned from the vehicle, determines whether entry is permitted or not permitted, and transmits the packet to all vehicles attempting to enter the intersection.

  When the vehicle travel information transmission time Ts is obtained, the vehicle travel information transmission time Ts0 = Dx / Vx is obtained from the transmission cycle Td, the transmission speed Vx, and the data amount Dx of the vehicle travel information communicated within the communication range. Furthermore, when communicating by the above-mentioned CSMA / CA system, the sum Ts1 of the time required to confirm whether or not the wireless communication channel is used and the time required for switching between transmission and reception is obtained. Therefore, the packet transmission time is obtained as Ts = Ts0 + Ts1. Therefore, the maximum number N of vehicles that can be accommodated in the roadside communication network within the communication range is obtained as N = Td / Ts.

  For example, when a roadside wireless communication device periodically transmits packets with an interval of 50 ms, in order to generate a return packet returned from the surrounding vehicle and an entry permission or entry non-permission packet for the return packet The transmission cycle Td is half that of 25 ms. Further, when the data amount Dx is 1024 bits (= packet amount 12 × 8 bits), and Vx = 1 Mbps, Ts0 = 0.01024 ms, and Ts1 = 1 ms, the maximum accommodable number N is 24.

  However, for example, when an area around an intersection where a roadside communication device is installed is involved in a traffic jam, there may be a large number of vehicles exceeding the maximum capacity that can be accommodated. There was a problem that communication could not be performed.

  The present invention has been made in view of the above, and is a collision preventing apparatus, a collision preventing method, and a collision preventing program capable of performing smooth communication even when a large number of vehicles are present within a communication range. And to provide a collision prevention system.

  In order to achieve the above-described object, a collision prevention apparatus according to the present invention is a collision prevention apparatus that is installed on a road side and prevents a collision between vehicles, and when the vehicle enters a predetermined range, A roadside communication unit that receives travel information indicating a travel state of the vehicle or transmits a determination result indicating that the vehicle may collide with another vehicle to the other vehicle that has entered the predetermined range; and In order to determine whether there is a possibility of collision between the road information indicating the location of the road, intersection information indicating a point where the road intersects, and the vehicle when the vehicle enters the intersection. A roadside storage unit that stores a collision possibility determination condition that is a condition of the vehicle, and when the roadside communication unit receives the travel information from the vehicle, the received travel information, the road information, and the intersection information The intersection where the vehicle has entered is identified based on the vehicle, and whether the vehicle is likely to collide with the other vehicle at the identified intersection based on the received travel information and the collision possibility determination condition. And a collision possibility determination unit that outputs the determination result only when it is determined that the vehicle may collide with the other vehicle.

  The collision prevention system according to the present invention is a collision prevention system for preventing a collision between vehicles, and the in-vehicle communication device mounted on the vehicle detects a traveling information indicating a traveling state of the own vehicle. A vehicle communication unit that transmits the travel information or receives a determination result that the host vehicle may collide with another vehicle, and a display unit that displays the determination result received by the vehicle communication unit. The collision prevention device installed on the roadside receives the travel information when the vehicle enters a predetermined range, or transmits the determination result to the other vehicle that has entered the predetermined range. There is a possibility of collision between the roadside communication unit, road information indicating the location of at least two or more roads, intersection information indicating a point where the road intersects, and the vehicle when the vehicle enters the intersection. A roadside storage unit that stores a collision possibility determination condition that is a condition for determining whether or not the roadside communication unit receives the travel information from the vehicle, and the received travel information, Based on the road information and the intersection information, the intersection where the vehicle has entered is identified. Based on the received travel information and the collision possibility determination condition, the vehicle is identified as the other vehicle at the identified intersection. A collision possibility determination unit that determines whether or not there is a possibility of collision and outputs the determination result only when it is determined that the vehicle may collide with the other vehicle. And

  The present invention is also a collision prevention method and a collision prevention program performed by the collision prevention apparatus.

  According to the present invention, it is possible to provide a collision prevention device, a collision prevention method, a collision prevention program, and a collision prevention system capable of performing smooth communication even when a large number of vehicles exist within a communication range. Can do.

It is an image figure which shows the example of the scene where the collision prevention system in this Embodiment is applied. It is an image figure which shows the whole structure of the collision prevention system shown in FIG. It is a figure which shows the physical structure of the roadside communication apparatus shown in FIG. It is a block diagram which shows the functional structure of a roadside communication apparatus. It is a figure which shows the example of the format of the packet format of driving | running | working information. It is a figure which shows the example of the information memorize | stored in road DB. It is a figure which shows the example of the information memorize | stored in intersection DB. It is a figure which shows the example of the information memorize | stored in collision possibility condition DB. It is an image figure which shows the relationship between the vehicle which approached a certain intersection C, and the intersection designation | designated range. It is a figure which shows the example of the layout of vehicle DB. It is a figure which shows the physical structure of the ITS center server shown in FIG. It is a block diagram which shows the functional structure of an ITS center server. It is a figure which shows the physical structure of the vehicle-mounted communication apparatus shown in FIG. It is a block diagram which shows the functional structure of a vehicle-mounted communication apparatus. It is a flowchart which shows the procedure of a process until a collision prevention system receives driving | running | working information from a vehicle in a certain intersection, and transmits a collision result. It is a sequence diagram which shows the procedure of a process until an ITS center server sets or updates various DB of a roadside communication apparatus.

  Exemplary embodiments of a collision prevention device, a collision prevention method, a collision prevention program, and a collision prevention system according to the present invention will be described below in detail with reference to the accompanying drawings.

  FIG. 1 is an image diagram showing an example of a scene to which the collision prevention system 1000 according to the present embodiment is applied. FIG. 1 shows an example in which the vehicle V1 and the vehicle V2 enter the intersection range CA including an intersection C. As shown in FIG. 1, the vehicle V <b> 1 and the vehicle V <b> 2 enter the intersection C in a direction (vertical) that intersects the intersection C.

  At this time, the vehicle V1 and the vehicle V2 periodically transmit information (hereinafter referred to as travel information) indicating a travel state including the position, speed, movement direction, and the like of the host vehicle to the roadside communication device 100. The roadside communication device 100 analyzes the travel information transmitted from these vehicles to determine the possibility of collision between the vehicles, and the result indicating that there is a possibility of collision (hereinafter referred to as a collision determination result). Sent to a vehicle that has entered the intersection range CA. Thereafter, the vehicle V1 and the vehicle V2 receive the collision determination result received from the roadside communication device 100, and display a warning or the like.

  Note that the received travel information may be transmitted to the periphery instead of the collision determination result. In this case, the received traveling information is analyzed to determine the possibility of collision between vehicles, and the traveling information is transmitted to surrounding vehicles only when there is a collision determination. The vehicle that has received the traveling vehicle determines a collision from the traveling information and the traveling information of the host vehicle, and displays a warning based on the collision determination result.

  FIG. 2 is an image diagram showing an overall configuration of the collision prevention system 1000 shown in FIG. As shown in FIG. 2, the collision prevention system 1000 includes a roadside communication device 100, an ITS center server 200, an in-vehicle communication device 300 mounted on a vehicle V1 and the like, and a network N. .

  The roadside communication device 100 receives travel information of a vehicle that has entered the intersection range CA by wireless communication, and determines the possibility of a collision between vehicles. At least one roadside communication device 100 is disposed at the intersection C.

  FIG. 3 is a diagram illustrating a physical configuration of the roadside communication device 100 illustrated in FIG. 2. As shown in FIG. 3, the roadside communication device 100 includes a storage device 101, a CPU 102, a memory 103, an input / output interface 104, a bus 105, an infrastructure network transmission / reception unit 106, and a wireless transmission / reception unit 107. The antenna 108 is connected to the wireless transmission / reception unit 107.

  The network N is a general wide area communication network such as a WAN (Wide Area Network). The antenna 108 is also used for transmission and reception. When the antenna 108 outputs a transmission signal, the antenna 108 is switched to transmission by the wireless transmission / reception unit 107. When the antenna 108 outputs a reception signal, the antenna 108 is wireless. It is assumed that the transmission / reception unit 107 switches to reception.

  The storage device 101 is a storage medium such as an HDD (Hard Disk Drive), and various conditions for determining the possibility of collision between vehicles, and for determining the possibility of collision between vehicles according to the conditions. The program and parameters are stored. Specific contents stored in the storage device 101 will be described when the functions of the roadside communication device 100 are described.

  The CPU 102 is an arithmetic device such as a processor, and determines the possibility of vehicles and transmits the result to the vehicles. The CPU 102 reads out various programs stored in the storage device 101, loads them into the memory 103 described later, and executes various processes described later according to various instructions described in the loaded programs.

  The memory 103 is a storage device such as a RAM (Random Access Memory), and temporarily stores a program loaded by the CPU 102 described above, a result calculated by the program, and the like.

  The input / output interface 104 is an interface card that connects the infrastructure network transmission / reception unit 106 and the wireless transmission / reception unit 107 to the storage device 101, the CPU 102, and the memory 103 described above.

  The bus 105 connects the storage device 101, the CPU 102, the memory 103, and the input / output interface 104.

  The infrastructure network transmission / reception unit 106 is a communication medium such as a NIC (Network Interface Card), and mediates communication with an ITS center server 200 described later via the network N.

  When the wireless transmission / reception unit 107 receives travel information from the vehicle V1 or the like via the antenna 108, or the CPU 102 determines the risk of collision between vehicles, the wireless transmission / reception unit 107 transmits the result to the vehicle V1 or the like. Mediate. Next, the functional configuration of the roadside communication device 100 will be described.

  FIG. 4 is a block diagram illustrating a functional configuration of the roadside communication device 100. As shown in FIG. 4, the roadside communication device 100 includes a communication processing unit 1100 and a vehicle information processing unit 1200. The communication processing unit 1100 and the vehicle information processing unit 1200 indicate functions executed by the CPU 102 shown in FIG. First, the communication processing unit 1100 will be described.

  When the infrastructure network transmission / reception unit 106 or the wireless transmission / reception unit 107 communicates with the vehicle V1 or the ITS center server 200 via the input / output interface 104, the communication processing unit 1100 performs various information transmitted thereto. Is output to the infrastructure network transmission / reception unit 106 or the wireless transmission / reception unit 107 via the input / output interface 104.

  As shown in FIG. 4, the communication processing unit 1100 includes a wireless transmission / reception unit 1101, a transmission / reception unit 1102, a vehicle information transfer unit 1103, and a vehicle travel information reception processing unit 1104.

  The wireless transmission / reception unit 1101 receives the vehicle travel information in the packet format received from the wireless transmission / reception unit 107, and outputs it to the vehicle information transfer unit 1103 and the vehicle travel information reception processing unit 1104. Further, the wireless transmission / reception unit 1101 transmits a collision determination result output by the vehicle information transfer unit 1103 described later and vehicle travel information converted into a packet format by the vehicle information transfer unit 1103 via the input / output interface 104. It outputs to 107.

  FIG. 5 is a diagram illustrating an example of a packet format format of travel information. As shown in FIG. 5, a vehicle ID (Identifier) for uniquely identifying the vehicle, vehicle latitude information 1 indicating the latitude at which the vehicle is located, and whether the vehicle latitude information 1 is north latitude or south latitude are shown. Vehicle latitude information 2, vehicle longitude information 1 indicating the longitude where the vehicle is located, vehicle longitude information 2 indicating whether the vehicle longitude information 1 is east longitude or west longitude, and positioning indicating the time when the position of the vehicle is determined It includes time, vehicle traveling direction information indicating the traveling direction of the vehicle, and vehicle traveling speed information indicating the traveling speed of the vehicle.

  In the example shown in FIG. 5, a vehicle registered with the vehicle ID “1000” has a positioning time of “12: 35: 19.00”, and “4807.0034847” (northern latitude) and “01131.324523”. "(East longitude) indicates that the vehicle is traveling at 60 km / h in the direction of 60 degrees from the direction of 0 degrees east longitude to the direction of 90 degrees east longitude (north direction). In the example shown in FIG. 5, the running information extracted from NMEA-0183 format Global Positioning System Fix Data used in the Global Positioning System (GPS) is described. As long as vehicle travel information can be obtained, the format may be any. Next, returning to FIG. 4, the transmission / reception processing unit 1102 will be described.

  The transmission / reception processing unit 1102 receives information about the intersection such as the size and location of the intersection C received from the infrastructure network transmission / reception unit 106 (hereinafter referred to as intersection information), and conditions for determining the possibility of collision between vehicles ( Hereinafter, it is referred to as a collision possibility determination condition), or information on the road such as the location and width of the road constituting the intersection C (hereinafter referred to as road information) is output to the vehicle information processing unit 1200.

  The vehicle information transfer unit 1103 converts the travel information in the packet format output from the wireless transmission / reception unit 1101 into a format that can be read by the vehicle information processing unit 1200 described later, and outputs the converted travel information.

  Further, the vehicle information transfer unit 1103 converts the collision determination result output from the collision possibility determination unit 1201 of the vehicle information processing unit 1200 into a packet format, and outputs the converted collision determination result to the wireless transmission / reception unit 1101. .

  The vehicle travel information reception processing unit 1104 converts the travel information in the packet format output from the wireless transmission / reception unit 1101 into the layout of the vehicle DB 1301 of the storage unit 1300 described later, and outputs the converted travel information. Next, the vehicle information processing unit 1200 will be described.

  As illustrated in FIG. 4, the vehicle information processing unit 1200 includes a collision possibility determination unit 1201, a vehicle DB update unit 1202, a road DB update unit 1203, a collision possibility determination condition update unit 1204, and an intersection DB update. Part 1205.

  When the collision possibility determination unit 1201 receives the travel information from the vehicle information transfer unit 1103 of the communication processing unit 1100, the travel information other than the received travel information (for example, the travel information of the vehicle V1 illustrated in FIG. 1) and the travel information. Information (for example, travel information of the vehicle V2 shown in FIG. 1) is compared, the possibility of collision between vehicles is determined, and the collision determination result is output to the vehicle information transfer unit 1103.

  Specifically, the collision possibility determination unit 1201 refers to the travel information received from the vehicle information transfer unit 1103, the road DB 1302, the intersection DB 1303, and the collision possibility condition DB 1304 stored in the storage unit 1300. Determine the possibility of a collision.

  FIG. 6 is a diagram illustrating an example of information stored in the road DB 1302. As shown in FIG. 6, the road DB 1302 includes a road ID for uniquely identifying a road, road latitude information 1A indicating the latitude of one end of the road, and whether the road latitude information 1A is north latitude or south latitude. Road latitude information 2A indicating road longitude information 1A indicating the longitude of one end of the road, road longitude information 2A indicating whether the road longitude information 1A is north latitude or south latitude, and the latitude of the other end of the road. Road latitude information 1B, road latitude information 2B indicating whether the road latitude information 1B is north latitude or south latitude, road longitude information 1B indicating the longitude of the other end of the road, and road longitude information 1B Road longitude information 2B indicating whether the road is south latitude, priority information indicating whether it is a priority road, lane width information indicating the width per road lane, and the number of lanes indicating the number of road lanes Information and this La data includes a road registration time information indicating the time registered in the road DB, the.

  In the example shown in FIG. 6, the location (position) of the road registered with the road ID “1000” has one end of north latitude (road latitude information 2A is “N”) “4807.0034847”, east longitude (road Longitude information 2A is “E”) “01131.324523”, the other end of the road is north latitude (road latitude information 2B is “N”) “4807.0348147”, east longitude (road longitude information 2B is “E”) ) "01131.324423". Further, this road is a priority road (priority information is “1”), the lane width is 3 m (lane width information is “3”), and four lanes (lane information is “4”). This information indicates that “12: 35: 19.00” is registered in the road DB 1302.

  Similarly, the location (position) of the road registered with the road ID “1001” is located at one end at latitude “4807.0034848” and east longitude “01131.324524”, and at the other end of the road. Indicates north latitude “4807.0038047” and east longitude “01131.324324”. Furthermore, this road is a non-priority road, indicating that the lane width is 4 m and 2 lanes. This information indicates that “12: 35: 19.02” is registered in the road DB 1302. Thus, a road is defined as a line segment connecting two points.

  In addition, in order to indicate the position of the road, the position is indicated in the MNEA format used in the GPS as in the driving information. Instead, for example, a geocentric coordinate system centered on the earth, etc. It is good also as defining using the coordinate system of. Further, as shown in FIG. 6, a road may be defined by a plurality of two or more points instead of being defined as two points. Furthermore, priority information may not be determined by the number of lanes or the like, but may be determined according to, for example, construction information or the like (the presence or absence of progress permission).

  FIG. 7 is a diagram illustrating an example of information stored in the intersection DB 1303. As shown in FIG. 7, the intersection DB 1303 indicates an intersection ID for uniquely identifying the intersection, intersection latitude information 1 indicating the latitude of the intersection, and whether the intersection latitude information 1 is north latitude or south latitude. Intersection road latitude information 2, intersection longitude information 1 indicating the longitude of the intersection, intersection longitude information 2 indicating whether the intersection longitude information 1 is north latitude or south latitude, and a plurality of road IDs indicating roads constituting the intersection And intersection registration time information indicating the time when these data are registered in the intersection DB.

  In the example shown in FIG. 7, the intersections whose intersection ID is registered as “1600” are north latitude (intersection latitude information 2 is “N”) “4807.0034847”, east longitude (road longitude information 2 is “E”) “ It is located at a point of “01131.324523”, and the intersection indicates that the road has a road ID of “1000” and a road of “1001”. These pieces of information indicate that “12: 35: 19.00” is registered in the intersection DB 1303. Thus, the intersection DB 1303 is defined as a certain point where the roads intersect when the roads intersect.

  FIG. 8 is a diagram illustrating an example of information stored in the collision possibility condition DB 1304. As shown in FIG. 8, in the collision possibility condition DB 1304, a condition ID for uniquely identifying a collision condition, an intersection ID indicating an intersection to which the condition is applied, and an allowable speed of the vehicle speed at the intersection. The vehicle vehicle speed threshold indicating the intersection, the intersection designation range indicating the range of the intersection to which the condition is applied, and the condition registration time information indicating the time when these data are registered in the collision possibility condition DB.

  In the example shown in FIG. 8, the condition registered with the condition ID “2000” is that the vehicle enters an area within a radius of 20 m from the intersection at an intersection with the intersection ID “1600” at a speed of 40 km / h or more. In this case, the vehicles may collide with each other, and this information indicates that “12: 35: 19.00” is registered in the collision possibility condition DB 1304.

  Similarly, the condition registered with the condition ID “2001” is that a vehicle enters a range within a radius of 10 m from the intersection at an intersection with an intersection ID “1602” at a speed of 30 km / h or more. In addition, there is a possibility that the vehicles may collide with each other, and this information indicates that “12: 35: 19.01” is registered in the collision possibility condition DB 1304.

  FIG. 9 is an image diagram showing a relationship between a vehicle that has entered an intersection C and an intersection designation range. In FIG. 9, when the vehicles V11 and V12 enter the intersection C using the priority road R1, the intersection designation ranges are the ranges indicated by Ca1, and the vehicles V21 and V22 use the priority road R2. When entering the intersection C, it is indicated that the intersection designation ranges are the ranges indicated by Ca2.

  More specifically, when the intersection C shown in FIG. 9 is an intersection with the intersection ID “1600” shown in FIG. 8, the intersection designation ranges Ca1 and Ca2 of the intersection C are not prioritized with the priority road R1. The length (distance) in the traveling direction of the vehicle V11 and the like on the road R2 is “20 m”. As described above, the intersection designation range is a range (a range before the intersection) from the intersection to a position on the road constituting the intersection in a direction opposite to the intersection.

  In the example shown in FIG. 9, the description has been made on the assumption that the intersection designation range is a range on the road. For example, the traveling direction of the vehicle V11 and the vehicle V21 described above centering around the intersection C is the center. Other shapes such as an intersection designation range CA such as a circle having a length (distance) as a radius may be used. As will be described later, the collision possibility determination unit 1201 transmits a collision determination result only for a vehicle having a possibility of collision among vehicles on all roads constituting the intersection C that has entered the intersection range CA. Yes.

  The collision possibility determination unit 1201 refers to the road DB 1302, the intersection DB 1303, and the collision possibility condition DB 1304 described above, and includes vehicle latitude information 1, vehicle longitude information 1, vehicle traveling direction information, and the like included in the travel information received from the vehicle. To identify the road on which the vehicle is traveling and its direction.

  For example, when the collision possibility determination unit 1201 reads the vehicle latitude information 1, the vehicle longitude information 1, and the vehicle traveling direction information included in the received travel information, the read vehicle latitude information 1 and the vehicle longitude information 1, The road latitude information 1A, road longitude information 1A, road latitude information 1B, road latitude information 1B, etc. included in the road DB 1302 are compared. When the collision possibility determination unit 1201 determines whether the vehicle latitude information 1 and the vehicle longitude information 1 are included in these road information, and determines that they are included in these road information. It is determined that the vehicle is traveling on the road. Thereafter, the collision possibility determination unit 1201 specifies the road ID of the road and determines whether the road is a priority road. As described above, the reason for determining whether or not the vehicle is a priority road is usually that a vehicle traveling on a priority road and entering an intersection often exceeds the vehicle speed threshold described above, and the risk of a collision is increased. This is because there are more vehicles to cause than non-priority roads.

  Thereafter, the collision possibility determination unit 1201 refers to the intersection DB 1303 using the road ID of the identified road as a key, and identifies the intersection ID of the intersection including the identified road. Further, the collision possibility determination unit 1201 identifies a condition ID including the identified intersection ID from the collision possibility condition DB 1304, and reads the vehicle vehicle speed threshold and the intersection designation range corresponding to the identified condition ID.

  The collision possibility determination unit 1201 determines whether or not the vehicle that has transmitted the travel information has entered the intersection designation range, and further determines whether or not the speed of the vehicle exceeds the vehicle vehicle speed threshold. When it is determined that the vehicle speed exceeds the vehicle speed threshold, a collision determination result is output.

  For example, when the vehicle with the vehicle ID “1000” shown in FIG. 5 is traveling with its own foot 60 km in the position and direction shown in FIG. 5, vehicle longitude information 1 received from the vehicle, vehicle traveling direction information, etc. A road with a road ID “1000” including is identified.

  Then, the collision possibility determination unit 1201 identifies the intersection ID “1600” by referring to the intersection DB 1303 using the road ID “1000” of the identified road as a key. Further, the collision possibility determination unit 1201 identifies the condition ID “2000” including the identified intersection ID “1600” from the collision possibility condition DB 1304, and the vehicle vehicle speed threshold “40 km” corresponding to the identified condition ID. And the intersection designation range “20 m” are read.

  The collision possibility determination unit 1201 determines whether or not the vehicle that has transmitted the travel information has entered the intersection designation range, and further determines whether or not the speed of the vehicle exceeds the vehicle vehicle speed threshold. . Since the vehicle that transmitted the travel information shown in FIG. 5 is traveling at a speed of 60 km / h, which is faster than the vehicle speed threshold “40 km”, it is determined that the vehicle speed exceeds the vehicle speed threshold, and the collision determination result is obtained. Output.

  After that, the collision possibility determination unit 1201 identifies a vehicle with a possibility of collision among all the vehicles entering the intersection, and transmits the collision determination result only to the identified vehicle (for example, header information). ) Is added and output. As a specific method for identifying a vehicle with a possibility of collision, for example, as disclosed in Japanese Patent Laid-Open No. 7-104062, the future vehicle position is estimated from the vehicle speed and the moving direction. Also good.

  Then, the output collision determination result is converted into a packet format by the vehicle information transfer unit 1103 and transmitted to the vehicle in the intersection range by the wireless transmission / reception unit 1101. For example, at the intersection with the intersection ID “1600” shown in FIG. 7, among the vehicles in the intersection designation range of the priority road with the road ID “1000” and the non-priority road with the road ID “1001” shown in FIG. 5, The collision determination result is transmitted only to a vehicle with a possibility of collision. Note that the received travel information may be transmitted to the surroundings instead of the collision determination result. In this case, the received traveling information is analyzed to determine the possibility of collision between vehicles, and the traveling information is transmitted to surrounding vehicles only when there is a collision determination.

  In the following description, the collision possibility determination unit 1201 outputs a collision determination result every time when traveling information is received from the vehicle, but the collision determination result every certain period (for example, once every 5 minutes). May be output. Subsequently, returning to FIG. 4, the vehicle DB update unit 1202 will be described.

  The vehicle DB update unit 1202 stores the travel information after being converted into the layout of the vehicle DB 1301 output from the vehicle travel information reception processing unit 1104 in the vehicle DB 1301.

  FIG. 10 is a diagram illustrating an example of the layout of the vehicle DB 1301. As shown in FIG. 10, as with the traveling information, the vehicle ID, the vehicle latitude information 1, the vehicle latitude information 2 indicating whether the vehicle latitude information 1 is north latitude or south latitude, vehicle longitude information 1, Vehicle longitude information 2 indicating whether the vehicle longitude information 1 is east longitude or west longitude, positioning time indicating the time when the position of the vehicle is measured, vehicle traveling direction information indicating the traveling direction of the vehicle, and traveling speed of the vehicle And vehicle travel information registration time information indicating the time when these data are registered in the vehicle DB. In the example illustrated in FIG. 10, the travel information illustrated in FIG. 5 is positioned at the positioning time “12: 35: 19: 00” and registered in the vehicle travel information registration time information “12: 35: 19: 01”. It is shown that.

  The vehicle DB update unit 1202 determines whether or not traveling information including the same vehicle ID is already registered in the vehicle DB using the vehicle ID included in the traveling information as a key, and traveling information including the same vehicle ID. Is determined to be registered in the vehicle DB, the above-described information is overwritten and updated. Moreover, the vehicle DB update part 1202 shall delete the driving | running | working information registered into vehicle DB regularly (for example, once a month). Subsequently, returning to FIG. 4, the road DB update unit 1203 will be described.

  The road DB update unit 1203 registers the road information output by the transmission / reception processing unit 1102 in the road DB 1302 illustrated in FIG.

  The collision possibility determination condition update unit 1204 registers the collision possibility determination condition output by the transmission / reception processing unit 1102 in the collision possibility determination condition DB 1304 illustrated in FIG.

  The intersection DB update unit 1205 registers the intersection information output by the transmission / reception processing unit 1102 in the intersection DB 1303 illustrated in FIG.

  These intersection information, collision possibility determination conditions, or road information are set by the ITS center server 200, as will be described later.

  The storage unit 1300 includes a vehicle DB 1301, a road DB 1302, an intersection DB 1303, and a collision possibility determination condition DB 1304. Since the specific contents of each DB have already been described with reference to FIGS. 6 to 8 and FIG. 9, the description thereof is omitted here. Next, returning to FIG. 2, the ITS center server 200 will be described.

  FIG. 11 is a diagram showing a physical configuration of the ITS center server 200 shown in FIG. As shown in FIG. 11, the ITS center server 200 includes a storage device 201, a CPU 202, a memory 203, an input / output interface 204, a bus 205, an infrastructure network transmission / reception unit 206, an input device 207, and a display device 208. And.

  The storage unit 201 stores programs, parameters, and the like for causing a road information setting unit 2201, a collision possibility determination condition setting unit 2202, and an intersection information setting unit 2203, which will be described later, to function.

  The CPU 202 is an arithmetic device such as a processor, reads various programs stored in the storage device 201, loads them into the memory 203 described later, and performs various processes described later according to various instructions described in the loaded programs. Run.

  The memory 203 is a storage device such as a RAM (Random Access Memory), and temporarily stores a program loaded by the CPU 202 described above, a result calculated by the program, and the like.

  The input / output interface 204 is an interface card that connects the infrastructure network transmission / reception unit 206 to the storage device 201, CPU 202, and memory 203 described above.

  The bus 205 connects the storage device 201, the CPU 202, the memory 203, and the input / output interface 204.

  The infrastructure network transmission / reception unit 206 is a communication medium such as a NIC (Network Interface Card), and mediates communication with the roadside communication device 100 described above via the network N.

  The input device 207 includes, for example, a keyboard and a mouse, and receives input of various information such as road information, collision possibility determination conditions, and intersection information. These pieces of information are assumed to be input by an administrator of the collision prevention system 1000 or the like.

  The display device 208 is constituted by, for example, a liquid crystal display, and displays the contents when the input device 207 accepts the input of various types of information described above from an administrator or the like. The administrator or the like confirms the content displayed on the display device 208 and then transmits road information, collision possibility determination conditions, intersection information, and the like to the roadside communication device 100. Next, the functional configuration of the ITS center server 200 will be described.

  FIG. 12 is a block diagram showing a functional configuration of the ITS center server 200. As illustrated in FIG. 12, the ITS center server 200 includes a communication processing unit 2100, an information setting unit 2200, an input reception unit 2300, and a display unit 2400. The communication processing unit 2100 and the vehicle information processing unit 2200 show functions executed by the CPU 202 shown in FIG. First, the communication processing unit 2100 will be described.

  The communication processing unit 2100 (transmission / reception processing unit 2101), when the infrastructure network transmission / reception unit 20 communicates with the roadside communication device 100 via the input / output interface 204, road information, collision possibility determination conditions, The intersection information and the like are output to the infrastructure network transmission / reception unit 206 that transmits to the roadside communication device 100 via the input / output interface 204. Also, the communication processing unit 2100 receives confirmation information indicating that various DBs of the roadside communication device 100 have been updated from the roadside communication device 100 according to update information (described later) via the infrastructure network transmission / reception unit 206. Next, the information setting unit 2200 will be described.

  As illustrated in FIG. 12, the information setting unit 2200 includes a road information setting unit 2201, a collision possibility determination condition information setting unit 2202, and an intersection information setting unit 2203.

  The road information setting unit 2201 converts the road information received by the input receiving unit 2300 into a packet format and outputs the packet information to the communication processing unit 2100.

  The collision possibility determination condition information setting unit 2202 converts the collision possibility determination condition received by the input reception unit 2300 into a packet format and outputs the packet format to the communication processing unit 2100.

  The intersection information setting unit 2203 converts the intersection information received by the input receiving unit 2300 into a packet format and outputs the packet information to the communication processing unit 2100.

  The input receiving unit 2300 receives input of update information and an update instruction for setting and updating the road information, the collision possibility determination condition, and the intersection information shown in FIGS.

  Display unit 2400 displays the update information received by input receiving unit 2300. Further, when the communication processing unit 2100 receives the confirmation information, the display unit 2400 displays the update information after the roadside communication device 100 is set or updated according to the update instruction received by the input receiving unit 2300.

  As described above, the road information, the collision possibility determination condition, and the intersection information received by the input reception unit 2300 are converted into a packet format by the road information setting unit 2201, the collision possibility determination condition information setting unit 2202, and the intersection information setting unit 2203. Is output to the communication processing unit 2100, and the communication processing unit 2100 transmits the update information to the roadside communication device 100. Therefore, the administrator or the like can set or update the roadside communication device 100 that is remote from the ITS center server 200 as necessary, and can confirm the contents of the update information on the spot. .

  For example, when it is determined that an accident rate at an intersection with a certain intersection ID is high, the vehicle vehicle speed threshold value at the intersection is set to a slower value than before as the collision possibility determination condition, and the set collision possibility determination is performed. The condition is transmitted to the roadside communication device 100 installed at the intersection, and the collision possibility determination condition update unit 1204 of the roadside communication device 100 can update the collision possibility determination condition DB 1304 according to the condition. Therefore, the administrator or the like can quickly set or update various update information and confirm the contents without going to the site.

  The method for specifying the roadside communication device 100 that is the target for setting various types of information described above can be performed, for example, by specifying an IP address, but is not particularly limited thereto. Also, the information converted into the packet format to be transmitted is not particularly limited. For example, the information has a preamble at the head and, if necessary, a header such as a MAC (Media Access Control address). These are followed by a format in which the set specific information follows.

  Further, the road information setting unit 2201, the collision possibility determination condition information setting unit 2202, and the intersection information setting unit 2203 refer to a timer or the like (not shown) to acquire the time when setting each information, and the acquired time Are output together with the road information, the collision possibility determination condition, and the intersection information described above. Thereafter, the time output together with the road information, the collision possibility determination condition, and the intersection information is transmitted to the roadside communication device 100, and the road DB update unit 1203, the collision possibility determination condition update unit 1204, or the intersection DB update unit By 1203, it registers in each DB as road registration time information of road DB1302, condition registration time information of collision possibility determination condition DB1304, or intersection registration time information. Subsequently, returning to FIG. 2, the in-vehicle communication device 300 will be described.

  FIG. 13 is a diagram showing a physical configuration of the in-vehicle communication device 300 shown in FIG. As illustrated in FIG. 13, the in-vehicle communication device 300 includes a storage device 301, a CPU 302, a memory 303, an input / output interface 304, a bus 305, a transmission / reception unit 306, a display device 307, and an in-vehicle sensor device 308. , Including. Note that although the antenna 309 is connected to the transmission / reception unit 306, since it is similar to the antenna 108 shown in FIG.

  The memory | storage part 301 memorize | stores the program for determining the output intensity | strength of the transmission signal from the own vehicle, various parameters, or another vehicle, for example.

  The CPU 302 is an arithmetic device such as a processor, reads various programs stored in the storage device 301, loads them into the memory 303 described later, and performs various processes described later according to various instructions described in the loaded programs. Run.

  The memory 303 is a storage device such as a RAM (Random Access Memory), and temporarily stores a program loaded by the CPU 202 described above, a result calculated by the program, and the like.

  The input / output interface 304 is an interface card that connects the transmission / reception unit 306, the display device 307, the in-vehicle sensor device 308, the storage device 301, the CPU 302, and the memory 303 described above.

  A bus 305 connects the storage device 301, the CPU 302, the memory 303, and the input / output interface 304.

  The transmission / reception unit 306 is a communication medium such as a network interface card (NIC), and transmits traveling information to / from the vehicle via the antenna 309 and mediates reception of a collision determination result from the roadside communication device 100.

  The display device 307 is composed of, for example, a liquid crystal display, and displays a warning screen according to the collision determination result received from the roadside communication device 100.

  The in-vehicle sensor device 308 measures traveling information of the host vehicle, and is, for example, various sensors such as a GPS, a gyroscope, a compass, a gyrocompass, and a speed sensor of a navigation system. The GPS reads the current time from a timer (not shown) and measures the latitude and longitude of the host vehicle. The gyroscope measures the acceleration and angle of the vehicle. The compass and gyrocompass measure the direction of movement of the vehicle. The speed sensor measures the speed of the vehicle. The travel information measured in this way is transmitted to the roadside communication device 100 by the transmission / reception unit 306.

  Note that the in-vehicle communication device 300 may be configured as a single semiconductor chip or may be configured as a multichip. When a data processor for an ECU (Electronic Control Unit) or a car navigation device is used as the CPU 302, the storage device 302, and the memory 303, the input / output interface 304 and the transmission / reception unit 306 are replaced with other different semiconductor integrated circuits. Can be configured. Next, the functional configuration of the in-vehicle communication device 300 will be described.

  FIG. 14 is a block diagram illustrating a functional configuration of the in-vehicle communication device 300. As shown in FIG. 14, the in-vehicle communication device 300 includes a communication processing unit 3100, a vehicle information processing unit 3200, and a vehicle sensor processing unit 3300. The communication processing unit 3100 and the vehicle information processing unit 3200 show functions executed by the CPU 102 shown in FIG. First, the communication processing unit 3100 will be described.

  When the transmission / reception unit 306 communicates with the I-roadside communication device 100 via the input / output interface 304, the communication processing unit 3100 captures or communicates various types of communicated information with the CPU 102. Information necessary for this is output to the transmission / reception unit 306 via the input / output interface 304.

  As illustrated in FIG. 14, the communication processing unit 3100 includes a wireless transmission / reception unit 3101 and a host vehicle travel information reception unit 3102.

  The wireless transmission / reception unit 3101 outputs the travel information of the host vehicle in the packet format measured by the vehicle sensor information processing unit 3300 described later and converted by the vehicle information processing unit 3200 to the transmission / reception unit 306 via the input / output interface 304. In addition, the wireless transmission / reception unit 3101 outputs the collision determination result received from the transmission / reception unit 306 to the own vehicle information transmission processing unit 3102.

  The own vehicle information transmission processing unit 3102 outputs the collision determination result received from the wireless transmission / reception unit 3101 to the vehicle information processing unit 3200. In addition, when the vehicle information processing unit 3300 receives the traveling information measured by the vehicle sensor information processing unit 3300 and converted into the format shown in FIG. Convert to packet format. Next, the vehicle information processing unit 3200 will be described.

  As shown in FIG. 14, the vehicle information processing unit 3200 includes a host vehicle travel information processing unit 3201 and a warning unit 3203.

  The own vehicle travel information processing unit 3201 converts the layout of the collision determination result received from the communication processing unit 3100 into a format that can be displayed on the display device 307 by the warning unit 3202 described later. When the host vehicle travel information processing unit 3201 receives information such as the position of the host vehicle, the travel speed, and the traveling direction measured by the vehicle sensor information processing unit 3300, the information is converted into the format shown in FIG. Convert.

  When the warning unit 3202 receives the collision determination result from the host vehicle travel information processing unit 3201, the warning unit 3202 displays a warning that there is a risk of collision on the display device 307. In the following description, this warning is described on the assumption that it is displayed on the display device 307. However, for example, it may be output to a sound output device such as a microphone. Furthermore, the driver may be informed of the danger of collision by vibrating a vibrator or the like. Next, the vehicle sensor information processing unit 3300 will be described.

  As shown in FIG. 14, the vehicle sensor information processing unit 3300 includes a host vehicle position detection unit 3301, a host vehicle traveling speed detection unit 3302, and a host vehicle traveling direction detection unit 3303.

  The host vehicle position detection unit 3301 is, for example, a GPS, the host vehicle traveling speed detection unit 3302 is, for example, a speed sensor or a gyroscope, and the host vehicle traveling direction detection unit 3303 is, for example, a compass or a gyrocompass. . Since the functions of these units have been described when the on-vehicle sensor device 308 is described with reference to FIG. 13, the description thereof is omitted here.

  Next, processing performed in the collision prevention system 1000 will be described. FIG. 15 is a flowchart showing a procedure of processing until the collision prevention system 1000 receives travel information from a vehicle at a certain intersection and transmits a collision result. In the following description, it is assumed that traveling information has already been transmitted from the vehicle.

  As illustrated in FIG. 15, the collision possibility determination unit 1201 includes vehicle latitude information 1 and vehicle longitude information 1 included in the received travel information, road latitude information 1A, road longitude information 1A, road latitude included in the road DB 1302. The information 1B, road latitude information 1B, etc. are compared (step S1501), and the road ID of the road on which the vehicle is traveling is specified (step S1502).

  The collision possibility determination unit 1201 determines whether or not the road with the specified road ID is a priority road (step S1503), and determines that the road with the specified road ID is not a priority road (step S1503). ; No), it progresses to step S1509, it determines with there is no collision risk, and complete | finishes a process.

  On the other hand, when the collision possibility determination unit 1201 determines that the road with the specified road ID is a priority road (step S1503; Yes), the intersection ID of the intersection including the specified road is specified, and the vehicle is in the specified intersection range. It is determined whether or not the vehicle has entered (step S1504).

  When the collision possibility determination unit 1201 determines that the vehicle has not entered the intersection designation range (step S1504; No), it waits as it is.

  On the other hand, if the collision possibility determination unit 1201 determines that the vehicle has entered the intersection designation range (step S1504; Yes), whether or not the speed of the vehicle traveling on the priority road exceeds the vehicle vehicle speed threshold value. Is determined (step S1505), and if it is determined that the speed of the vehicle does not exceed the vehicle speed threshold (step S1505; No), the process proceeds to step S1509.

  On the other hand, when the collision possibility determination unit 1201 determines that the vehicle speed exceeds the vehicle vehicle speed threshold value (step S1505; Yes), the speed of the vehicle traveling on the non-priority road is further determined as the vehicle vehicle speed threshold value. It is determined whether or not it exceeds (step S1506).

  If the collision possibility determination unit 1201 determines that the speed of the vehicle traveling on the non-priority road does not exceed the vehicle vehicle speed threshold (step S1506; No), the process proceeds to step S1509.

On the other hand, if the collision possibility determination unit 1201 determines that the speed of the vehicle traveling on the non-priority road exceeds the vehicle vehicle speed threshold (step S1506; Yes), it determines that there is a collision risk (step S1507). The collision determination result is output (step S1508).
When the process of step S1508 ends, the collision determination result is then transmitted to the vehicle determined to have a collision possibility, and the in-vehicle communication device 300 mounted on the vehicle displays a warning.

  As described above, the roadside communication device 100 installed on the roadside and for preventing a collision between the vehicles, the communication unit and the wireless transmission / reception unit 1101 travel when the vehicle enters a predetermined range. Road information indicating that the storage unit 1300 receives information or transmits a determination result indicating that the vehicle may collide with another vehicle to another vehicle that has entered the predetermined range, and indicates the location of at least two roads And intersection information indicating a point where the road intersects, and a collision possibility determination condition which is a condition for determining whether or not the vehicles may collide when the vehicle enters the intersection. When the wireless transmission / reception unit 1101 receives travel information from the vehicle, the collision possibility determination unit 1201 identifies the intersection where the vehicle has entered based on the received travel information, road information, and intersection information. Based on the travel information and the collision possibility determination condition, it is determined whether or not the vehicle may collide with another vehicle at the specified intersection, and it is determined that the vehicle may collide with another vehicle. Since the determination result is output only in the case, smooth communication can be performed even when a large number of vehicles exist within the communication range. For example, since the roadside communication device 100 transmits the collision determination result only to vehicles that have a possibility of collision within the intersection designation range, the maximum number of vehicles that can be accommodated within the intersection range can be increased. Further, the collision phenomenon between the roadside communication device 100 and the vehicle in the intersection range can be reduced, and as a result, the communication quality between the roadside communication device 100 and the vehicle is maintained and the communication efficiency is lowered. Can be suppressed.

  Further, even when the roadside communication device 100 transmits travel information instead of the collision determination result, it is determined whether or not the vehicle may collide with another vehicle at the intersection, and the vehicle can collide with the other vehicle. Since the travel information is output only when it is determined that there is a possibility, smooth communication can be performed even when a large number of vehicles exist within the communication range compared to the case where the travel information is transmitted as it is. it can.

  Subsequently, the ITS center server 200 transmits road information, collision possibility determination conditions, and update information for setting and updating intersection information to the roadside communication device 100, and road DB1302, intersection DB1303, collision possibility determination DB1304. A case of setting or updating is described.

  FIG. 16 is a sequence diagram illustrating a processing procedure until the ITS center server 200 sets or updates various DBs of the roadside communication device 100.

  As illustrated in FIG. 16, when the ITS center server 200 receives an input of update information and an update instruction, the ITS center server 200 transmits the received update information to the roadside communication device 100 (step S1601), and updates the road DB of the roadside communication device 100. The unit 1203, the collision possibility determination condition update unit 1204, and the intersection update unit 1205 update the respective DBs according to the update information (step S1602), and the roadside communication device 100 transmits confirmation information to the ITS center server 200 ( Step S1603). Thereafter, the display unit 2400 of the ITS center server 200 displays the update information, and the administrator or the like confirms the content of the update information.

  As described above, in the ITS center server 200, the input reception unit 2300 receives the road information, the intersection information, and the collision possibility determination condition, and the transmission / reception processing unit 2101 receives the road information and the intersection received by the input reception unit 2300. The information and the collision possibility determination condition are transmitted to the roadside communication device 10, and the roadside communication device 100 causes the transmission / reception processing unit 1102 to receive the road information, the intersection information, and the collision possibility determination condition transmitted from the ITS center server 200. The setting unit (road DB update unit 1203, collision possibility determination condition update unit 1204, intersection DB update unit 1205) stores the road information, intersection information, and collision possibility determination condition received by the transmission / reception processing unit 1101. Since the setting is made in the unit 1300, the administrator or the like is necessary for the roadside communication device 100 that is remote from the ITS center server 200. In response, it makes the settings and update, it is possible to check the contents of the updated information on the spot.

  It should be noted that the present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. In addition, various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the above embodiments. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, constituent elements over different embodiments may be appropriately combined.

1000: Collision prevention system 1000, 100: Roadside communication device, 200: ITS center server, 300: In-vehicle communication device, 1100: Communication processing unit (roadside communication device), 1200: Vehicle information processing unit, 1101: Wireless transmission / reception unit, 1102 : Transmission / reception unit (roadside communication device) 1103: Vehicle information transfer unit 1104: Vehicle travel information reception processing unit 1201: Collision possibility determination unit 1202: Vehicle DB update unit 1203: Road DB update unit 1204: Collision Possibility determination condition update unit, 1205: intersection DB update unit, 1300: storage unit (roadside communication device), 1301: vehicle DB, 1302: road DB, 1303: intersection DB, 1304: collision possibility determination condition DB, communication processing Unit 2100 (ITS center server), 2101: transmission / reception processing unit (ITS center server), 2200: information Setting unit, 2300: input receiving unit, 2400: display unit, 2201: road information setting unit, 2202: collision possibility determination condition information setting unit, 2203: intersection information setting unit, 3100: communication processing unit (in-vehicle communication device), 3200: Vehicle information processing unit, 3300: Vehicle sensor processing unit, 3101: Wireless transmission / reception unit, 3102: Own vehicle running information receiving unit, 3201: Own vehicle running information processing unit, 3202: Warning unit, 3301: Own vehicle position detecting unit 3302: Own vehicle travel speed detection unit, 3303: Own vehicle traveling direction detection unit, N: network.

Claims (7)

A collision prevention device installed on the roadside to prevent a collision between vehicles,
When a vehicle enters a predetermined range of an intersection, it receives travel information indicating the travel status of the vehicle, or enters a determination result indicating that the vehicle may collide with another vehicle. A roadside communication unit for transmitting to the other vehicle;
At least two road locations and road information including priority information indicating whether the road is a priority road, intersection information indicating a point where the road intersects, and the vehicles when the vehicle enters the intersection A roadside storage unit that stores a collision possibility determination condition that is a condition for determining whether or not there is a possibility of a collision;
When the roadside communication unit receives the travel information from the vehicle, it is determined whether the road on which the vehicle is traveling is a priority road based on the received travel information and the road information. If it is determined that the vehicle is traveling on a priority road, the intersection where the vehicle has entered is further specified based on the intersection information, and the received traveling information and the vehicle speed threshold value of the priority road at the intersection Based on the collision possibility determination condition including the first threshold value, it is determined whether or not the vehicle exceeds the first threshold value at the specified intersection, and the vehicle exceeds the first threshold value. If it is determined that, with the other vehicle by determining whether the speed of the other vehicle to further travel non-priority road exceeds the second threshold value is a vehicle speed threshold of the non-priority road in the intersection Determines whether there is a possibility of collision, the collision possibility determination unit which the vehicle to output the determination result only when it is determined that there is a possibility of collision with the other vehicle,
An anti-collision device comprising: The collision possibility determination unit is configured to identify the intersection based on the traveling information including at least the position of the own vehicle, the moving direction of the own vehicle, and the moving speed of the own vehicle, and the collision possibility determination condition. Determining whether or not the vehicle may collide with the other vehicle;
The collision preventing apparatus according to claim 1. A collision prevention method for preventing collision between vehicles,
A receiving step in which a roadside communication unit receives travel information indicating a travel state of the vehicle when the vehicle enters a predetermined range of an intersection ;
When the collision possibility determination unit receives the travel information from the vehicle, the received travel information and road information including priority information indicating whether or not the road is at least two road locations and priority roads. If it is determined whether the road on which the vehicle is traveling is a priority road, and if it is determined that the vehicle is traveling on a priority road, intersection information indicating a point where the road further intersects Based on the above, the intersection where the vehicle has entered is identified, and the vehicles collide with each other when the vehicle enters the intersection, including the received travel information and a first threshold that is a vehicle speed threshold of the priority road at the intersection. is a condition for determining whether there is a possibility of, based on the collision possibility determination condition, determines whether or not exceeds the first threshold value in the specified the intersection, the vehicle Is determined to exceed the first threshold, it is further determined whether the speed of the other vehicle traveling on the non-priority road exceeds a second threshold that is a vehicle speed threshold of the non-priority road at the intersection. It is determined whether or not the vehicle has a possibility of a collision with the other vehicle, and only when the vehicle has a possibility of a collision with the other vehicle, the vehicle has a collision with the other vehicle. A collision possibility determination step for outputting a determination result indicating the possibility,
A transmission step in which the roadside communication unit transmits the determination result output in the collision possibility determination step to the other vehicle that has entered the predetermined range;
A collision prevention method comprising: On the computer,
A receiving step in which a roadside communication unit receives travel information indicating a travel state of the vehicle when the vehicle enters a predetermined range of an intersection ;
When the collision possibility determination unit receives the travel information from the vehicle, the received travel information and road information including priority information indicating whether or not the road is at least two road locations and priority roads. If it is determined whether the road on which the vehicle is traveling is a priority road, and if it is determined that the vehicle is traveling on a priority road, intersection information indicating a point where the road further intersects Based on the above, the intersection where the vehicle has entered is identified, and the vehicles collide with each other when the vehicle enters the intersection, including the received travel information and a first threshold that is a vehicle speed threshold of the priority road at the intersection. is a condition for determining whether there is a possibility of, based on the collision possibility determination condition, determines whether or not exceeds the first threshold value in the specified the intersection, the vehicle Is determined to exceed the first threshold, it is further determined whether the speed of the other vehicle traveling on the non-priority road exceeds a second threshold that is a vehicle speed threshold of the non-priority road at the intersection. It is determined whether or not the vehicle has a possibility of a collision with the other vehicle, and only when the vehicle has a possibility of a collision with the other vehicle, the vehicle has a collision with the other vehicle. A collision possibility determination step for outputting a determination result indicating the possibility,
A transmission step in which the roadside communication unit transmits the determination result output in the collision possibility determination step to the other vehicle that has entered the predetermined range;
A collision prevention program characterized in that the program is executed. A collision prevention system for preventing collision between vehicles,
The in-vehicle communication device mounted on the vehicle is
A detection unit for detecting travel information indicating a travel state of the host vehicle;
A vehicle communication unit that transmits the travel information or receives a determination result that the host vehicle may collide with another vehicle;
A display unit for displaying the determination result received by the vehicle communication unit,
The anti-collision device installed on the roadside
A roadside communication unit that receives the travel information when the vehicle enters a predetermined range of an intersection , or transmits the determination result to the other vehicle that has entered the predetermined range;
At least two road locations and road information including priority information indicating whether the road is a priority road, intersection information indicating a point where the road intersects, and the vehicles when the vehicle enters the intersection A roadside storage unit that stores a collision possibility determination condition that is a condition for determining whether or not there is a possibility of a collision;
When the roadside communication unit receives the travel information from the vehicle, it is determined whether the road on which the vehicle is traveling is a priority road based on the received travel information and the road information. If it is determined that the vehicle is traveling on a priority road, the intersection where the vehicle has entered is further specified based on the intersection information, and the received traveling information and the vehicle speed threshold value of the priority road at the intersection Based on the collision possibility determination condition including the first threshold value, it is determined whether or not the first intersection value is exceeded at the specified intersection, and the vehicle exceeds the first threshold value. If it is determined, and the vehicle is the other vehicle by determining whether the speed of the other vehicle to further travel non-priority road exceeds the second threshold value is a vehicle speed threshold of the non-priority road in the intersection Determines whether there is a possibility of collision, the collision possibility determination unit which the vehicle to output the determination result only when it is determined that there is a possibility of collision with the other vehicle,
An anti-collision system comprising: An input receiving unit that receives input of the road information, the intersection information, and the collision possibility determination condition;
A server device comprising: a setting communication unit that transmits the road information, the intersection information, and the collision possibility determination condition received by the input reception unit to the collision prevention device;
The anti-collision device is
The roadside communication unit receives the road information, the intersection information, and the collision possibility determination condition transmitted from the server device,
Further comprising a setting unit that sets the road information, the intersection information, and the collision possibility determination condition received by the roadside communication unit in the roadside storage unit;
The collision prevention system according to claim 5. The vehicle communication unit of the in-vehicle communication device and the roadside communication unit of the collision prevention device communicate by a CSMA / CA (Carrier-Sense Multiple Access with Collision Avoidance) method,
The collision prevention system according to claim 5 or 6.

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