JP6479261B2 - Roadside device, in-vehicle device, and road-to-vehicle communication system - Google Patents

Description

  The present invention relates to a roadside device, an in-vehicle device, and a road-to-vehicle communication system in a road-to-vehicle communication system that performs communication between a roadside device installed on a roadside and an in-vehicle device mounted on a vehicle.

  In autonomous driving vehicles, a consensus building process is required to uniquely determine information or conclusions among multiple vehicles by communication in many situations, such as when performing merge control of merge vehicles that merge from a merge road to the main line. In the field of databases, Paxos is known as an algorithm for realizing consensus formation safely even when nodes operating asynchronously on a network occur (Non-Patent Document 1, Patent Document 1). Paxos guarantees that the agreed value is one even in an environment where there are a plurality of nodes that cannot communicate by using the concept of majority vote.

  Usually, Paxos assumes that the number of nodes is known, such as synchronization of distributed storage servers, and is used in a wired communication environment. Therefore, when applying Paxos to consensus building between traveling vehicles, the vehicle that is the subject of consensus building is not known, and the range where the vehicle that is subject to consensus formation is the same as the reach of wireless communication There is a problem that the majority cannot be determined because the number of vehicles is not known. As a technique for estimating the number of traveling vehicles, in Patent Document 2, a communication device that requires information on the number of surrounding vehicles receives and records vehicle information transmitted by an in-vehicle device mounted on the surrounding vehicle. Thus, a technique for estimating the number of surrounding vehicles is disclosed. Patent Document 3 discloses a technique for estimating the number of vehicles in a communication area by a roadside sensor in order to perform communication scheduling.

International Publication No. 2015/033451 JP 2009-081563 A JP-A-8-223081

“Paxos Made Simple” by Leslie Lamport ACM SIGACT News32, Dec. 2001.

  When consensus building using Paxos is performed in the merge control of the autonomous driving vehicle, it is necessary to determine the vehicle that is the object of consensus building and to know the number of vehicles that are the object of consensus building. In the technique described in Patent Document 2, the number of surrounding vehicles can be grasped only by wireless communication, but the actually received wireless signals differ depending on the environment such as the positional relationship of the vehicle or the performance of the receiver. Therefore, there has been a problem that the estimated value of the number of vehicles varies. Further, in the technique described in Patent Document 3, when the number of vehicles in an arbitrary area is estimated and notified by the roadside sensor, if the area including the vehicle that is the object of consensus formation does not match the communication area, There was a problem that the vehicle side could not judge whether the vehicle was subject to consensus building.

  The present invention has been made in view of the above, and an object of the present invention is to provide a roadside device that provides information that enables control by a consensus building algorithm using a majority vote in a vehicle equipped with an in-vehicle device.

  In order to solve the above-described problems and achieve the object, the present invention is a roadside device that constitutes a road-vehicle communication system together with an in-vehicle device mounted on a vehicle. The roadside device uses a consensus algorithm based on majority decision when a merging vehicle, which is a vehicle that will join the main line at the merging position on the main line, is detected on a merging road that is a road connected to the main line at the merging position. Control of the consensus building algorithm based on the consensus formation range information indicating the area on the main line that is the target of the vehicle to be controlled to receive the car on the main line and that is the vehicle traveling on the main line A vehicle number estimation unit that estimates the number of vehicles traveling on the main line. The roadside device includes a wireless communication unit that transmits an agreement formation start message including information on the number of vehicles estimated by the vehicle number estimation unit and information on an agreement formation range to the main traveling vehicle.

  The vehicle-mounted device according to the present invention has an effect that it is possible to provide information that enables control by a consensus building algorithm using majority vote in a vehicle equipped with the vehicle-mounted device.

The figure which shows the structural example of the road-to-vehicle communication system concerning Embodiment 1. FIG. The figure which shows the connection relation of the roadside apparatus concerning Embodiment 1. The figure which shows the structural example of the roadside apparatus concerning Embodiment 1. FIG. The figure which shows the example of the hardware constitutions which implement | achieve the roadside apparatus concerning Embodiment 1. The figure which shows the other example of the hardware constitutions which implement | achieve the roadside apparatus concerning Embodiment 1. FIG. The flowchart which shows the process which the roadside apparatus concerning Embodiment 1 transmits a consensus formation start message to a vehicle-mounted apparatus. The figure which shows the relationship between the position and time of each vehicle of a merging vehicle and a main line travel vehicle when the roadside apparatus concerning Embodiment 1 transmits an agreement formation start message. The figure which shows the structural example of the vehicle-mounted apparatus concerning Embodiment 1. FIG. The flowchart which shows a process when the vehicle-mounted apparatus concerning Embodiment 1 receives the consensus formation start message from the roadside apparatus. The flowchart which shows a process when the vehicle-mounted apparatus concerning Embodiment 1 receives the proposal message from another vehicle-mounted apparatus. In Embodiment 1, the flowchart which shows a process when the vehicle-mounted apparatus which transmitted the proposal message receives a response message from another vehicle-mounted apparatus. The figure which shows the structural example of the road-vehicle communication system concerning Embodiment 2. FIG. The figure which shows the structural example of the roadside apparatus concerning Embodiment 2. FIG. The figure which shows the example of the hardware constitutions which implement | achieve the roadside apparatus concerning Embodiment 2. FIG. The figure which shows the other example of the hardware constitutions which implement | achieve the roadside apparatus concerning Embodiment 2. FIG. The figure which shows the structural example of the roadside apparatus concerning Embodiment 3. FIG. The figure which shows the structural example of the vehicle-mounted apparatus concerning Embodiment 4. FIG. In Embodiment 4, the flowchart which shows a process when the vehicle-mounted apparatus which transmitted the proposal message receives a response message from another vehicle-mounted apparatus. The figure which shows the structural example of the vehicle-mounted apparatus concerning Embodiment 5. FIG. In Embodiment 5, the flowchart which shows a process when the vehicle-mounted apparatus which transmitted the proposal message receives a response message from another vehicle-mounted apparatus.

  Hereinafter, a roadside device, an in-vehicle device, and a road-vehicle communication system according to embodiments of the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

Embodiment 1 FIG.
FIG. 1 is a diagram illustrating a configuration example of a road-vehicle communication system 1 according to a first embodiment of the present invention. A merging vehicle 101 that is a vehicle traveling on a merging road and a main traveling vehicles 102 to 109 that are vehicles traveling on a main line are equipped with an in-vehicle device 10 that is a communication device that performs wireless communication with the roadside device 20. On the road side of the main line, a roadside device 20 that is a communication device that performs wireless communication with the in-vehicle device 10 is installed. The merge road is a road connected to the main line at the merge position 901. The merge vehicle 101 is a vehicle that merges with the main line at a merge position 901 on the main line.

  On the road side of the main line, a main line vehicle detection unit 30 for detecting the passing time, speed, number of vehicles, etc. of the main line traveling vehicle is installed. When detecting the main line traveling vehicle, the main line vehicle detection unit 30 transmits main line vehicle information, which is vehicle information including information such as the passing time, speed, and number of the main line traveling vehicles, to the roadside device 20. The roadside device 20 can recognize that a vehicle has been detected on the main line, that is, that there is a main traveling vehicle, by receiving main line vehicle information from the main line vehicle detection unit 30.

  On the road side of the merging road, a merging vehicle detection unit 40 that detects the passing time, speed, and number of merging vehicles is installed. When detecting the merged vehicle, the merged vehicle detection unit 40 transmits merged vehicle information, which is vehicle information including information such as the passing time, speed, and number of the merged vehicle, to the roadside device 20. The roadside device 20 can recognize that a vehicle has been detected on the merging road, that is, that there is a merging vehicle, by receiving the merging vehicle information from the merging vehicle detection unit 40.

  The road-vehicle communication system 1 is a system including an in-vehicle device 10 and a roadside device 20. The roadside device 20 can communicate with the in-vehicle device 10 in the communication area 202. In the road-to-vehicle communication system 1, the main road traveling vehicles 105 to 108 included in the consensus formation range indicated by the area information 201 among the main road traveling vehicles 102 to 109 are based on messages received from the roadside device 20 and other main road traveling vehicles. Thus, when the merge vehicle 101 merges with the main line at the merge position 901, merge control such as acceleration, deceleration, or lane change is performed. The main line traveling vehicles 105 to 108 are main line traveling vehicles to be controlled to receive the confluence vehicle 101 on the main line by a consensus building algorithm based on majority vote. The consensus formation range indicated by the area information 201 indicates an area on the main line that specifies a target main traveling vehicle to be controlled to receive the confluence vehicle 101 on the main line by a consensus formation algorithm based on majority vote.

  When the roadside device 20 receives the merged vehicle information from the merged vehicle detection unit 40, the roadside device 20 determines that the merged vehicle has been detected on the merged road. When the merging vehicle is detected, the roadside device 20 estimates the time at which each vehicle reaches the merging position 901 using the main vehicle information of each vehicle obtained from the main vehicle detection unit 30. The roadside device 20 estimates the main traveling vehicles 105 to 108 estimated to be traveling in an area based on the combined formation range including the merge position 901 at the merge time of the merge vehicle 101, and controls the agreement formation algorithm Estimate the number of vehicles traveling on the main line. The roadside device 20 transmits an agreement formation start message indicating the start of agreement formation at a time when the main traveling vehicles 105 to 108 are within the agreement formation range indicated by the area information 201.

  The consensus building start message indicates information on the number of vehicles traveling on the main line subject to control of the consensus building algorithm and an area on the main line for identifying the main traveling vehicle subject to control of the consensus building algorithm by majority vote. Area information 201 that is a consensus formation range is included. As the area information 201, for example, information such as within a certain distance along the road from coordinates such as latitude and longitude where the roadside device 20 is installed is used. Specifically, the area information 201 included in the consensus formation start message is the latitude and longitude of the roadside device 20, the distance 208 in the traveling direction of the vehicle, and the distance 209 in the reverse direction opposite to the traveling direction of the vehicle. The distance 208 in the traveling direction and the distance 209 in the reverse direction may be represented by coordinates such as latitude and longitude, as in the roadside device 20. In the following description, the “object that controls the consensus building algorithm” may be referred to as the “consensus building object”.

  When the main line traveling vehicles 105 to 108 receive the consensus formation start message from the roadside device 20, the main line traveling vehicles 105 to 108 start the process of the consensus formation algorithm to be described later with the reception of the consensus formation start message as a trigger. The contents of the consensus building algorithm control in the main line traveling vehicles 105 to 108 include, for example, which vehicle accelerates or decelerates to increase the inter-vehicle distance, which vehicle changes the lane to the right lane, and the like. When the main line traveling vehicles 105 to 108 perform control such as acceleration / deceleration or lane change through the process of the consensus building algorithm, the merge vehicle 101 smoothly merges with the main line when it reaches the merge position 901. be able to.

  FIG. 2 is a diagram illustrating a connection relationship of the roadside device 20 according to the first embodiment. The main line vehicle detection unit 30 detects, for example, the passage time, speed, and number of main line traveling vehicles that pass through the detection area 301 on the main line, using a camera, an ultrasonic sensor, an infrared sensor, or the like. The merge vehicle detection unit 40 has the same configuration as the main vehicle detection unit 30. The junction vehicle detection unit 40 detects the passing time, speed, number, and the like of the junction vehicle passing through the detection area 401 on the junction road. The roadside device 20 receives main line vehicle information from the main line vehicle detection unit 30 and receives merging vehicle information from the merging vehicle detection unit 40 by wireless communication or wired communication.

  The configuration of the roadside device 20 will be described. FIG. 3 is a diagram illustrating a configuration example of the roadside device 20 according to the first embodiment. The roadside device 20 includes a wireless communication unit 21, an agreement formation range setting unit 22, and a vehicle number estimation unit 23.

  The wireless communication unit 21 transmits and receives messages to and from the in-vehicle device 10 by wireless communication. In addition, the wireless communication unit 21 receives main line vehicle information from the main line vehicle detection unit 30, and outputs the received main line vehicle information to the vehicle number estimation unit 23. Further, the wireless communication unit 21 receives the merging vehicle information from the merging vehicle detection unit 40, and outputs the received merging vehicle information to the vehicle number estimation unit 23. The roadside device 20 may be connected to the main line vehicle detection unit 30 and the junction vehicle detection unit 40 by wired communication. In this case, the roadside device 20 may further include a wired communication unit, or may directly connect the vehicle number estimation unit 23, the main line vehicle detection unit 30, and the merged vehicle detection unit 40. Hereinafter, the case where the roadside device 20 is connected to the main line vehicle detection unit 30 and the junction vehicle detection unit 40 by wireless communication will be described.

  The consensus formation range setting unit 22 holds consensus formation range information indicating an area on the main line that identifies a main line traveling vehicle that is subject to control for accepting a merging vehicle on the main line by controlling a consensus formation algorithm by majority vote. The agreement formation range setting unit 22 sets an agreement formation range for the vehicle number estimation unit 23.

  The number-of-vehicles estimation unit 23 includes main line vehicle information and merging vehicle information acquired from the wireless communication unit 21, information on the distance from the main line vehicle detection unit 30 to the merging position 901, and distance from the merging vehicle detection unit 40 to the merging position 901. Based on this information, the merging time at which the merging vehicle 101 merges with the main line at the merging position 901 is estimated. In addition, the vehicle number estimation unit 23 uses the information on the consensus formation range to estimate a main road traveling vehicle that travels in a first region including the confluence position 901 that is based on the consensus formation range at the merge time. Here, the vehicle number estimation unit 23 estimates the number of main line traveling vehicles traveling in the first region at the merging time. In addition, the vehicle number estimation unit 23 sets the roadside device based on the information on the distance from the roadside device 20 to the merging position 901 based on the installation position of the roadside device 20 by the main road traveling vehicle traveling in the first region at the merging time. The time included in the consensus building range that is the second area including the position is estimated as the transmission time of the consensus building start message. The vehicle number estimation unit 23 performs control to transmit an agreement formation start message from the wireless communication unit 21 at the transmission time.

  FIG. 4 is a diagram illustrating an example of a hardware configuration that implements the roadside device 20 according to the first embodiment. In the roadside device 20, the wireless communication unit 21 is realized by a communication device 92. The consensus formation range setting unit 22 and the vehicle number estimation unit 23 are realized by software, firmware, or a combination of software and firmware. Software or firmware is described as a program and stored in the memory 90. When the processor 91 reads out and executes the program stored in the memory 90, the functions of the consensus formation range setting unit 22 and the vehicle number estimation unit 23 are realized. The memory 90 is, for example, a nonvolatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable ROM), an EEPROM (Electrically EPROM), or a magnetic disk. And a flexible disk, an optical disk, a compact disk, a mini disk, a DVD (Digital Versatile Disc), and the like. The processor 91 may be a CPU (Central Processing Unit), a processing device, an arithmetic device, a microprocessor, a microcomputer, a DSP (Digital Signal Processor), or the like.

  FIG. 5 is a diagram illustrating another example of a hardware configuration that implements the roadside device 20 according to the first embodiment. The memory 90 and the processor 91 shown in FIG. 4 may be configured by a dedicated processing circuit 93. The processing circuit 93 corresponds to, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. . Each function may be realized by the processing circuit 93 for each function, or each function may be realized by the processing circuit 93 collectively.

  In addition, about each function of the roadside apparatus 20, a part may be implement | achieved by software or firmware, and a part may be implement | achieved by a dedicated processing circuit. Thus, the roadside apparatus 20 can be realized by software, firmware, a dedicated processing circuit, or a combination thereof, and a communication device.

  Next, the operation of the roadside device 20 will be described. FIG. 6 is a flowchart illustrating a process in which the roadside device 20 according to the first embodiment transmits a consensus formation start message to the in-vehicle device 10. FIG. 7 is a diagram illustrating the relationship between the position of each vehicle in the merging vehicle 501 and the main traveling vehicles 502 to 504 and the time when the roadside device 20 according to the first embodiment transmits an agreement formation start message. .

  In FIG. 7, a solid line 501 indicates the relationship between the position of the joining vehicle and the time, and is represented as a joining vehicle 501. In addition, broken lines 502 to 504 are consensus formation targets that are estimated to travel in the region 531 of the consensus formation range size including the merge position 524 at the merge time 513 when the merge vehicle 501 merges with the main line at the merge position 524. The relationship between the position of the main traveling vehicle and the time is shown, and is represented as main traveling vehicles 502-504. In addition, the dotted line which has not provided the code | symbol in the position substantially parallel to the broken line of the main line travel vehicles 502-504 shows the relationship between the position of the main line travel vehicle which is not an agreement formation object, and time.

  Further, in the reference numeral in FIG. 7, reference numeral 531 denotes an area for discriminating the consensus formation target main traveling vehicles 502 to 504 that travel in the area of the consensus formation range including the merge position 524 at the merge time 513. , Written as region 531. Further, reference numeral 532 denotes an area where the main traveling vehicles 502 to 504 that are the objects of consensus formation travel at the transmission time 512 when the road side device 20 transmits the consensus formation start message. An area having the size of the consensus formation range including 521 is shown and denoted as area 532.

  Moreover, in FIG. 7, the roadside apparatus installation position 521 is a position where the roadside apparatus 20 is installed. The main line vehicle detection position 522 is a position where the main line vehicle detection unit 30 detects the main line traveling vehicles 502 to 504 and the like. The merge vehicle detection position 523 is a position where the merge vehicle detection unit 40 detects the merge vehicle 501. The merge position 524 is a position on the main line where the merge vehicle 501 merges from the merge road to the main line. The main line vehicle detection position 522 may be an installation position of the main line vehicle detection unit 30. Further, the merge vehicle detection position 523 may be an installation position of the merge vehicle detection unit 40. Each position is in a fixed positional relationship when the roadside device 20, the main line vehicle detection unit 30, and the merge vehicle detection unit 40 are installed. Therefore, the positional relationship between each position and information on the distance between the positions, for example, the distance from the roadside device installation position 521 to the merge position 524, the distance from the main vehicle detection position 522 to the merge position 524, and the merge vehicle detection position 523 Information such as the distance from the merging position 524 to the merging position 524 is set in advance in the vehicle number estimation unit 23 of the roadside device 20 by a user or the like.

  In FIG. 7, the current time 511 is the time when the merge vehicle detection unit 40 detects the merge vehicle 501. Other transmission time 512 and merging time 513 are times estimated by the vehicle number estimation unit 23 of the roadside device 20.

  In the flowchart of FIG. 6, in the roadside device 20, when the wireless communication unit 21 receives the merging vehicle information of the merging vehicle from the merging vehicle detection unit 40, the merging vehicle information from the merging vehicle detection unit 40 is transmitted to the vehicle number estimation unit 23. Output. The vehicle number estimation unit 23 determines that a merged vehicle has been detected by acquiring merged vehicle information of the merged vehicle detection unit 40 from the wireless communication unit 21 (step S1: Yes). The number-of-vehicles estimation unit 23 determines that the merging vehicle has not been detected before acquiring the merging vehicle information of the merging vehicle detection unit 40 from the wireless communication unit 21 (step S1: No), and detects the merging vehicle from the wireless communication unit 21. It waits until the merger vehicle information of the output part 40 is acquired.

  When the number-of-vehicles estimation unit 23 acquires the merge vehicle information, the vehicle number estimation unit 23 uses the passing time and speed of the merge vehicle 501 included in the merge vehicle information and information on the distance from the merge vehicle detection position 523 to the merge position 524. Time 513 is estimated (step S2). The number-of-vehicles estimation unit 23 can calculate the travel time from the merge vehicle detection position 523 to the merge position 524 by dividing the distance from the merge vehicle detection position 523 to the merge position 524 by the speed of the merge vehicle 501. The vehicle number estimation unit 23 estimates the merge time 513 by adding the travel time to the passage time.

  The vehicle number estimation part 23 acquires main line vehicle information from the main line vehicle detection part 30 via the wireless communication part 21 (step S3).

  The vehicle number estimation unit 23 uses the merge time 513 calculated in step S2, the main line vehicle information acquired in step S3, and the agreement formation range information set from the agreement formation range setting unit 22, and the merge time 513. The main line traveling vehicle that is estimated to be traveling in the region 531 that is the first area of the consensus formation range is identified, that is, the main line traveling vehicle that is the object of consensus formation. And the vehicle number estimation part 23 estimates the number of vehicles of the main line travel vehicle of agreement formation object (step S4). As shown in FIG. 7, the vehicle number estimation unit 23, as a mainline traveling vehicle estimated to be traveling in the region 531 at the merging time 513, that is, as a mainline traveling vehicle that is the object of consensus building, 504 is specified. The number-of-vehicles estimation unit 23 estimates the number of main line traveling vehicles subject to consensus formation as three.

  The vehicle number estimation unit 23 estimates the transmission time 512 included in the region 532 that is the second region where the main traveling vehicles 502 to 504 include the roadside device installation position 521 (step S5). The vehicle number estimation unit 23 divides the distance from the roadside device installation position 521 to the merging position 524 by the speed of the main line traveling vehicle included in the mainline vehicle information, thereby moving the travel time from the roadside device installation position 521 to the merging position 524. Can be calculated. The vehicle number estimation unit 23 estimates the transmission time 512 by subtracting the travel time from the merge time 513. The transmission time 512 is a region where the main traveling vehicles 502 to 504 traveling in the first region 531 at the merge time 513 are the second region including the roadside device installation position 521 based on the installation position of the roadside device 20. 532, that is, the time included in the consensus building range.

  The vehicle number estimation unit 23 waits until the transmission time 512 (step S6: No), and when the transmission time 512 is reached (step S6: Yes), the main line traveling vehicle to be controlled for the consensus building algorithm specified in step S4. A consensus formation start message including information on the number of vehicles and the consensus formation range that is the region 532 is generated and transmitted via the wireless communication unit 21 (step S7).

  Thereby, the roadside device 20 is based on the vehicle information acquired from the main line vehicle detection unit 30 and the merge vehicle detection unit 40, and the main line included in the region 531 at the merge time 513 when the merge vehicle 501 merges with the main line at the merge position 524. The traveling vehicles 502 to 504 can be specified. In addition, when the roadside device 20 includes the information on the area 532, that is, the consensus formation range in the consensus formation start message, even if the main traveling vehicles other than the consensus formation target main traveling vehicles 502 to 504 receive the consensus formation start message. It can be determined that the vehicle is not a consensus formation target. Further, the roadside device 20 includes the information on the number of main traveling vehicles to be agreed upon in the consensus forming start message, so that the main traveling vehicles 502 to 504 to be agreed upon are the number of main traveling vehicles to be agreed upon. And can be controlled by a consensus building algorithm using majority vote.

  Next, the configuration of the in-vehicle device 10 will be described. FIG. 8 is a diagram illustrating a configuration example of the in-vehicle device 10 according to the first embodiment. The in-vehicle device 10 includes a wireless communication unit 11, a message discrimination unit 12, a proposal response processing unit 13, a vehicle number recording unit 14, an agreement formation range determination unit 15, and a reception proposal analysis unit 16. The in-vehicle device 10 is connected to the vehicle coordinate detection unit 50, the proposal generation unit 60, and the reception proposal determination unit 70.

  The wireless communication unit 11 transmits and receives messages to and from the roadside device 20 or other in-vehicle device 10 by wireless communication. In the wireless communication unit 11, the consensus building algorithm is started in the consensus formation range determination unit 15, information that is a target of consensus formation is proposed in the proposal generation unit 60, and information that is a target of consensus formation is received from the proposal generation unit 60. When input, a proposal message including a proposal content that is information to be a consensus is transmitted to another in-vehicle device.

  The message discriminating unit 12 analyzes the content of the received message and controls the output destination of the information included in the message according to the message type.

  The proposal response processing unit 13 aggregates responses to the proposal contents included in the proposal message proposed from the host vehicle, and determines whether the proposal contents have been agreed or rejected.

  The number-of-vehicles recording unit 14 records information on the number of vehicles on the main line traveling vehicle that is a consensus formation target included in the consensus formation start message received from the roadside device 20.

  The consensus formation range determination unit 15 stores the consensus formation range information included in the consensus formation start message, and is based on the consensus formation range information and coordinate information such as the latitude and longitude of the host vehicle acquired from the vehicle coordinate detection unit 50. Then, it is determined whether or not the own vehicle is a consensus formation target. The consensus building range determination unit 15 performs control for starting the consensus building algorithm when the position of the host vehicle is included in the consensus building range.

  The reception proposal analysis unit 16 controls whether or not to make an agreement or rejection determination on the proposal content included in the proposal message received from another vehicle. The reception proposal analysis unit 16 records the determination result of the agreement when the content of the proposal proposed from another vehicle is determined to be agreed by the own vehicle. The reception proposal analysis unit 16 may record the content of the proposal received from the agreed other in-vehicle device 10 together with the determination result of the agreement. When the reception proposal analysis unit 16 records the agreement determination result, when receiving a proposal message with different proposal content from another in-vehicle device 10, the reception proposal analysis unit 16 does not notify the reception proposal determination unit 70 of the different proposal content. Also good. The reception proposal analysis unit 16 can reduce the load on the reception proposal determination unit 70 by performing control so that the reception proposal determination unit 70 does not determine different proposal contents.

  The vehicle coordinate detection unit 50 is a device that combines GPS (Global Positioning System) or GPS and distance information obtained from acceleration and vehicle speed pulses, and outputs the coordinate information of the host vehicle to the in-vehicle device 10 as latitude and longitude.

  The proposal generation unit 60 is, for example, a device that controls an autonomous driving vehicle, and determines whether or not the own vehicle decelerates to increase the inter-vehicle distance when there is a merging vehicle by determining the surrounding situation. As a result of the determination, the suggestion generation unit 60 is a case where the own vehicle performs an operation such as decelerating to increase the inter-vehicle distance, and when it is necessary to obtain some agreement with the surrounding vehicle, the in-vehicle device 10 The proposal content 123 is transmitted. Proposed content 123, which is the information that is the subject of consensus building under the control of consensus building algorithm, includes an identifier of the main traveling vehicle that performs control for accelerating and opening the rear inter-vehicle distance, and control for decelerating and opening the front inter-vehicle distance. An identifier of the main traveling vehicle to be performed or an identifier of the main traveling vehicle to change the lane is used.

  The reception proposal determination unit 70 is, for example, a device that controls an autonomous driving vehicle, and whether or not to agree with the proposal content proposed by another vehicle in consideration of the situation of surrounding vehicles and the situation of the host vehicle. Determine. Although not shown in FIG. 8, the apparatus for controlling the autonomous driving vehicle includes a proposal generation unit 60, a reception proposal determination unit 70, and a proposal result notification destination configuration.

  The hardware configuration of the in-vehicle device 10 is the same as that of the roadside device 20 shown in FIGS. 4 and 5. In the in-vehicle device 10, the wireless communication unit 11 is realized by a communication device 92. The message discriminating unit 12, the proposal response processing unit 13, the vehicle number recording unit 14, the consensus building range determination unit 15, and the reception proposal analysis unit 16 are realized by software, firmware, or a combination of software and firmware. Software or firmware is described as a program and stored in the memory 90. Functions of the message discriminating unit 12, the proposal response processing unit 13, the vehicle number recording unit 14, the consensus formation range determination unit 15, and the reception proposal analysis unit 16 by the processor 91 reading and executing the program stored in the memory 90. Is realized. Alternatively, the functions of the message discriminating unit 12, the proposal response processing unit 13, the vehicle number recording unit 14, the consensus formation range determination unit 15, and the reception proposal analysis unit 16 are realized by a dedicated processing circuit 93.

  Next, the operation of the in-vehicle device 10 will be described. FIG. 9 is a flowchart illustrating processing when the in-vehicle device 10 according to the first embodiment receives an agreement formation start message from the roadside device 20.

  In the in-vehicle device 10, the wireless communication unit 11 receives an agreement formation start message from the roadside device 20 (step S11). The wireless communication unit 11 extracts the information part by removing the header and the like from the consensus building start message, and outputs the message 120, which is the extracted information part, to the message discrimination unit 12.

  The message discriminating unit 12 analyzes the message 120 acquired from the wireless communication unit 11 (step S12). When the message discriminating unit 112 determines that the message 120 is a consensus formation start message, the message discriminating unit 112 determines whether the consensus formation target vehicle information described in the message 120 is the consensus formation target vehicle. Information on the agreement formation range is extracted, and the extraction information 121 is output to the vehicle number recording unit 14 and the agreement formation range determination unit 115. In FIG. 8, the message discriminating unit 12 outputs the extracted information 121 to the vehicle number recording unit 14 and the consensus building range determination unit 115, but individually outputs the information on the number of vehicles to the vehicle number recording unit 14. The agreement formation range information may be output to the agreement formation range determination unit 115.

  The number-of-vehicles recording unit 14 records information on the number of vehicles to be agreed upon acquired from the message discriminating unit 12 (step S13).

  The consensus formation range determination unit 15 records the consensus formation range information acquired from the message discrimination unit 12. The consensus formation range determination unit 15 acquires information on the coordinates of the own vehicle from the vehicle coordinate detection unit 50, and whether the coordinates of the own vehicle are included in the area indicated by the information on the consensus formation range, that is, the own vehicle forms an agreement. It is determined whether it is a target (step S14). If the own vehicle is not included in the area indicated by the information on the consensus formation range, the consensus formation range determination unit 15 determines that the own vehicle is not a consensus formation target (step S14: No), and ends the process. When the own vehicle is included in the area indicated by the information on the consensus formation range, the consensus formation range determination unit 15 determines that the own vehicle is a consensus formation target (step S14: Yes), and sends an agreement formation start request 122 to the proposal generation unit. 60 is notified (step S15).

  When the proposal content 123 is created by the proposal generation unit 60 that has received the consensus formation start request 122 (step S16: Yes), the wireless communication unit 11 uses the proposal content 123 created by the proposal generation unit 60 and the consensus formation range. A proposal message including the information 127 of the consensus formation range held by the determination unit 15 is generated, and the proposal message is transmitted to the other in-vehicle device 10 (step S17). When the proposal content 123 is not created by the proposal generation unit 60 (step S16: No), the in-vehicle device 10 ends the process.

  Here, the proposal content created by the proposal generation unit 60 is information that is the object of consensus formation under the control of the consensus formation algorithm. For example, the control that accelerates and opens the rear inter-vehicle distance is performed. For example, control to increase the inter-vehicle distance or change the lane. The proposal generation unit 60 assigns an identifier for identifying the host vehicle to the proposal content. Thereby, in other vehicles, when the contents of the proposal are confirmed, it is possible to grasp which vehicle actually performs the acceptance control of the merged vehicle.

  An operation of the in-vehicle device 10 when a proposal message transmitted by another in-vehicle device 10 is received will be described. FIG. 10 is a flowchart illustrating processing when the in-vehicle device 10 according to the first embodiment receives a proposal message from another in-vehicle device 10.

  In the in-vehicle device 10, the wireless communication unit 11 receives a proposal message from another in-vehicle device 10 (step S21). Regardless of whether or not the consensus building start message is received, the wireless communication unit 11 extracts the message part by removing the header from the proposal message, and outputs the message 120 that is the extracted message part to the message discrimination unit 12 To do.

  The message discriminating unit 12 analyzes the message 120 acquired from the wireless communication unit 11 (step S22). When the message discriminating unit 112 determines that the message 120 is a proposal message, the message discriminating unit 112 extracts the proposal content described in the message 120 and outputs the proposal content 124 to the reception proposal analysis unit 16.

  The reception proposal analysis unit 16 records the proposal content 124 acquired from the message discrimination unit 12. The reception proposal analysis unit 16 acquires information on the coordinates of the host vehicle from the vehicle coordinate detection unit 50, and whether the coordinates of the host vehicle are included in the area indicated by the information on the consensus formation range included in the proposal content 124, that is, It is determined whether or not the host vehicle is a consensus formation target (step S23). If the own vehicle is not included in the area indicated by the information on the consensus formation range, the reception proposal analysis unit 16 determines that the own vehicle is not a consensus formation target (No at Step S23) and ends the process. When the own vehicle is included in the area indicated by the information of the consensus formation range, the reception proposal analysis unit 16 determines that the own vehicle is an object of consensus formation (step S23: Yes) and sends the proposal content 125 to the reception proposal determination unit 70. Notification is made (step S24).

  The reception proposal determination unit 70 notifies the wireless communication unit 11 and the reception proposal analysis unit 16 of the determination results 126 and 130 as to whether or not the proposal content 125 is agreed.

  If the determination result 130 acquired from the reception proposal determination unit 70 is a proposal agreement (step S25: Yes), the reception proposal analysis unit 16 records the agreed proposal content 125 (step S26). The wireless communication unit 11 generates and transmits an agreement response message that is a response message indicating that the proposal content 125 is agreed (step S27). The agreement response message is given the identifier of the vehicle that has sent the proposal message.

  When the determination result 126 acquired from the reception proposal determination unit 70 is a rejection of the proposal (step S25: No), the wireless communication unit 11 generates and transmits a rejection response message that is a response message indicating that the proposal content 125 is rejected. (Step S28). The rejection response message is given the identifier of the vehicle that has sent the proposal message. If the agreed proposal content 125 is already recorded in the reception proposal analysis unit 16, the wireless communication unit 11 transmits the agreed proposal content 125 in the rejection response message. Similarly, when the reception proposal analysis unit 16 records the agreement determination result 130 and controls the reception proposal determination unit 70 not to make a determination, the wireless communication unit 11 similarly rejects the proposal content 125. Generate and send a message.

  An operation when the in-vehicle device 10 that has transmitted the proposal message receives a response message of an agreement response message or a rejection response message from another in-vehicle device 10 will be described. FIG. 11 is a flowchart showing processing when the in-vehicle device 10 that has transmitted the proposal message receives a response message from another in-vehicle device 10 in the first embodiment.

  In the in-vehicle device 10, the wireless communication unit 11 receives a response message from the other in-vehicle device 10 (step S31). The wireless communication unit 11 extracts a message part by removing a header from the response message, and outputs a message 120 that is the extracted message part to the message discrimination unit 12.

  The message discriminating unit 12 analyzes the message 120 acquired from the wireless communication unit 11 (step S32). When the message discriminating unit 12 confirms the identifier of the vehicle included in the message 120 and determines that the message 120 is a response message to the proposal message transmitted from the own vehicle, the message discriminating unit 12 extracts the determination result from the message 120 and displays the determination result 131. It outputs to the proposal response process part 13.

  When the content of the determination result 131 is an agreement response, that is, when the response message received by the host vehicle is an agreement response message (step S33: Yes), the proposal response processing unit 13 counts the number of agreement response messages (step S34). ). The proposal response processing unit 13 reads the vehicle number information 128 from the vehicle number recording unit 14, and when the number of consensus response messages exceeds a majority of the number of vehicles (step S35: Yes), the proposal content created by the own vehicle is It is determined that the agreement has been reached with another vehicle, and the successful proposal is notified to the external device as the proposal result 129 (step S36). As the external device, for example, a computer that controls automatic operation can be considered.

  When the number of consensus response messages does not exceed the majority of the number of vehicles (step S35: No), the proposal response processing unit 13 waits until the next determination result 131 is acquired from the message discriminating unit 12.

  When the content of the determination result 131 is a rejection response, that is, the response message received by the host vehicle is a rejection response message (step S33: No), the proposal response processing unit 13 determines that the proposal content created by the host vehicle is another vehicle. In step S37, the external device is notified of the proposal failure as the proposal result 129. When the determination result 131 extracted from the rejection response message includes the proposal content agreed with the other vehicle, the proposal response processing unit 13 displays the proposed content agreed with the other vehicle as the external device. Notify As described above, the proposal response processing unit 13 does not receive the rejection response message from the other in-vehicle device 10 and receives an agreement response message of a majority of the number of vehicles recorded in the vehicle number recording unit 14. It is determined that the proposal content included in the proposal message transmitted from the host vehicle has been agreed.

  As described above, according to the present embodiment, when the roadside device 20 detects a merging vehicle, the consensus building start message includes information on the number of vehicles traveling on the main line that are to be controlled by the consensus building algorithm, In addition, the information including the information on the consensus formation range including the main line traveling vehicle to be controlled by the consensus formation algorithm at the time of sending the consensus formation start message is transmitted. The in-vehicle device 10 determines whether or not the host vehicle is a consensus formation target based on the information included in the consensus formation start message, and in the case of the consensus formation target, transmits and receives a proposal message and a response message. Thereby, the roadside apparatus 20 can provide the information which enables control by the consensus building algorithm using majority vote with respect to the vehicle carrying the vehicle-mounted apparatus 10. FIG. When a plurality of vehicles equipped with the in-vehicle device 10 are traveling on the main line, the in-vehicle device 10 that has transmitted the proposal message can determine whether or not a majority of the proposal contents have been agreed. Application of the consensus building algorithm by majority vote described in Patent Document 1 becomes possible.

Embodiment 2. FIG.
Embodiment 1 demonstrated the case where the roadside apparatus 20 and the main line vehicle detection part 30 were installed in the different position. In Embodiment 2, the roadside device includes a main line vehicle detection unit. A different part from Embodiment 1 is demonstrated.

  FIG. 12 is a diagram illustrating a configuration example of a road-vehicle communication system 1a according to the second embodiment. On the road side of the main line, a roadside device 20a that performs wireless communication with the in-vehicle device 10 is installed. The roadside device 20a includes a main line vehicle detection unit that detects the passage time, speed, number, and the like of the main traveling vehicles 102 to 109 passing through the detection area 302 on the main line. The configuration of the main vehicle detection unit included in the roadside device 20a is the same as the configuration of the main vehicle detection unit 30 of the first embodiment.

  FIG. 13 is a diagram illustrating a configuration example of the roadside device 20a according to the second embodiment. The roadside apparatus 20a includes a wireless communication unit 21a, an agreement formation range setting unit 22, a vehicle number estimation unit 23a, and a main line vehicle detection unit 24.

  When the main line vehicle detection unit 24 detects the main line traveling vehicle, the main line vehicle detection unit 24 outputs main line vehicle information, which is vehicle information including information such as the passing time, speed, and number of main line traveling vehicles, to the vehicle number estimation unit 23a. The main line vehicle detection unit 24 is different from the main line vehicle detection unit 30 that transmits main line vehicle information by wireless communication, but other functions are the same as those of the main line vehicle detection unit 30.

  Compared with the wireless communication unit 21, the wireless communication unit 21 a has a function of receiving main line vehicle information from the main line vehicle detection unit 30. Other functions of the wireless communication unit 21 a are the same as those of the wireless communication unit 21.

The vehicle number estimation unit 23 a is different from the vehicle number estimation unit 23 in that the main line vehicle information is directly acquired from the main line vehicle detection unit 24. Further, when the vehicle number estimation unit 23a acquires the main line vehicle information from the main line vehicle detection unit 24, the number N _v of main line traveling vehicles per unit time passing through the detection area 301 of the vehicle number estimation unit 23a on the main line, and An average speed V _a is calculated. Number of vehicles estimation unit 23a, when the section length L _a a consensus range is set to consensus range setting unit 22, the estimated value N _e number of vehicles consensus target _{N v × L a / V a} - It is calculated by the following calculation. Further, the vehicle number estimation unit 23 a estimates the merging time by the same method as the vehicle number estimation unit 23. Number of vehicles estimating section 23a, and the distance from the installation position of the roadside apparatus 20a to the merging position 901 and L _b, it is estimated that the merging vehicle 101 travels a merging position 901 at the confluence time merging into the main line at the joining position 901 time T _2, the main vehicle passes near the roadside apparatus 20a can be calculated from the merging time T ₀ before and L _b / V _a time.

Time the number of vehicles estimation section 23a, the merging vehicle is detected by the merging vehicle detector 40, by the aforementioned calculation, the number of vehicles N _e consensus target and consensus target vehicle passes near the roadside apparatus 20a T ₂ is calculated. Then, the number of vehicles estimating unit 23a, a timing of time T _2, as the transmission time, information on the vehicle number N _e, and the consensus initiation message including the information of the section length L _a is a consensus range, wireless communication unit 21a To send through. For information section length L _a contained consensus start message, for example, the points and the end of the interval length L _a, it is assumed that the position on the main line is specified by coordinate information such as latitude and longitude.

  FIG. 14 is a diagram of an example of a hardware configuration that implements the roadside device 20a according to the second embodiment. In the roadside device 20a, the wireless communication unit 21a is realized by the communication device 92. The main line vehicle detection unit 24 is realized by a measuring instrument 94 such as a camera, an ultrasonic sensor, or an infrared sensor. The consensus formation range setting unit 22 and the vehicle number estimation unit 23a are realized by software, firmware, or a combination of software and firmware. Software or firmware is described as a program and stored in the memory 90. The processor 91 reads out and executes the program stored in the memory 90, thereby realizing the functions of the consensus building range setting unit 22 and the vehicle number estimation unit 23a.

  FIG. 15 is a diagram illustrating another example of a hardware configuration that implements the roadside device 20a according to the second embodiment. Similarly to the roadside device 20 of the first embodiment, the memory 90 and the processor 91 shown in FIG.

  In the roadside device 20a, the calculation process of the vehicle number estimation unit 23a is different from the calculation process of the vehicle number estimation unit 23, but the process flow as the roadside device 20a is the same as that of the roadside device 20 of the first embodiment. is there. The configuration and operation of the in-vehicle device 10 in the second embodiment are the same as those in the first embodiment.

  As described above, according to the present embodiment, the roadside device 20a includes the main line vehicle detection unit 24. Even in this case, the same effect as in the first embodiment can be obtained. Moreover, since it is not necessary to install the main line vehicle detection part 24 away from the roadside apparatus 20a, compared with Embodiment 1, installation cost can be reduced.

Embodiment 3 FIG.
In the third embodiment, a case will be described in which the consensus building range is dynamically changed according to the traffic situation of the main line traveling vehicle. A different part from Embodiment 1 is demonstrated.

  FIG. 16 is a diagram illustrating a configuration example of the roadside apparatus 20b according to the third embodiment. The roadside device 20b includes a wireless communication unit 21b, an agreement formation range setting unit 22b, a vehicle number estimation unit 23, and an agreement formation range table 25.

  The consensus formation range table 25 includes the consensus formation range setting 22b according to the traffic situation of the main line such as the vehicle density of the main traveling vehicle calculated from the passing time and speed of the vehicle detected by the main line vehicle detection unit 30 and the number of vehicles. In order to set consensus formation ranges of different sizes, information on a plurality of consensus formation ranges of different sizes is described. The agreement formation range table 25 may be stored in the storage unit.

  The agreement formation range setting unit 22b estimates the traffic situation such as the vehicle density of the main traveling vehicle from the speed and the number of main traveling vehicles included in the main vehicle information, and from the agreement formation range table 25 based on the traffic situation. Is set in the vehicle number setting unit 23. That is, the agreement formation range setting unit 22b switches the size of the agreement formation range depending on traffic conditions. The consensus formation range setting unit 22b selects, from the consensus formation range table 25, for example, the consensus formation range in which the size of the region becomes wider as the vehicle density calculated from the main line vehicle information of the main line vehicle detection unit 30 is higher. Further, the agreement formation range setting unit 22b may instruct the wireless communication unit 21b to transmit an agreement formation start message a plurality of times when the vehicle density calculated is higher than a preset vehicle density threshold. .

  The wireless communication unit 21b outputs the main line vehicle information received from the main line vehicle detection unit 30 to the consensus formation range setting unit 22b. Moreover, the radio | wireless communication part 21b transmits an agreement formation start message in multiple times, when there exists an instruction | indication from the agreement formation range setting part 22b.

  Note that the vehicle number setting unit 23 may perform the process of estimating the traffic situation such as the vehicle density of the main traveling vehicle from the main line vehicle information. When estimating the traffic situation such as the vehicle density, the vehicle number setting unit 23 notifies the consensus formation range setting unit 22b of the estimated traffic situation such as the vehicle density.

  The hardware configuration of the roadside device 20b is the same as the hardware configuration of the roadside device 20 of the first embodiment shown in FIG. In the roadside device 20b, the wireless communication unit 21b is realized by the communication device 92. The agreement formation range table 25 is realized by the memory 90. The agreement formation range setting unit 22b and the vehicle number estimation unit 23 are realized by software, firmware, or a combination of software and firmware. Software or firmware is described as a program and stored in the memory 90. When the processor 91 reads out and executes the program stored in the memory 90, the functions of the consensus formation range setting unit 22b and the vehicle number estimation unit 23 are realized.

  As for the hardware configuration of the roadside apparatus 20b, the memory 90 and the processor 91 shown in FIG. 4 may be configured by the dedicated processing circuit 93 shown in FIG. 5 as in the roadside apparatus 20 of the first embodiment.

  In the roadside device 20b, the process of the consensus formation range setting unit 22b is different from the process of the consensus formation range setting unit 22, but the process flow as the roadside device 20b is the same as that of the roadside device 20 of the first embodiment. is there. The configuration and operation of the in-vehicle device 10 in the third embodiment are the same as those in the first embodiment.

  As described above, according to the present embodiment, the roadside device 20b changes the size of the consensus building range depending on the traffic situation of the main line traveling vehicle. Thereby, since the number of vehicles involved in consensus building can be increased or decreased, the degree of freedom of proposal from the vehicle when applied to the merge control can be improved. In addition, an increase in opportunities for merge control can be expected.

Embodiment 4 FIG.
In the fourth embodiment, when an in-vehicle device that has transmitted a proposal message receives a rejection response message from another in-vehicle device, the in-vehicle device transmits a proposal message of new proposal contents. A different part from Embodiment 1 is demonstrated.

  FIG. 17 is a diagram illustrating a configuration example of the in-vehicle device 10c according to the fourth embodiment. The in-vehicle device 10c is obtained by deleting the proposal response processing unit 13 from the in-vehicle device 10 and adding a proposal response processing unit 13c. The in-vehicle device 10 c is connected to the vehicle coordinate detection unit 50, the proposal generation unit 60 c, and the reception proposal determination unit 70.

  In addition to the function of the proposal response processing unit 13, the proposal response processing unit 13c determines that a rejection response message has been received from another in-vehicle device 10c, and the received rejection response message agrees with a vehicle on which the other in-vehicle device 10c is mounted. When the proposed content is included, the request generation unit 60c is notified of the request for re-suggestion along with the proposed content included in the rejection response message. That is, the proposal response processing unit 13c performs control to cause the proposal generation unit 60c to transmit a new proposal message based on the proposal content included in the received rejection response message.

  The hardware configuration of the in-vehicle device 10c is the same as that of the roadside device 20 shown in FIG. In the in-vehicle device 10c, the wireless communication unit 11 is realized by the communication device 92. The message discriminating unit 12, the proposal response processing unit 13c, the vehicle number recording unit 14, the consensus building range determination unit 15, and the reception proposal analysis unit 16 are realized by software, firmware, or a combination of software and firmware. Software or firmware is described as a program and stored in the memory 90. Functions of the message discriminating unit 12, the proposal response processing unit 13c, the vehicle number recording unit 14, the consensus formation range determining unit 15, and the reception proposal analyzing unit 16 by the processor 91 reading and executing the program stored in the memory 90 Is realized.

  As for the hardware configuration of the in-vehicle device 10c, the memory 90 and the processor 91 shown in FIG. 4 may be configured by the dedicated processing circuit 93 shown in FIG. 5, as in the in-vehicle device 10 of the first embodiment.

  It continues and demonstrates operation | movement of the vehicle-mounted apparatus 10c. The processing when the in-vehicle device 10c receives an agreement formation start message from the roadside device 20 and the processing when the in-vehicle device 10c receives a proposal message from another in-vehicle device 10c are the in-vehicle device 10 of the first embodiment. This is the same as the processing of the flowcharts shown in FIG. 9 and FIG.

  FIG. 18 is a flowchart illustrating processing when the in-vehicle device 10c that has transmitted the proposal message receives a response message from another in-vehicle device 10c in the fourth embodiment. The processing from step S31 to step S37 is the same as the processing of the in-vehicle device 10 of the first embodiment shown in the flowchart of FIG.

  In the in-vehicle device 10c, when the proposal response processing unit 13c acquires the rejection response determination result 131 from the message discriminating unit 12, a new proposal message is transmitted to the proposal generating unit 60c after the process of step S37. A request is made (step S41). At this time, when the proposal result agreed with other vehicles is included in the determination result 131, the proposal response processing unit 13c notifies the proposal generation unit 60c of the proposal content included in the determination result 131.

  When the proposal generation unit 60c receives a transmission request for a new proposal message from the proposal response processing unit 13c, the proposal generation unit 60c updates the proposal content of the other vehicle when the proposal content of the other vehicle is notified from the proposal response processing unit 13c. The wireless communication unit 11 is notified as the proposal content 123. The wireless communication unit 11 generates a proposal message including the new proposal content 123 by the proposal generation unit 60c and the agreement formation range information 127 held by the agreement formation range determination unit 15, and transmits the proposal message to another in-vehicle device. To 10c.

  As described above, according to the present embodiment, the in-vehicle device 10c rejects the proposal transmitted from the own vehicle, and the rejection response message received from the other vehicle includes the proposal content agreed by the other vehicle. If so, a new proposal message based on the proposal contents of another vehicle is generated and transmitted. Thereby, it can suppress that a several vehicle agrees with different proposal content because the vehicle by which the proposal content was refused synchronizes with the proposal content of another vehicle.

Embodiment 5. FIG.
In the fifth embodiment, when a new proposal message is transmitted, the in-vehicle device waits for a certain period of time and then transmits the proposal message, which is different from the fourth embodiment.

  FIG. 19 is a diagram illustrating a configuration example of the in-vehicle device 10d according to the fifth embodiment. The in-vehicle device 10d is obtained by deleting the proposal response processing unit 13c from the in-vehicle device 10c and adding a proposal response processing unit 13d. The in-vehicle device 10d is connected to the vehicle coordinate detection unit 50, the proposal generation unit 60c, and the reception proposal determination unit 70.

  When the proposal response processing unit 13d determines that a rejection response message has been received from another vehicle in addition to the function of the proposal response processing unit 13c, the proposal response agreed by the other vehicle is included in the rejection response message After waiting for a prescribed time, that is, for a certain period of time, the proposal generation unit 60c is notified of the request for re-suggestion along with the proposal content included in the rejection response message.

  The hardware configuration of the in-vehicle device 10d is the same as that of the roadside device 20 shown in FIG. In the in-vehicle device 10d, the wireless communication unit 11 is realized by the communication device 92. The message discriminating unit 12, the proposal response processing unit 13d, the vehicle number recording unit 14, the consensus building range determination unit 15, and the reception proposal analysis unit 16 are realized by software, firmware, or a combination of software and firmware. Software or firmware is described as a program and stored in the memory 90. Functions of the message discriminating unit 12, the proposal response processing unit 13d, the vehicle number recording unit 14, the consensus formation range determining unit 15, and the reception proposal analyzing unit 16 by the processor 91 reading and executing the program stored in the memory 90 Is realized.

  As for the hardware configuration of the in-vehicle device 10d, as in the in-vehicle device 10 of the first embodiment, the memory 90 and the processor 91 shown in FIG. 4 may be configured by the dedicated processing circuit 93 shown in FIG.

  Next, the operation of the in-vehicle device 10d will be described. The processing when the in-vehicle device 10d receives an agreement formation start message from the roadside device 20 and the processing when the in-vehicle device 10d receives a proposal message from another in-vehicle device 10d are the in-vehicle device 10 of the first embodiment. This is the same as the processing of the flowcharts shown in FIG. 9 and FIG.

  FIG. 20 is a flowchart illustrating processing when the in-vehicle device 10d that has transmitted the proposal message receives a response message from another in-vehicle device 10d in the fifth embodiment. The processing in steps S31 to S37 and step S41 is the same as the processing of the in-vehicle device 10c of the fourth embodiment shown in the flowchart of FIG.

  In the in-vehicle device 10d, when the proposal response processing unit 13d acquires the rejection response determination result 131 from the message discriminating unit 12, the proposal generation unit waits for a certain period of time after the process of step S37 (step S51). A request for transmission of a new proposal message is made to 60c (step S41). At this time, the proposal response processing unit 13d notifies the proposal generation unit 60c of the proposal content included in the determination result 131 when the determination result 131 includes the proposal content agreed on by another vehicle.

  As described above, according to the present embodiment, the in-vehicle device 10d rejects the proposal from the own vehicle, and the rejection response message received from the other vehicle includes the proposal content of the other vehicle. Then, after waiting for a certain period of time, a proposal message based on the proposal contents of another vehicle is generated and transmitted. Thereby, it is possible to reduce the possibility that the proposal message retransmitted from the own vehicle collides with the consensus building sequence in progress in the other in-vehicle device 10d.

Embodiment 6 FIG.
In the sixth embodiment, the in-vehicle device transmits an access category of a proposal message to be newly transmitted lower than other messages. A different part from Embodiment 4 is demonstrated.

  The configuration of the in-vehicle device 10c according to the sixth embodiment is the same as that of the in-vehicle device 10c according to the fourth embodiment shown in FIG. In Embodiment 6, when the wireless communication unit 11 of the in-vehicle device 10c performs wireless communication based on the standards of IEEE (Institute of Electrical and Electronics Engineers) 802.11p and IEEE 1609, a rejection response message is received from the other in-vehicle device 10c. When a new proposal message is transmitted, the access category of the new proposal message is set lower than other messages, that is, messages other than the new proposal message.

  As described above, according to the present embodiment, the in-vehicle device 10c transmits a proposal message to be newly transmitted with a lower access category than other messages. Thereby, since the back-off time at the time of new proposal message transmission from the vehicle equipment 10c becomes longer than another message, the effect similar to Embodiment 5 can be acquired.

  The configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.

  DESCRIPTION OF SYMBOLS 1,1a Road-to-vehicle communication system 10,10c, 10d Vehicle-mounted apparatus 11,21,21a, 21b Wireless communication part, 12 Message discrimination part, 13,13c, 13d Proposal response processing part, 14 Vehicle number recording part, 15 Agreement Formation range determination unit, 16 reception proposal analysis unit, 20, 20a, 20b roadside device, 22, 22b agreement formation range setting unit, 23, 23a vehicle number estimation unit, 24, 30 main line vehicle detection unit, 25 agreement formation range table, 40 merged vehicle detection unit, 50 vehicle coordinate detection unit, 60, 60c proposal generation unit, 70 reception proposal determination unit, 101, 501 merged vehicle, 102-109, 502-504 main line traveling vehicle.

Claims (15)

A roadside device that constitutes a road-to-vehicle communication system with an in-vehicle device mounted on a vehicle,
When a merging vehicle, which is a vehicle that will merge into the main line at a merging position on the main line, is detected on a merging road that is a road connected to the main line at the merging position, the confluence vehicle is determined by a consensus building algorithm by majority vote. Based on information on a consensus formation range indicating an area for identifying a main line traveling vehicle that is a vehicle traveling on the main line on the main line. A vehicle number estimation unit for estimating the number of vehicles of the main traveling vehicle to be controlled by the algorithm;
A wireless communication unit for transmitting an agreement formation start message including information on the number of vehicles estimated by the vehicle number estimation unit and information on the agreement formation range to the main line traveling vehicle;
A roadside device comprising: The vehicle number estimation unit is
Main line vehicle information including information on the number of vehicles traveling on the main line, passing time and speed detected by the main line vehicle detection unit installed on the road side of the main line, and a junction vehicle detection unit installed on the road side of the junction road Merged vehicle information including information on the number of detected merged vehicles, passage time and speed, information on the distance from the main line vehicle detection unit to the merged position, and distance from the merged vehicle detection unit to the merged position Based on the information, the merging time, which is a time when the merging vehicle merges with the main line at the merging position, is estimated, and is a region based on the consensus formation range at the merging time and includes the merging position. The number of the main line traveling vehicles traveling in the area is estimated, and the main traveling vehicle traveling in the first area at the merging time includes a roadside apparatus installation position based on an installation position of the roadside apparatus. Estimates the time included in the consensus range is an area as a transmission time of the consensus initiation message,
At the transmission time, control to transmit the consensus formation start message from the wireless communication unit,
The roadside device according to claim 1. The vehicle number estimation unit is
A unit indicating the density of the main traveling vehicle passing through the detection area of the vehicle number estimating unit on the main line based on the information on the speed and the number of main traveling vehicles detected by the main line vehicle detecting unit included in the roadside device. Calculate the number of vehicles passing per hour and the average speed of the main line vehicle,
Using the information on the number of passing vehicles per unit time and the average speed of the mainline traveling vehicle, the number of mainline traveling vehicles traveling in the consensus formation range including the installation position of the roadside device is estimated,
Information on the distance from the roadside device to the merging position, merging vehicle information including information on the speed of the merging vehicle detected by a merging vehicle detection unit installed on the roadside of the merging road, and the merging vehicle detection unit Based on the distance information from the merging position to the merging position, the merging time is estimated to be the time when the merging vehicle merges with the main line at the merging position, and the main line is estimated to travel the merging position at the merging time. Estimating the time when the traveling vehicle passes the installation position of the roadside device as the transmission time of the consensus formation start message,
At the transmission time, control to transmit the consensus formation start message from the wireless communication unit,
The roadside device according to claim 1. An agreement formation range setting unit that switches the size of the agreement formation range based on the speed and the number of the main traveling vehicles detected by the main line vehicle detection unit,
The roadside device according to claim 2, further comprising: An in-vehicle device that constitutes a road-to-vehicle communication system together with the roadside device according to any one of claims 1 to 4,
A wireless communication unit that receives a consensus building start message from the roadside device;
A vehicle number recording unit for recording information on the number of vehicles traveling on the main line, which is a vehicle running on the main line, which is a target for performing control for accepting the merged vehicle to the main line by the consensus building algorithm based on majority decision included in the consensus formation start message. When,
Stored in the consensus formation start message is information on the consensus formation range indicating an area on the main line that specifies the main traveling vehicle to be controlled by the consensus formation algorithm, and the position of the host vehicle is the consensus formation range. Included in the consensus building algorithm, the consensus building range determination unit that performs control to start the consensus building algorithm;
A vehicle-mounted device comprising: Main line travel that performs control to accelerate and open the rear inter-vehicle distance or information that decelerates and opens the front inter-vehicle distance to the information that is the object of consensus formation under the control of the consensus building algorithm Give the identifier of the car or the identifier of the main traveling vehicle that changes the lane,
The in-vehicle device according to claim 5. The wireless communication unit, when the consensus building algorithm is started in the consensus building range determination unit and information that is the object of the consensus building is proposed, the proposed content that is the information that is the subject of the proposed consensus building Send a proposal message containing
The in-vehicle device according to claim 6 characterized by things. When a proposal message is received from another in-vehicle device and an agreement is determined for the proposal content included in the proposal message from the other in-vehicle device, a reception proposal analysis unit that records the determination result of the agreement,
With
The wireless communication unit transmits an agreement response message including an agreement determination result when the determination result is agreement, and transmits a rejection response message including a rejection determination result when the determination result is rejection,
The in-vehicle device according to claim 7. When the reception proposal analysis unit records the determination result of the agreement, the reception proposal analysis unit does not cause the device that controls the autonomous driving vehicle to determine the different proposal content when a proposal message having a different proposal content is received from another in-vehicle device. Control
The wireless communication unit transmits a rejection response message including a determination result of rejection,
The in-vehicle device according to claim 8. If a rejection response message is not received from another in-vehicle device and an agreement response message of more than a majority of the number of vehicles recorded in the vehicle number recording unit is received, it is included in the proposal message transmitted from the own vehicle A proposal response processing unit for determining that the proposal content has been agreed;
The in-vehicle device according to claim 8 or 9, characterized by comprising: When the rejection response message is received from another in-vehicle device, the proposal response processing unit controls the autonomous driving vehicle if the received rejection response message includes the proposal content agreed upon by another vehicle. Control the device to send a new proposal message based on the proposal content included in the received rejection response message.
The in-vehicle device according to claim 10. The proposal response processing unit waits for a specified time and performs control to transmit the new proposal message.
The in-vehicle device according to claim 11. The wireless communication unit performs wireless communication based on the standards of IEEE 802.11p and IEEE 1609.
The in-vehicle device according to claim 11 or 12, characterized in that. When transmitting the new proposal message, the wireless communication unit sets an access category of the new proposal message lower than a message other than the new proposal message.
The in-vehicle device according to claim 13. A roadside device according to any one of claims 1 to 4,
The in-vehicle device according to any one of claims 5 to 14,
A road-to-vehicle communication system comprising:

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