JP6883594B2 - Communication devices, communication systems, mobiles, platooning systems, servers, communication methods, information management methods and programs - Google Patents

Description

The present invention relates to a communication device for performing inter-mobile communication such as vehicle-to-vehicle communication, a communication method and a program, a communication system equipped with the communication device, a mobile body and a platooning system, and a server for managing information on the mobile body. It is about the information management method.

Conventionally, there is known a communication device provided on a moving body such as a vehicle moving on a moving path such as a road and performing vehicle-to-vehicle communication with another moving body moving on the moving path.

Patent Document 1 discloses an inter-vehicle communication device capable of making the communicable range of inter-vehicle communication variable and selectively using a plurality of communication methods according to a situation. According to Patent Document 1, it is possible to skip one or more vehicles and relay vehicle-to-vehicle communication.

In Patent Document 2, the transmitter of the preceding vehicle (first moving body) transmits a radio signal indicating the identification information of the preceding vehicle and the traveling direction, and the receiver of the following vehicle (second moving body) transmits the radio signal. Is received, the direction in which the preceding vehicle exists is specified by recognizing the transmission direction of the wireless signal, and the identification information of the preceding vehicle represented by the received wireless signal and the traveling direction are output to the driving support device. The support information transmission system is disclosed. According to Patent Document 2, in the driving support device of the following vehicle (second moving body), an object matching the traveling direction represented by the radio signal is searched from the peripheral image acquired by the in-vehicle stereo camera or the radar. , It is said that the amount of processing for recognizing the preceding vehicle can be reduced and the recognition accuracy can be improved.

Japanese Unexamined Patent Publication No. 2005-038202 International Publication No. 2017/10424

In conventional vehicle-to-vehicle communication, it is conceivable to perform wireless communication by a direct wave of a directional beam using a directional antenna in order to avoid interference. However, when wireless communication is performed by the direct wave of the directional beam, wireless communication with the vehicle of the communication partner is cut off due to lane change of the own vehicle or the vehicle of the communication partner, right / left turn at an intersection, etc., curve driving, etc. , There is a risk that vehicle-to-vehicle communication cannot be continued.

The communication device according to one aspect of the present invention is provided on a first moving body that can move on a moving path, and when the first moving body moves on the moving path, it is between moving bodies with another second moving body. It is a communication device that communicates. The communication device includes a wireless communication unit that forms a directional beam toward the second mobile body by a directional antenna and wirelessly communicates with the second mobile body, and the second mobile body is within the range of the directional beam. It includes a control unit that controls the radio communication unit so as to start tracking the directional beam with respect to the second mobile body when the communication is predicted to be disconnected.
The communication device further includes a prediction unit that predicts the possibility that the second mobile body deviates from the range of the directional beam, and the control unit is based on prediction information indicating the prediction result of the prediction unit. It may be controlled to start tracking the directional beam.
Here, the prediction unit calculates an index value indicating the degree of possibility that the second moving body deviates from the range of the directional beam, and the control unit calculates an index value calculated by the prediction unit from a threshold value. If it is too high, it may be controlled to start tracking the directional beam.
In the communication device, the control unit receives prediction information indicating a prediction result indicating the possibility that the second moving body is out of the range of the directional beam from the server or another vehicle, and is based on the prediction information. Then, the tracking of the directional beam may be controlled to start.
In the communication device, the control unit tracks the directional beam of the first mobile body to the second mobile body when the second mobile body is out of the range of the directional beam and communication disconnection is predicted. The control information for causing the directional beam may be received from the server or another vehicle, and the directional beam may be tracked based on the control information.
In the communication device, the possibility that the second moving body is out of the range of the directional beam is the running state information indicating the running state of the first moving body or the second moving body, the first moving body or the said. Navigation information including movement route information regarding the movement route on which the second moving body is traveling, position information of the first moving body or the second moving body, and between the first moving body and the second moving body. Prediction may be made based on at least one piece of communication state information indicating the state of inter-mobile communication and image information taken by the first mobile body or the second mobile body.
Here, at least one of the traveling state information, the position information, the movement route information, the navigation information, the communication state information, and the image information is repeatedly acquired, and the second moving body is the directional beam. The possibility of being out of range may be predicted based on whether or not the at least one piece of information has changed from the information immediately before it.
In the communication device, the directional antenna of the wireless communication unit is configured to be rotatable so that the direction of the directional beam changes, and the control unit uses the directional beam to track the second mobile body. As described above, the directional antenna of the wireless communication unit may be rotationally controlled.
In the communication device, the directional antenna of the wireless communication unit is an array antenna in which a plurality of antenna elements are arranged, and the control unit uses the control unit so that the directional beam tracks the second moving body. The phase of the signal with respect to the antenna element may be controlled.
In the communication device, the wireless communication unit has a plurality of directional antennas in which the directions of the directional beams are different from each other, and the control unit has the directional beam so as to track the second mobile body. Switching between a plurality of directional antennas may be controlled.
In the communication device, the control unit may control to change the beam width of the directional beam when the directional beam tracks the second mobile body.
In the communication device, the frequency band of the inter-mobile communication may be a high frequency band of 1 GHz or more.
In the communication device, the communication device may be a vehicle.

The communication system according to another aspect of the present invention is a communication system including a plurality of the above-mentioned communication devices.

The mobile body according to still another aspect of the present invention is a mobile body including any of the above-mentioned communication devices.
Here, in the moving body, running state information indicating the running state of the moving body, position information of the moving body, navigation information of the moving body, communication between moving bodies between the moving body and another moving body. The communication state information indicating the state of the above and at least one information of the image information taken by the moving body may be transmitted to the server or another moving body which is a communication partner of the inter-mobile communication.
In the moving body, the moving body may be a vehicle.

The platooning system according to still another aspect of the present invention is a platooning system including a plurality of the above-mentioned communication devices, and the plurality of moving bodies perform inter-mobile communication to travel in a platoon.

The server according to still another aspect of the present invention is a server that manages information on the mobile body. The server uses running state information indicating a running state of the moving body, position information of the moving body, navigation information including movement route information regarding a moving route on which the moving body is traveling, and other moving bodies of the moving body. An information acquisition unit that acquires at least one information of communication state information indicating the state of communication between mobile bodies and image information taken by the mobile body, the traveling state information, the position information, and the above. At least one of the navigation information, the communication state information and the image information, or the control information for starting the tracking of the directional beam generated based on the at least one information is transmitted to the moving body. It is equipped with an information transmission unit.

A method according to still another aspect of the present invention is a communication method for performing inter-mobile communication between a first mobile body and a second mobile body moving on a moving path. The communication method is that the first mobile body forms a directional beam toward the second mobile body by a directional antenna and wirelessly communicates with the second mobile body, and the first mobile body is the same. This includes starting tracking of the directional beam with respect to the second mobile when the second mobile is out of range of the directional beam and a loss of communication is predicted.
A method according to still another aspect of the present invention is an information management method for managing information on the moving body. The information management method includes traveling state information indicating a traveling state of the moving body, position information of the moving body, navigation information including movement route information regarding a moving route on which the moving body is traveling, and other information of the moving body. Acquiring at least one piece of communication state information indicating the state of inter-mobile communication with the moving body and image information taken by the moving body, the traveling state information, the position information, and the above. At least one of the navigation information, the communication state information and the image information, or the control information for starting the tracking of the directional beam generated based on the at least one information is transmitted to the moving body. Including that.

A program according to still another aspect of the present invention is provided on a first moving body that can move a moving path, and when the first moving body moves on the moving path, it moves with another second moving body. A program executed by a computer or processor provided in a communication device that performs inter-communication. The program includes a program code for forming a directional beam toward the second mobile body by a directional antenna and performing wireless communication with the second mobile body, and the second mobile body is out of the range of the directional beam. It includes a program code that starts tracking the directional beam with respect to the second mobile body when a communication disconnection is predicted.
A program according to still another aspect of the present invention is a program executed by a computer or processor provided in a server that manages information on the mobile body. The program includes running state information indicating a running state of the moving body, position information of the moving body, navigation information including movement route information regarding a moving route on which the moving body is traveling, and other moving bodies of the moving body. A program code for acquiring at least one information of communication state information indicating the state of communication between mobile bodies and image information taken by the mobile body, the running state information, the position information, and the movement. The movement of at least one of the route information, the navigation information, the communication state information and the image information, or the control information for starting the tracking of the directional beam generated based on the at least one information. Includes program code to send to the body.

According to the present invention, it is possible to continue communication between mobiles even when changing lanes on a moving route, turning right or left at an intersection, or traveling on a curve.

(A) and (b) are side views and top views of a plurality of vehicles running in a platoon according to the present embodiment, respectively. (A) and (b) are a side view and a top view showing a state of interruption of inter-vehicle communication when a vehicle traveling in a platoon according to the present embodiment changes lanes, respectively. The functional block diagram which shows an example of the main structure of the vehicle which concerns on this embodiment. The functional block diagram which shows the other example of the main structure of the vehicle which concerns on this embodiment. The functional block diagram which shows an example of the main configuration of the server which concerns on this embodiment. The flowchart which shows an example of the beam control of the inter-vehicle communication of the vehicle which concerns on this embodiment. The flowchart which shows an example of the beam control of the inter-vehicle communication by the server which concerns on this embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
1A and 1B are side views and top views of a plurality of vehicles 10 and 20 running in a platoon according to the present embodiment, respectively. In the present embodiment, the traveling lane on the left side in the traveling direction of the road 90 having two lanes on each side, which is the moving route, is referred to as a vehicle (hereinafter, also referred to as "following vehicle") 10 as the first moving vehicle (first vehicle) behind. Vehicles (hereinafter, also referred to as “preceding vehicles”) 20 as the preceding second moving vehicle (second vehicle) are traveling in the same direction as each other. The following vehicle 10 and the preceding vehicle 20 perform platooning traveling at a predetermined inter-vehicle distance while communicating between vehicles. The platooning system is composed of these vehicles 10 and 20.

The vehicles 10 and 20 in the present embodiment are, for example, automobiles such as passenger cars, trucks, and buses, and the present invention is not limited to the type and number of vehicles. The present invention can also be applied to a case where the moving body is a moving body other than a vehicle such as a flying body or a ship that moves on a moving path set in the sky or water.

For vehicle-to-vehicle communication between the following vehicle 10 and the preceding vehicle 20, for example, radio waves such as microwaves and millimeter waves are used. The frequency of vehicle-to-vehicle communication may be, for example, several hundred MHz lower than 1 GHz, or may be a high frequency band of 1 GHz or higher. The frequency of vehicle-to-vehicle communication may be 700 MHz band (715 MHz to 725 MHz), 5.8 GHz band (5770 MHz to 5850 MHz), etc. used in ITS (Intelligent Transport Systems) and CACC (Cooperative Adaptive Cruise Control). ..

Directive antennas 11f and 21f for inter-vehicle communication with the vehicle in front and cameras 13f and 23f as imaging devices for capturing an image in front are provided on the front portions of the vehicles 10 and 20 respectively. Similarly, directional antennas 11b and 21b for inter-vehicle communication with the vehicle behind and cameras 13b and 23b as imaging devices for capturing images of the rear are provided on the rear surfaces of the vehicles 10 and 20 respectively. There is.

The directional antennas 11f, 21f, 11b, and 21b of the vehicles 10 and 20 are as shown by the broken lines in the figure in order to suppress interference by other radio waves such as road surface reflected waves other than the direct wave during vehicle-to-vehicle communication. Form a narrow beam. The narrow beam may be, for example, a beam having a beam width of 20 degrees or less. The directional antennas 11f, 21f, 11b, 21b may be composed of a single antenna element, or may be an array antenna in which a plurality of antenna elements are arranged one-dimensionally, two-dimensionally, or three-dimensionally.

Further, the directional antennas 11f, 21f, 11b, and 21b of the vehicles 10 and 20 are provided on a turntable whose rotation can be controlled, for example, and are configured to be rotatable so that the direction of the directional beam changes. Each directional antenna may be rotationally controlled so as to track the vehicle of the communication partner.

Further, when an array antenna is used for each of the directional antennas 11f, 21f, 11b, and 21b, the directional beam tracks the vehicle of the communication partner of the vehicle-to-vehicle communication and changes the beam width of the directional beam ( For example, the phase of the signal for each antenna element may be controlled so as to widen the angle of the directional beam.

Further, the directional antennas 11f, 21f, 11b, and 21b each have a plurality of directional antennas in which the directions of the directional beams are different from each other, so that the directional beams track the vehicle of the communication partner of the vehicle-to-vehicle communication. , The switching of the plurality of directional antennas may be controlled. Here, the beam width of the directional beam may be changed (for example, widening the directional beam) when the directional beam is tracked by the vehicle of the communication partner.

Further, the directional antennas 11f, 21f, 11b, and 21b each have a plurality of directional antennas having different beam widths of the directional beams so as to change the beam width of the directional beams (for example, of the directional beam). Switching between multiple directional antennas may be controlled (to widen the angle). Here, when the beam width of the directional beam is changed (when the directional beam is widened), the directional beam may be controlled to be tracked by the vehicle of the communication partner.

When vehicle-to-vehicle communication is performed using a narrow beam, a synchronization system that performs beam matching using a pilot signal may be used. For example, a pilot signal is transmitted from the following vehicle 10 to the preceding vehicle 20 with a narrow beam, the narrow beam pilot signal is detected by the preceding vehicle 20 in a wide beam mode or an omnidirectional beam mode, and the preceding vehicle 20 is preceded based on the detection result. Adjust the direction of the narrow beam of the vehicle 20.

When wireless communication is performed by direct waves of a narrow beam using a directional antenna for inter-vehicle communication of vehicles 10 and 20, the vehicle 10 may change lanes, turn right or left at an intersection, or drive on a curve. , 20 wireless communication may be interrupted and vehicle-to-vehicle communication may not be continued.

For example, as shown in FIGS. 2A and 2B, when the preceding vehicle 20 forming a narrow beam and performing vehicle-to-vehicle communication changes lanes to the lane on the right side in the traveling direction, the radio propagation path for vehicle-to-vehicle communication May be blocked and vehicle-to-vehicle communication may not be possible.

Therefore, in the present embodiment, the following vehicle 10 starts tracking the directional beam with respect to the preceding vehicle 20 when the preceding vehicle 20 is out of the range of the directional beam and communication disconnection is predicted. Similarly, the preceding vehicle 20 starts tracking the directional beam with respect to the following vehicle 10 when the following vehicle 10 is out of the range of the directional beam and communication disconnection is predicted.

Further, in the present embodiment, the following vehicle 10 starts widening the directional beam with respect to the preceding vehicle 20 when the preceding vehicle 20 is out of the range of the directional beam and communication disconnection is predicted. Similarly, the preceding vehicle 20 starts widening the directional beam with respect to the following vehicle 10 when the following vehicle 10 is out of the range of the directional beam and communication disconnection is predicted. Here, the wide-angle of the directional beam is increased, for example, by changing the beam width of the directional beam from the usual 20 degrees to an angle in the range of 21 degrees to 90 degrees.

In this way, when the preceding vehicle 20 and the following vehicle 10 are performing vehicle-to-vehicle communication, the vehicle of the communication partner has a directional beam due to a lane change of the vehicles 10 and 20, a right / left turn at an intersection, a curve running, or the like. By starting at least one of tracking and widening of the directional beam when communication disconnection is predicted outside the range, vehicles 10 and 20 can change lanes, turn right / left at intersections, etc., and drive in curves. even if carried out, it is possible to avoid a blocking of the radio propagation path of the vehicle-to-vehicle communication, it is possible to continue the inter-vehicle communication.

FIG. 3 is a functional block diagram showing an example of a main configuration of the vehicle (following vehicle) 10 according to the present embodiment. Since the configuration of the preceding vehicle 20 traveling in front of the vehicle 10 is the same as the configuration of the following vehicle 10 of FIG. 3, the description thereof will be omitted.

In FIG. 3, the vehicle 10 includes a communication device 100 for performing vehicle-to-vehicle communication with a vehicle ahead or behind, and a vehicle drive unit 150 for driving the vehicle 10. The vehicle drive unit 150 is, for example, an engine that drives the vehicle 10, a drive source such as a motor, a drive transmission device that transmits the power of the drive source to a drive output unit such as a tire, a steering device that changes the traveling direction of the vehicle 10, and the like. ..

The communication device 100 includes a wireless communication unit 110, a position information acquisition unit 120, a navigation information acquisition unit 122, a running state information acquisition unit 124, a front image pickup unit 130f and a rear image pickup unit 130b as image information acquisition units. It includes a control unit 140. A communication system for vehicle-to-vehicle communication is configured by a communication device of a following vehicle 10 traveling in a platoon and a communication device of a preceding vehicle 20.

The wireless communication unit 110 includes a front antenna unit 111f and a rear antenna unit 111b having directional antennas 11f and 11b, respectively, and a communication processing unit 112.

The wireless communication unit 110 forms a directional beam composed of a narrow beam toward another vehicle that is a communication partner in front or behind by a directional antenna (front antenna 11f, rear antenna 11b), and wirelessly communicates with the other vehicle. Do. For example, the wireless communication unit 110 forms a directional beam composed of a narrow beam toward the rear antenna 21b of the preceding vehicle 20 which is the front communication partner by the front antenna 11f, and wirelessly communicates with the preceding vehicle 20.

The wireless communication unit 110 also functions as a communication status information acquisition unit that acquires communication status information (for example, reception level information) indicating the status of vehicle-to-vehicle communication. Based on the acquired communication state information (for example, reception level information), it may be possible to control the tracking of the directional beam used for the inter-vehicle communication or the start of widening the beam width. For example, when the reception level information of vehicle-to-vehicle communication becomes equal to or less than a predetermined threshold value, tracking of the directional beam or widening of the beam width may be started.

The wireless communication unit 110 receives from the preceding vehicle 20 the prediction information indicating the prediction result of predicting the possibility that the preceding vehicle 20 as the second mobile body, which is the communication partner, deviates from the range of the directional beam of the own vehicle 10. It may function as a prediction information receiving unit. Further, the wireless communication unit 110 uses the directional beam of the own vehicle 10 when the preceding vehicle 20 as the second mobile body, which is the communication partner, is out of the range of the directional beam of the own vehicle 10 and communication disconnection is predicted. The control information for tracking the preceding vehicle 20 or the control information for widening the directional beam may function as a prediction information receiving unit for receiving from the preceding vehicle 20.

The front antenna unit 111f and the rear antenna unit 111b each include a front antenna 11f and a rear antenna 11b, and a beam control mechanism for controlling the beam of each antenna. For example, in the case of mechanical antenna beam control, the beam control mechanism is configured by using an antenna rotation device and a rotation control device that rotate the front antenna 11f and the rear antenna 11b around one axis or a plurality of axes. Further, in the case of electronic antenna beam control, the beam control mechanism is configured by using an ABF (analog beamforming) device, a DBF (digital beamforming) device, a hybrid device combining ABF and DBF, and the like. ABF includes a phased array using a phase shifter, a multi-beam antenna using a Butler matrix, and the like.

The communication processing unit 112 amplifies the signal transmitted / received via the front antenna unit 111f and the rear antenna unit 111b, encodes / modulates the data by a predetermined coding / modulation method, and generates a transmission signal. Data is generated by decoding and demodulating the received signal.

The position information acquisition unit 120 receives a signal from a GNSS (Global Positioning Satellite System) artificial satellite such as GPS, and based on the reception result, position information (for example, latitude, longitude and altitude information) of the vehicle 10. ) Can be output.

The navigation information acquisition means 122 acquires road-related information such as map information, road information as movement route information related to the road, and route information to be traveled from the navigation system mounted on the vehicle 10. The road-related information includes information on the shape of the T-junction and curves of the road 90, and real-time traffic information such as construction and accidents of the road 90.

The traveling state information acquisition unit 124 acquires information indicating a traveling state such as traveling speed information, brake information, steering angle information, and blinker information of the own vehicle 10 from the vehicle drive unit 150 of the own vehicle 10.

The front imaging unit 130f and the rear imaging unit 130b each have cameras 13f and 23f as imaging devices that capture images of the front or rear including an image of the vehicle of the communication partner, and can acquire image information of the vehicle of the communication partner. it can. It is possible to determine the lane change, right turn, left turn, curve running, etc. of the vehicle from the blinking of the direction indicator lamp included in the image information of the vehicle, the presence / absence of the lighting of the brake lamp, the inclination of the vehicle, and the like.

The control unit 140 is composed of a processor such as a CPU, a memory, and the like, and performs various controls such as the wireless communication unit 110 and the vehicle drive unit 150 by reading and executing a predetermined control program. For example, the control unit 140 starts at least one of tracking and widening of the directional beam with respect to the preceding vehicle 20 when the preceding vehicle 20 is out of the range of the directional beam of the own vehicle 10 and communication disconnection is predicted. As a result, the wireless communication unit 110 is controlled. By this control, the narrow beam radio wave reaches the rear antenna 11b of the preceding vehicle 20 even when the vehicle 10 or the preceding vehicle 20 of the communication partner changes lanes on the road 90, turns right or left at an intersection, or travels on a curve. It is possible to continue the vehicle-to-vehicle communication with the preceding vehicle 20.

The control unit 140 is a preceding vehicle 20 which is a communication partner of vehicle-to-vehicle communication based on at least one information of traveling state information, navigation information, position information, communication state information of vehicle-to-vehicle communication, and image information of vehicles 10 and 20. May also function as a predictor that predicts the possibility that the vehicle 10 will deviate from the range of the directional beam of the own vehicle 10. The control unit 140 controls the wireless communication unit 110 so as to start at least one of tracking and widening of the directional beam based on the prediction information indicating the prediction result predicted by itself.

In the present embodiment, the control unit 140 completes the tracking and widening of the directional beam when the vehicles 10 and 20 return to the normal platooning state on the straight road 90. May be controlled. For example, when the vehicles 10 and 20 return to the normal platooning state on the straight road 90, the control unit 140 ends the tracking of the directional beam in order to reduce the control load, and the direction of the directional beam. The wireless communication unit 110 may be controlled so as to fix the vehicle 10 in the traveling direction of the vehicle 10. Further, when the vehicles 10 and 20 return to the normal platooning state on the straight road 90, the control unit 140 finishes widening the directional beam in order to suppress a decrease in the reception level of the inter-vehicle communication. , The wireless communication unit 110 may be controlled so as to return the beam width of the directional beam to the beam width in the original default setting state.

FIG. 4 is a functional block diagram showing another example of the main configuration of the vehicle (following vehicle) 10 according to the present embodiment. Since the configuration of the preceding vehicle 20 traveling in front of the vehicle 10 is the same as the configuration of the following vehicle 10 of FIG. 4, the description thereof will be omitted. Further, in FIG. 4, the same reference numerals are given to the parts common to those in FIG. 3, and the description thereof will be omitted.

In the example of FIG. 4, a network communication unit 126 for communicating with a server that manages information of a plurality of vehicles traveling in a platoon via a mobile communication network is provided. The network communication unit 126 can be configured by using a user device (hereinafter referred to as “UE”) capable of communicating via a mobile communication network. The UE may be a wireless communication device called a user terminal, a terminal, a terminal device, a mobile station, a mobile device, or the like.

The network communication unit 126 serves as a prediction information receiving unit that receives, for example, prediction information indicating a prediction result indicating the possibility that the preceding vehicle 20 is out of the range of the directional beam of the own vehicle 10 from the server via the mobile communication network. Function. In this case, the control unit 140 controls the wireless communication unit 110 so as to start at least one of tracking and widening of the directional beam based on the prediction information indicating the prediction result received from the server.

Further, the network communication unit 126 provides control information for tracking the directional beam of the own vehicle 10 to the preceding vehicle 20 when the preceding vehicle 20 is out of the range of the directional beam of the own vehicle 10 and communication disconnection is predicted. Alternatively, the control information for widening the directional beam may function as a prediction information receiving unit that receives the control information from the server via the mobile communication network. In this case, the control unit 140 controls the wireless communication unit 110 so as to start at least one of tracking and widening of the directional beam based on the control information received from the server.

FIG. 5 is a functional block diagram showing an example of a main configuration of the server 40 according to the present embodiment. The server 40 in FIG. 5 is a server that manages information on a plurality of vehicles traveling in a platoon. The server 40 is provided in, for example, a base station of a mobile communication network, and is capable of performing various data processing transmitted and received via the base station to and from communication devices of a plurality of vehicles, MEC (Multi-access Edge Computing). ) It is a device. The server 40 consisting of the MEC device may be provided outside the node or core network between the base station and the core network of the mobile communication network.

The server 40 includes a network communication unit 400, a storage unit 410, and a beam remote control unit 420. The network communication unit 400 communicates with the vehicles 10 and 20 traveling in a platoon via the base station of the mobile communication network. The storage unit 410 stores various information acquired by the beam remote control unit 420 and information (prediction information, control information) generated by the beam remote control unit 420.

The beam remote control unit 420 includes a position information acquisition unit 421, a navigation information acquisition unit 422, a traveling state information acquisition unit 423, an image information acquisition unit 424, and a control unit 425.
The position information acquisition unit 421 receives and acquires the position information (for example, latitude, longitude and altitude information) of each vehicle 10 and 20 from a plurality of vehicles 10 and 20 traveling in a platoon via the network 400. ..
The navigation information acquisition means 422 includes map information output from the navigation system of each vehicle 10 and 20 via the network 400 from a plurality of vehicles 10 and 20 traveling in a platoon, road information as travel route information related to the road, and the like. Receive and obtain road-related information.
The running state information acquisition unit 423 obtains running states such as running speed information, brake information, steering angle information, and blinker information of each of the vehicles 10 and 20 from a plurality of vehicles 10 and 20 traveling in a platoon via a network 400. Receive and acquire the indicated information.
The image information acquisition unit 424 receives and acquires image information of the front and rear images captured by each vehicle from a plurality of vehicles 10 and 20 traveling in a platoon via the network 400.

The control unit 425 is based on at least one piece of information such as running state information, navigation information, position information, communication state information of vehicle-to-vehicle communication, and image information of a plurality of vehicles 10 and 20 traveling in a platoon. With respect to 20, the network communication unit 400 is controlled so as to predict the possibility that the vehicle of the communication partner of the vehicle-to-vehicle communication is out of the range of the directional beam and transmit the prediction information indicating the prediction result to the vehicles 10 and 20.

Based on the prediction result, the control unit 425 is a network communication unit so as to transmit control information for starting at least one of tracking and widening of the directional beam of each vehicle 10 and 20 to the vehicles 10 and 20. 400 may be controlled. Further, the control unit 425 provides the vehicles 10 and 20 with control information for ending the tracking and widening of the directional beam when the vehicles 10 and 20 return to the normal platooning state on the straight road 90. The network communication unit 400 may be controlled so as to transmit.

FIG. 6 is a flowchart showing an example of beam control of vehicle-to-vehicle communication of the vehicle (following vehicle) 10 according to the present embodiment. The same beam control as in this example may be performed on the preceding vehicle 20 that is communicating with the vehicle 10 between vehicles.

In FIG. 6, the vehicle 10 acquires various information including the above-mentioned position information, navigation information, traveling state information, and communication state information (S101), and determines whether or not each information is different from the immediately preceding information. Judgment (S102). For example, it is determined whether or not there is a difference between the running speed information, the brake information, or the blinker information, which is the running state information of the own vehicle (vehicle) 10 or the preceding vehicle 20, and the information immediately before the running speed information. Here, the above-mentioned various information may be acquired from the preceding vehicle 20 of the communication partner of the vehicle-to-vehicle communication, or may be acquired from the above-mentioned server 40.

If it is determined in step S102 that there is a difference from the information immediately before (YES in S102), the vehicle 10 further predicts whether or not there is a possibility of disconnection of vehicle-to-vehicle communication with the preceding vehicle 20 (YES in S102). S103). For example, disconnection of vehicle-to-vehicle communication with the preceding vehicle 20 based on the steering angle information or blinker information, the navigation information, and the antenna pattern information of the directional beam, which are the traveling state information of the own vehicle (vehicle) 10 or the preceding vehicle 20. It is determined by predicting whether or not there is a possibility of (S103). On the other hand, when it is determined in step S102 that there is no difference from the information immediately before (NO in S102), the vehicle 10 repeats steps S101 and S102.

When it is predicted / determined in step S103 that there is a possibility of disconnection of vehicle-to-vehicle communication (YES in S103), the vehicle 10 starts controlling the directional beam used for vehicle-to-vehicle communication (S104). For example, the vehicle 10 is controlled to start tracking the directional beam with respect to the preceding vehicle 20 of the communication partner of the vehicle-to-vehicle communication. The vehicle 10 may be controlled to start widening the directional beam instead of tracking the directional beam with respect to the preceding vehicle 20 of the communication partner of the inter-vehicle communication. Further, it may be controlled to start widening the directional beam at the same time as tracking the directional beam with respect to the preceding vehicle 20 of the communication partner of the vehicle-to-vehicle communication. After starting the control of the directional beam used for the vehicle-to-vehicle communication, the vehicle 10 repeats the above steps S101 to S103.

When it is predicted / determined in step S103 that there is no possibility of disconnection of vehicle-to-vehicle communication (NO in S103), the vehicle 10 further determines whether or not the direction of the directional beam is within the initial setting range (NO). S105).

When it is determined in step S105 that the direction of the directional beam is not within the initial setting range (NO in S105), the vehicle 10 repeats steps S101 to S105 while maintaining the direction and beam width of the directional beam. .. On the other hand, when it is determined in step S105 that the direction of the directional beam is within the initial setting range (NO in S105), the vehicle 10 controls the directional beam (tracking, widening, or both). ) Is completed (S106), and the above steps S101 to S105 are repeated.

FIG. 7 is a flowchart showing an example of remote beam control of vehicle-to-vehicle communication by the server 40 according to the present embodiment.
In FIG. 7, the server 40 acquires various information including the above-mentioned position information, navigation information, traveling state information, and communication state information from a plurality of vehicles 10 and 20 that are traveling in a platoon while performing vehicle-to-vehicle communication. (S201), it is determined whether or not there is a difference between the information of each vehicle and the information immediately before (S202). For example, it is determined whether or not there is a difference between the traveling speed information, the brake information, or the blinker information, which is the traveling state information of the following vehicle 10 and the preceding vehicle 20, and the information immediately before the information.

If it is determined in step S202 that there is a difference from the previous information (YES in S102), the server 40 may further disconnect the vehicle-to-vehicle communication between the following vehicle 10 and the preceding vehicle 20. Predict whether or not (S203). For example, whether or not there is a possibility of disconnection of vehicle-to-vehicle communication based on steering angle information or blinker information, navigation information, and antenna pattern information of a directional beam, which are running state information of the following vehicle 10 or the preceding vehicle 20. Is predicted and judged (S203). On the other hand, if it is determined in step S202 that there is no difference from the information immediately before (NO in S202), the server 40 repeats steps S201 and S202.

When it is predicted / determined in step S203 that there is a possibility of disconnection of vehicle-to-vehicle communication (YES in S203), the server 40 starts controlling the directional beam used for vehicle-to-vehicle communication in the following vehicle 10 and the preceding vehicle 20. The control information for this is generated and transmitted to the vehicles 10 and 20 (S204). For example, the server 40 controls to generate control information for starting tracking of the directional beam with respect to the vehicle of the communication partner of the vehicle-to-vehicle communication and transmit it to the vehicles 10 and 20 respectively. The server 40 may generate control information for starting widening of the directional beam instead of tracking the directional beam for the vehicle of the communication partner of the vehicle-to-vehicle communication and transmit it to the vehicles 10 and 20. .. Further, the control information for starting the widening of the directional beam together with the tracking of the directional beam with respect to the vehicle of the communication partner of the vehicle-to-vehicle communication may be generated and transmitted to the vehicles 10 and 20. After generating and transmitting the control information, the server 40 repeats the above steps S201 to S203.

If it is predicted / determined in step S203 that there is no possibility of disconnection of vehicle-to-vehicle communication (NO in S203), the server 40 further determines whether the directions of the directional beams of the vehicles 10 and 20 are within the initial setting range. It is determined whether or not (S205).

When it is determined in step S205 that the direction of the directional beam of each vehicle 10 or 20 is not within the initial setting range (NO in S205), the server 40 determines that the direction of the directional beam of each vehicle 10 or 20 and the beam width. The above steps S201 to S205 are repeated while maintaining the above steps. On the other hand, when it is determined in step S205 that the direction of the directional beam is within the initial setting range (NO in S205), the server 40 controls the directional beam (tracking, widening, or both). ) Is generated and transmitted to the vehicles 10 and 20 (S206), and the above steps S201 to S205 are repeated.

As described above, according to the present embodiment, interference of other radio waves such as road surface reflected waves on the surface of the road 90 during vehicle-to-vehicle communication between a plurality of vehicles 10 and 20 performing platooning or the like. In addition to avoiding the above, wireless communication with the vehicle of the communication partner can be continued even when changing lanes on the road 90, turning right or left at an intersection, or traveling on a curve.

The processing process and the components of the communication device described in the present specification can be implemented by various means. For example, these steps and components may be implemented in hardware, firmware, software, or a combination thereof.

Regarding hardware implementation, means such as a processing unit used to realize the above steps and components in an entity (for example, various wireless communication devices, Node B, terminal, hard disk drive device, or optical disk drive device) One or more application-specific ICs (ASICs), digital signal processors (DSPs), digital signal processors (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors , Controllers, microcontrollers, microprocessors, electronic devices, other electronic units designed to perform the functions described herein, computers, or combinations thereof.

For firmware and / or software implementation, means such as processing units used to implement the above components are programs (eg, procedures, functions, modules, instructions) that perform the functions described herein. , Etc.) may be implemented. Generally, any computer / processor readable medium that clearly embodies the firmware and / or software code is a means such as a processing unit used to implement the steps and components described herein. May be used to implement. For example, the firmware and / or software code may be stored in memory and executed by a computer or processor, for example, in a control device. The memory may be implemented inside the computer or processor, or may be implemented outside the processor. The firmware and / or software code may be, for example, random access memory (RAM), read-only memory (ROM), non-volatile random access memory (NVRAM), programmable read-only memory (PROM), or electrically erasable PROM (EEPROM). ), FLASH memory, floppy (registered trademark) discs, compact discs (CDs), digital versatile discs (DVDs), magnetic or optical data storage devices, etc. Good. The code may be executed by one or more computers or processors, or the computers or processors may be made to perform functional embodiments described herein.

Further, the medium may be a non-temporary recording medium. Further, the code of the program may be read and executed by a computer, a processor, or another device or device machine, and the format thereof is not limited to a specific format. For example, the code of the program may be any of source code, object code, and binary code, or may be a mixture of two or more of these codes.

Also, the description of the embodiments disclosed herein is provided to allow one of ordinary skill in the art to manufacture or use the disclosure. Various amendments to this disclosure will be readily apparent to those of skill in the art and the general principles defined herein are applicable to other variations without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not limited to the examples and designs described herein, but should be accepted in the broadest range consistent with the principles and novel features disclosed herein.

10 vehicles (following vehicles)
11f front antenna (directional antenna)
11b Rear antenna (directional antenna)
13f, 13b camera 20 vehicle (preceding vehicle)
21f front antenna (directional antenna)
21b Rear antenna (directional antenna)
23f, 23b Camera 40 Server 100 Communication device 110 Wireless communication unit 111f Front antenna unit 111b Rear antenna unit 120 Position information acquisition unit 122 Navigation information acquisition unit 124 Driving status information acquisition unit 126 Network communication unit 130f Front imaging unit (image information acquisition unit) )
130b Rear imaging unit (image information acquisition unit)
140 Control unit 150 Vehicle drive unit

Claims (21)

A communication apparatus for performing inter-vehicle communication with another second vehicle when the first vehicle is provided to a first vehicle movable on a road for moving the road,
A wireless communication unit that forms a directional beam toward the second vehicle by a directional antenna and performs wireless communication with the second vehicle.
When the second vehicle goes out of the range of the directional beam and communication disconnection is predicted during the execution of the inter-vehicle communication, the tracking of the directional beam with respect to the second vehicle is started, and the directional beam of the directional beam is started. After starting the tracking, the radio so as to end the tracking of the directional beam when it is predicted that there is no communication disconnection and the direction of the directional beam performing the tracking is within the initial setting range. A communication device including a control unit that controls the communication unit. In the communication device of claim 1,
Further provided with a prediction unit that predicts the possibility that the second vehicle will be out of the range of the directional beam due to a right turn, a left turn, or a curve running during the execution of the vehicle-to-vehicle communication.
The control unit is a communication device that controls to start tracking the directional beam based on prediction information indicating a prediction result of the prediction unit. In the communication device of claim 2,
The prediction unit calculates an index value indicating the degree of possibility that the second vehicle is out of the range of the directional beam.
The control unit is a communication device that controls to start tracking the directional beam when the index value calculated by the prediction unit is higher than a threshold value. In the communication device of claim 1,
The control unit uses a server or another vehicle to provide prediction information indicating a prediction result that predicts the possibility that the second vehicle will be out of the range of the directional beam due to a right turn, a left turn, or a curve running during the execution of the vehicle-to-vehicle communication. A communication device that receives from and controls to start tracking the directional beam based on the prediction information. In the communication device of claim 1,
The control unit determines the directional beam of the first vehicle when the second vehicle is out of the range of the directional beam due to a right turn, a left turn, or a curve running during execution of the vehicle-to-vehicle communication and a communication disconnection is predicted. A communication device characterized in that it receives control information for tracking the second vehicle from a server or another vehicle, and controls to track the directional beam based on the control information. In the communication device according to any one of claims 1 to 5,
The possibility that the second vehicle is out of the range of the directional beam, the first vehicle or running state information indicating the running state of the second vehicle, the road where the first vehicle or the second vehicle is traveling navigation information including road information about the first vehicle or position information of the second vehicle, the communication state information indicating the state of the vehicle between the vehicle communication between the first vehicle and the second vehicle, and the second A communication device characterized in that prediction is made based on at least one piece of image information taken by one vehicle or the second vehicle. In the communication device of claim 6,
At least one of the traveling state information, the position information, the road information, the navigation information, the communication state information, and the image information is repeatedly acquired.
A communication device characterized in that the possibility that the second vehicle is out of the range of the directional beam is predicted based on whether or not the at least one piece of information has changed from the information immediately before the information. In the communication device according to any one of claims 1 to 7.
The directional antenna of the wireless communication unit is configured to be rotatable so that the direction of the directional beam changes.
The control unit is a communication device characterized in that the directional antenna of the wireless communication unit is rotationally controlled so that the directional beam tracks the second vehicle. In the communication device according to any one of claims 1 to 8.
The directional antenna of the wireless communication unit is an array antenna in which a plurality of antenna elements are arranged.
The control unit is a communication device that controls the phase of a signal with respect to the antenna element so that the directional beam tracks the second vehicle. In the communication device according to any one of claims 1 to 9.
The wireless communication unit has a plurality of directional antennas in which the directions of the directional beams are different from each other.
The control unit is a communication device that controls switching of the plurality of directional antennas so that the directional beam tracks the second vehicle. In the communication device according to any one of claims 1 to 10.
The control unit is a communication device that controls the directional beam so as to change the beam width of the directional beam when tracking the second vehicle. In the communication device according to any one of claims 1 to 11.
Frequency bands of the communication between the wheel car, a communication device which is a more high-frequency bands 1 GHz. A communication system including a plurality of communication devices according to any one of claims 1 to 12. It includes any one of the communication apparatus of claims 1 to 12, a vehicle and performs inter-vehicle communication with other vehicles that is located in at least one direction of travel of the front and rear of the vehicle. In the vehicle of claim 14.
Traveling state information indicating a traveling state of the vehicle, position information of the vehicle, the navigation information of the vehicle, the communication state information indicating the state of the vehicle between the vehicle communication between the vehicle and the other vehicles, and, in the vehicle vehicle and transmits at least one information of the photographed image information, in addition to the vehicle is communicating between servers or vehicle wheel communication. Row running system characterized in that it claims a plurality of vehicles of claim 14 or 15, wherein the plurality of vehicle platoon communicating between car wheel. A server that manages vehicle information according to claim 14 or 15.
Traveling state information indicating a traveling state of the vehicle, position information of the vehicle, the vehicle navigation information including road information about the road is running, the state of the vehicle wheel communication between the other vehicles of the vehicle An information acquisition unit that acquires at least one of the communication status information shown and the image information taken by the vehicle, and the information acquisition unit.
During the execution of the vehicle-to-vehicle communication generated based on at least one of the traveling state information, the position information, the navigation information, the communication state information, and the image information, the other vehicle has the directional beam of the directional beam. The control information for starting the tracking of the directional beam when the communication disconnection is predicted to be out of the range and the direction of the directional beam predicted to be non-communication disconnection and performing the tracking are initialized. A server including an information transmission unit that transmits control information for terminating the tracking of the directional beam to the vehicle when the directional beam is within the range of. A communication method for performing inter-vehicle communication between the first vehicle and the second vehicle is moving on a road,
The first vehicle forms a directional beam toward the second vehicle by a directional antenna to perform wireless communication with the second vehicle.
The first vehicle, the starts tracking directional beams to said second vehicle when said second vehicle during the execution of the inter-vehicle communication is communication cut out of the range of the directional beam is predicted That and
After starting the tracking of the directional beam, the tracking of the directional beam is ended when it is predicted that there is no communication disconnection and the direction of the directional beam performing the tracking is within the initial setting range. To do and
A communication method characterized by including. An information management method for managing vehicle information according to claim 14 or 15.
For each of a plurality of vehicles, travel state information indicating a traveling state of the vehicle, position information of the vehicle, navigation information including road information about a road on which the vehicle is traveling, vehicle between the other vehicles of the vehicle communication state information indicating the state of vehicle communication, and, obtaining at least one information of the captured image information in said vehicle,
During the execution of the vehicle-to-vehicle communication generated based on at least one of the traveling state information, the position information, the navigation information, the communication state information, and the image information, the other vehicle has the directional beam of the directional beam. The control information for starting the tracking of the directional beam when the communication disconnection is predicted to be out of the range and the direction of the directional beam predicted to be non-communication disconnection and performing the tracking are initialized. To send control information to the vehicle to end the tracking of the directional beam when it is within the range of
An information management method characterized by including. In the program the first vehicle is provided to a first vehicle movable on a road which is executed in a computer or processor with a communications device that performs inter-vehicle communication with another second vehicle when moving the road There,
A program code that forms a directional beam toward the second vehicle by a directional antenna and wirelessly communicates with the second vehicle.
Program code for starting the tracking of the directional beam relative to the second vehicle when said second vehicle during the execution of the inter-vehicle communication is the directional beam communication cut out of the range of expected,
After starting the tracking of the directional beam, the tracking of the directional beam is ended when it is predicted that there is no communication disconnection and the direction of the directional beam performing the tracking is within the initial setting range. With the program code to
A program characterized by including. A program executed by a computer or processor provided in a server that manages vehicle information according to claim 14 or 15.
Traveling state information indicating a traveling state of the vehicle, position information of the vehicle, the vehicle navigation information including road information about the road is running, the state of the vehicle wheel communication between the other vehicles of the vehicle A program code for acquiring at least one of the communication status information shown and the image information taken by the vehicle, and
During the execution of the vehicle-to-vehicle communication generated based on at least one of the traveling state information, the position information, the navigation information, the communication state information, and the image information, the other vehicle has the directional beam of the directional beam. The control information for starting the tracking of the directional beam when the communication disconnection is predicted to be out of the range and the direction of the directional beam predicted to be non-communication disconnection and performing the tracking are initialized. The program code for transmitting the control information for ending the tracking of the directional beam to the vehicle when it is within the range of
A program characterized by including.

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