JPWO2020066814A1 - Base stations, transportation communication systems, and control methods - Google Patents

Abstract

The roadside machine 40 that controls the traffic safety device provided at the intersection of the specific road 110 and the general road 120 receives a message from the vehicle 10 traveling on the specific road 110 toward the intersection, and based on the received message. , It is determined whether or not the vehicle 10 is a predetermined vehicle that is permitted to travel on the specific road 110. The roadside machine 40 controls the traffic safety device so that the vehicle 10 moves from the specific road 110 to the general road 120 when it is determined that the vehicle 10 is not a predetermined vehicle.

Description

The present invention relates to base stations, traffic communication systems, and control methods.

Conventionally, in an intelligent transportation system (for example, ITS; Intelligent Transport System), a technique for communicating between a roadside machine and a vehicle, which are base stations provided around a road, has been proposed (see, for example, Non-Patent Document 1). ).

Association of Radio Industries and Businesses, "700MHz Band Intelligent Transport Systems ARIB-STD T109 1.3 Edition", [online], July 27, 2017, [Search June 22, 2018], Internet http: // www. arib. or. jp / tyoshikenkyu / kikaku_tushin / tushin_kikaku_number. html

By the way, there is a specific road on the road where traveling is permitted only for a predetermined vehicle. However, there is a possibility that a vehicle other than the predetermined vehicle may enter the specific road for an unexpected reason.

Therefore, the base station that controls the traffic safety device (for example, a gate or a traffic signal) provided at the intersection of a general road and a specific road performs control in consideration of the possibility that a vehicle other than the predetermined vehicle travels on the specific road. Is desired.

Therefore, an object of the present invention is to provide a base station, a vehicle, and a traffic communication system capable of appropriately controlling a traffic safety device.

The base station according to the first aspect controls a traffic safety device provided at an intersection where a specific road and a general road intersect. The base station has a communication unit that receives at least one message from a target vehicle traveling on the specific road toward the intersection, and the target vehicle travels on the specific road based on the at least one message. It is provided with a control unit that determines whether or not the vehicle is a predetermined vehicle that is permitted. The control unit controls the traffic safety device so that the target vehicle moves from the specific road to the general road when it is determined that the target vehicle is not the predetermined vehicle.

The transportation communication system according to the second aspect includes a vehicle and a base station according to the first aspect.

The control method according to the third aspect is a method of controlling a traffic safety device provided at an intersection where a specific road and a general road intersect. The control method is a step of receiving at least one message from a target vehicle traveling on the specific road toward the intersection, and the target vehicle traveling on the specific road based on the at least one message. The step of determining whether or not the vehicle is a permitted predetermined vehicle, and the traffic safety so that the target vehicle moves from the specific road to the general road when it is determined that the target vehicle is not the predetermined vehicle. It includes a step to control the device.

According to one aspect of the present invention, it is possible to provide a base station, a vehicle, and a traffic communication system capable of appropriately controlling a traffic safety device.

It is a figure which shows an example of the traffic communication system which concerns on embodiment. It is a figure which shows the structure of the vehicle which concerns on embodiment. It is a figure which shows the structure of the roadside machine which concerns on embodiment. It is a figure which shows an example of the road-to-vehicle communication period which concerns on embodiment. It is a figure which shows the operation example of the traffic communication system which concerns on embodiment. It is a figure which shows the operation example of the traffic communication system which concerns on embodiment.

The embodiment will be described with reference to the drawings. In the description of the drawings below, the same or similar parts are designated by the same or similar reference numerals.

(Transportation communication system)
FIG. 1 is a diagram showing an example of a transportation communication system 100 according to an embodiment. In the embodiment, as shown in FIG. 1, a case where a specific road 110 and a general road 120 intersect is illustrated. In FIG. 1, a crossroad is illustrated as a case where a specific road 110 and a general road 120 intersect, but the crossroad is not limited to the crossroad, and a T-junction (also referred to as a three-way junction or a junction) may be used. Further, in FIG. 1, the specific road 110 and the general road 120 are orthogonal to each other, but the angle at which the specific road 110 and the general road 120 intersect is not limited.

In the following, the term "intersection" means the intersection of two or more roads (in the case of a road with a distinction between a sidewalk and a roadway, a roadway) when two or more roads intersect, and refers to both a crossroad and a T-junction. It is assumed to be a concept that includes.

The specific road 110 is a road on which traveling is permitted only for a predetermined vehicle. The predetermined vehicle may be a predetermined type of vehicle. The vehicle of the predetermined type may be a bus. A bus is a relatively large car that carries passengers on a fixed route. The vehicle of the predetermined type may be a tram or the like. Hereinafter, an example will be described in which the specific road 110 is a bus-only road used exclusively for buses.

The predetermined vehicle may be an emergency vehicle. An emergency vehicle is a vehicle used for urgent work such as lifesaving or fire response, and includes, for example, an ambulance vehicle, a fire engine, a police vehicle, or the like. The predetermined vehicle may be limited to emergency vehicles that are in emergency travel. "Emergency driving" refers to a state in which the vehicle is traveling while sounding a siren or a state in which the vehicle is traveling while turning on a rotating light. In the following, the explanation will proceed on the assumption that emergency vehicles can be exceptionally permitted to travel on bus-only roads.

The general road 120 is a road on which general vehicles are allowed to travel. General vehicles refer to all vehicles, not limited to emergency vehicles. FIG. 1 illustrates a case in which a vehicle 10A is traveling on a specific road 110 and a vehicle 10B is traveling on a general road 120. Further, a case where the roadside machine 40 is provided on the road side of the specific road 110 is illustrated. The roadside machine 40 is an example of a base station.

At the intersection of the specific road 110 and the general road 120, a gate device 130 (gate device 131 and a gate device 132) is provided on the specific road 110, and a traffic signal 140 (traffic signal 141 and a traffic signal 142) is provided on the general road 120. ) May be provided. The gate device 130 is an example of a traffic safety device, and the traffic signal 140 is another example of a traffic safety device.

The vehicle 10 (vehicle 10A and vehicle 10B) may be an automobile such as a motorcycle, a tricycle, or a motorcycle. The vehicle 10 communicates with the roadside machine 40 (road-to-vehicle communication). Here, a case where the vehicle 10A is a bus will be illustrated. Details of the vehicle 10 will be described later (see FIG. 2).

The roadside machine 40 communicates with the vehicle 10 (road-to-vehicle communication). The roadside machine 40 has a function of communicating with the gate device 130. The roadside unit 40 may have a function of communicating with the traffic signal 140. The vehicle 10 may perform vehicle-to-vehicle communication with another vehicle. Vehicle-to-vehicle communication may be performed at a timing when road-to-vehicle communication is not performed. Details of the roadside machine 40 will be described later (see FIG. 3).

The gate device 130 has a gate for restricting the entry of the vehicle 10B into the specific road 110. In addition to the gate, the gate device 130 has a drive mechanism for opening and closing the gate and a communication interface for communicating with the roadside machine 40.

The gate device 130 is configured to close when the vehicle 10A does not pass the intersection and open when the vehicle 10A passes the intersection. For example, the gate device 130 may be opened and closed according to the operation schedule of the vehicle 10A. The gate device 130 may be opened in response to the approach of the vehicle 10A to the intersection and closed in response to the departure of the vehicle 10A from the intersection. The approach and departure of the vehicle 10A may be detected by the roadside machine 40 based on whether or not a message can be received from the vehicle 10A, and then notified from the roadside machine 40 to the gate device 130.

The traffic signal 140 is configured to display a signal (for example, a green light, a yellow light, a red light) indicating whether or not to allow the vehicle 10B to pass through the intersection. The traffic signal 140 may be configured to display a blinking signal prompting the vehicle 10B to call attention. For example, the traffic signal 140 may switch signals according to a predetermined schedule. The gate device 130 may switch signals according to the approach of the vehicle 10A to the intersection and the departure of the vehicle 10A from the intersection. The approach and departure of the vehicle 10A may be detected by the roadside machine 40 based on whether or not a message can be received from the vehicle 10A, and then notified from the roadside machine 40 to the traffic signal 140.

In the embodiment, a scenario is assumed in which a general vehicle other than a predetermined vehicle (bus, emergency vehicle) enters the specific road 110 for an unexpected reason. The roadside machine 40 that controls the traffic safety device provided at the intersection of the general road 120 and the specific road 110 performs control in consideration of the possibility that the general vehicle enters the specific road 110.

(vehicle)
FIG. 2 is a diagram showing a configuration of the vehicle 10 according to the embodiment. As shown in FIG. 2, the vehicle 10 has a communication unit 11 and a control unit 12.

The communication unit 11 is composed of a wireless communication module. The wireless communication module includes an antenna, converts a wireless signal received by the antenna into a baseband signal (received signal), and outputs the signal to the control unit 12. The wireless communication module converts the baseband signal (transmission signal) output by the control unit 12 into a wireless signal and transmits it from the antenna.

The communication unit 11 may have a function of performing carrier sense to determine a free state of a radio wave frequency (for example, 700 MHz band). The communication unit 11 transmits a packet at a timing when the frequency of the radio wave is free. One message may be composed of one or more packets.

The communication unit 11 may perform road-to-vehicle communication or may perform vehicle-to-vehicle communication. The packet is identification information used for identifying the source, synchronization information indicating a synchronization method with respect to the roadside machine 40, transmission time of the packet, and / or period information indicating the period of road-to-vehicle communication (number of transfers of road-to-vehicle communication, and / Or the length of the road-to-vehicle communication period). Vehicle-to-vehicle communication includes communication (packet transfer) that accompanies road-to-vehicle communication.

In the following, the details of the message will be described based on the above-mentioned message.

The message may include type information indicating the type of the vehicle 10. The type information indicating the type of the vehicle 10 may be information that uniquely identifies what the type of the vehicle 10 is. When the vehicle 10 is a bus, the type information is information indicating that the vehicle is a bus. Alternatively, the type information may be a 1-bit flag indicating whether or not the vehicle type is a bus. When the vehicle 10 is an ambulance, the type information may be information indicating an ambulance. When the vehicle 10 is a fire engine, the type information may be information indicating the fire engine. When the vehicle 10 is a police vehicle, the type information may be information indicating a police vehicle.

The message may include emergency vehicle information indicating whether the vehicle 10 is an emergency vehicle. The emergency vehicle information may be information indicating whether or not the vehicle 10 is in emergency travel. The emergency vehicle information may be a 1-bit flag indicating whether or not the vehicle 10 is an emergency vehicle or a 1-bit flag indicating whether or not the vehicle 10 is in emergency driving.

The message may include location information indicating the geographical location of the vehicle 10. For example, the position information is GNSS position information obtained by a GNSS (Global Navigation Satellite System) receiver provided in the vehicle 10. The location information includes latitude and longitude. The location information may further include altitude.

The control unit 12 is composed of a control circuit having a memory, a CPU (Central Processing Unit), and the like. The control unit 12 controls at least the communication unit 11. The control unit 12 may control the communication unit 11 so as to transmit at least one message including the above-mentioned information when the vehicle 10 is traveling on the general road 120. The control unit 12 may control the communication unit 11 so as to transmit the message periodically, or may control the communication unit 11 so as to transmit the message only at the timing when the radio wave frequency is free. Then, the communication unit 11 may be controlled so as to transmit a message in response to a request from the roadside machine 40.

In embodiments, the message may be broadcast. In such cases, the message may not include destination-specific information and / or destination-specific information.

(Roadside machine)
FIG. 3 is a diagram showing the configuration of the roadside machine 40 according to the embodiment. As shown in FIG. 3, the roadside machine 40 has a communication unit 41 and a control unit 42.

The wireless communication system of the roadside unit 40 may be compliant with ARIB T109, may be compliant with V2X (Vehicle to Everything) defined by 3GPP (3rd Generation Partnership Project), and is compliant with a system such as wireless LAN. May be good. The roadside machine 40 may be an all-in type that can support all of these communication standards.

The communication unit 41 includes a wireless communication module. The wireless communication module includes an antenna, converts a wireless signal received by the antenna into a baseband signal (received signal), and outputs the signal to the control unit 42. The wireless communication module converts the baseband signal (transmission signal) output by the control unit 42 into a wireless signal and transmits it from the antenna.

The communication unit 41 may have a function of performing carrier sense to determine a free state of a radio wave frequency (for example, 700 MHz band). The communication unit 41 transmits a packet at a timing determined by the control unit 42. One message may be composed of one or more packets.

The communication unit 41 may perform road-to-vehicle communication. The packet is identification information used for identifying the source, synchronization information indicating a synchronization method with respect to the roadside machine 40, transmission time of the packet, and / or period information indicating the period of road-to-vehicle communication (for example, the number of transfers of road-to-vehicle communication, etc.). And / or the length of the road-to-vehicle communication period) and so on.

The communication unit 41 receives from the vehicle 10 a message including type information indicating the type of the vehicle 10 and / or emergency vehicle information indicating whether or not the vehicle 10 is an emergency vehicle. In addition, the communication unit 41 receives from the vehicle 10 a message including position information indicating the geographical position of the vehicle 10.

The control unit 42 is composed of a control circuit having a memory, a CPU, and the like. The control unit 42 controls at least the communication unit 41. Based on the message received from the vehicle 10, the control unit 42 determines whether or not the vehicle 10 is a predetermined vehicle that is permitted to travel on the specific road 110. Specifically, the control unit 42 is a predetermined vehicle in which the vehicle 10 is permitted to travel on the specific road 110 based on the type information and / or the emergency vehicle information included in the message received from the vehicle 10. Judge whether or not.

For example, the control unit 42 may determine that the vehicle 10 is a predetermined vehicle when the type information indicates a bus. When the emergency vehicle information indicates an emergency vehicle, the control unit 42 may determine that the vehicle 10 is a predetermined vehicle. When the type information indicates an ambulance, a fire engine, or a police vehicle, the control unit 42 may determine that the vehicle 10 is a predetermined vehicle.

Further, the control unit 42 identifies the vehicle 10 toward an intersection (specifically, an intersection where the traffic safety device is controlled by the roadside machine 40) based on the position information included in the message received from the vehicle 10. It may be determined whether or not the vehicle is traveling on the road 110. For example, the control unit 42 receives a message including position information from the vehicle 10 a plurality of times, and these position information indicates a position within the geographical range of the specific road 110, and the position indicated by the position information. May be determined that the vehicle 10 is traveling on the specific road 110 toward the intersection when the vehicle is moving toward the intersection. Alternatively, when the antenna included in the communication unit 41 is a directional antenna and the directivity of the antenna is directed in the direction of the specific road 110, the determination based on the position information may be omitted.

When it is determined that the vehicle 10 is traveling on the specific road 110 toward the intersection and the vehicle 10 is determined not to be a predetermined vehicle, the control unit 42 determines that the vehicle 10 is from the specific road 110 to the general road 120. Control the traffic safety device to move to. Details of such an operation will be described later.

On the other hand, when it is determined that the vehicle 10 is traveling on the specific road 110 toward the intersection, and the control unit 42 determines that the vehicle 10 is a predetermined vehicle, the control unit 42 determines that the vehicle 10 is a predetermined vehicle. The traffic safety device may be controlled so that the vehicle passes through the intersection (that is, continues to travel on the specific road 110).

(Road-to-vehicle communication)
FIG. 4 is a diagram showing an example of a road-to-vehicle communication period according to the embodiment. FIG. 4 illustrates a road-to-vehicle communication period based on ARIB T109.

As shown in FIG. 4, the roadside machine 40 and the vehicle 10 basically communicate in a cycle of 100 ms. The roadside machine 40 secures its own transmission time by notifying the surrounding vehicles 10 of the transmission time and the road-to-vehicle communication period information (number of transfers / length of the road-to-vehicle communication period) as its own transmission information. Further, it is said that the synchronization accuracy of ± 16 μs or less is maintained between the roadside machines 40.

The vehicle 10 synchronizes the time based on the transmission time received from the roadside unit 40, and stops its own transmission based on the road-vehicle communication period information, so that the vehicle 10 transmits at a timing other than the transmission period of the roadside unit 40.

Within the control cycle of 100 ms, 16 μs is set as the control unit time (unit), and the control cycle is composed of 6250 units. The maximum value of the number of road-to-vehicle communication periods that can be set in one control cycle is 16, and they are arranged at intervals of 390 units (6240 μs) from the beginning of the control cycle. The maximum value of the road-to-vehicle communication period length that can be set is 189 units (3024 μs).

The roadside machine 40 is assigned one of the 16 road-to-vehicle communication periods in one control cycle. The roadside machine 40 transmits a radio signal only during its own road-to-vehicle communication period.

The roadside unit 40 broadcasts a radio signal including road-to-vehicle communication period information including information on its own road-to-vehicle communication period. The vehicle 10 grasps the road-to-vehicle communication period used by the roadside machine 40 based on the road-to-vehicle communication period information, and prevents the vehicle 10 from transmitting a wireless signal during the road-to-vehicle communication period used by the roadside machine 40. ..

(Operation example)
5 and 6 are diagrams showing an operation example of the transportation communication system 100 according to the embodiment.

As shown in FIG. 5, the traffic communication system 100 has a roadside machine 40 that controls a traffic safety device provided at an intersection where a specific road 110 and a general road 120 intersect. In the example shown in FIG. 5, the specific road 110 is a bus-only road and has one lane, and the general road 120 is a two-lane road with one lane on each side.

Traffic safety devices provided at intersections include traffic signals 141 and 142 and gate devices 131 and 132. A traffic signal may be provided in place of the gate devices 131 and 132. The control unit 42 of the roadside machine 40 may transmit a control command instructing the gate to be opened or closed to the gate devices 131 and 132. Further, the control unit 42 of the roadside machine 40 may transmit a control command instructing switching of the displayed signal to the traffic signals 141 and 142. Such communication may be performed by wire or wirelessly.

Under such an operating environment, the vehicle 10 is traveling toward the intersection on the specific road 110. It is assumed that the vehicle 10 is a general vehicle other than a predetermined vehicle (bus, emergency vehicle) permitted to travel on the specific road 110.

In this operation example, the control unit 42 of the roadside machine 40 causes the vehicle 10 to travel on the specific road 110 based on the type information and / or the emergency vehicle information included in the message received from the vehicle 10 by the communication unit 41. Is not a permitted vehicle. Further, the control unit 42 of the roadside machine 40 determines that the vehicle 10 is traveling on the specific road 110 toward the intersection based on the position information included in the message received from the vehicle 10 by the communication unit 41. May be good.

When the control unit 42 of the roadside machine 40 determines that the vehicle 10 is traveling on the specific road 110 toward the intersection and determines that the vehicle 10 is not a predetermined vehicle, the vehicle 10 is determined to be the specific road 110. The traffic safety device is controlled so as to move from the road to the general road 120.

In this operation example, the traffic safety device is provided on the specific road 110, and is provided on the first gate (gate device 131) located on the front side of the general road 120 in the traveling direction of the vehicle 10 and on the specific road 110. A second gate (gate device 132) located at the back side of the general road 120 in the traveling direction of the vehicle 10 is included.

As shown in FIG. 6, the control unit 42 of the roadside machine 40 keeps the gate of the gate device 131 open and opens the gate of the gate device 132 so that the vehicle 10 moves from the specific road 110 to the general road 120. Keep it closed. In the example shown in FIG. 6, the vehicle 10 enters the intersection because the gate of the gate device 131 is open, but since the gate of the gate device 132 is closed, the vehicle 10 turns right at the intersection and is on a general road. Move to 120.

At this time, the control unit 42 of the roadside machine 40 prohibits the vehicle traveling on the general road 120 from entering the intersection by displaying the signal of the color (red) instructing the stop on the traffic signals 141 and 142. You may.

The control unit 42 of the roadside machine 40 may specify that the vehicle 10 has moved to the general road 120 based on the position information included in the message received from the vehicle 10, the detection value of the roadside sensor, or the like. In response to such identification, the control unit 42 of the roadside machine 40 closes the gate of the gate device 131 so as to prohibit the entry of other vehicles into the specific road 110.

In this way, the roadside machine 40 that controls the traffic safety device provided at the intersection of the specific road 110 and the general road 120 receives and receives a message from the vehicle 10 traveling on the specific road 110 toward the intersection. Based on the message, it is determined whether or not the vehicle 10 is a predetermined vehicle that is permitted to travel on the specific road 110.

The roadside machine 40 controls the traffic safety device so that the vehicle 10 moves from the specific road 110 to the general road 120 when it is determined that the vehicle 10 is not a predetermined vehicle. As a result, even when a general vehicle other than the predetermined vehicle enters the specific road 110, the general vehicle can be moved from the specific road 110 to the general road 120.

(Other embodiments)
Although the present disclosure has been described by embodiments described above, the statements and drawings that form part of this disclosure should not be understood to limit the invention. Various alternative embodiments, examples and operational techniques will be apparent to those skilled in the art from this disclosure.

In the embodiment, an example in which the traffic safety device is a gate device or a traffic signal has been described. However, the traffic safety device may be a radio that wirelessly transmits various instructions to the vehicle 10, and such a traffic safety device (radio) is a signal (in other words, a signal that indicates whether or not the vehicle 10 can pass. And the vehicle 10's progress / stop / right turn / left turn instruction signal) is transmitted to the vehicle 10. Further, such a traffic safety device (radio device) may be integrally configured with the roadside device 40.

Although not particularly mentioned in the embodiment, the roadside machine 40 may communicate with another roadside machine (roadside communication).

In the embodiment, the vehicle 10 and the roadside machine 40 have been mainly described, but the embodiment is not limited to this. A communication device provided in at least one of the vehicle 10 and the roadside machine 40 may be provided. The communication device has the function of the communication unit 11 or the function of the communication unit 41.

Although one embodiment has been described in detail with reference to the drawings above, the specific configuration is not limited to the above, and various design changes and the like can be made within a range that does not deviate from the gist. ..

The present application claims the priority of Japanese Patent Application No. 2018-180224 (filed on September 26, 2018), the entire contents of which are incorporated in the specification of the present application.

Claims (8)

A base station that controls a traffic safety device installed at an intersection where a specific road and a general road intersect.
A communication unit that receives at least one message from a target vehicle traveling on the specific road toward the intersection.
A control unit for determining whether or not the target vehicle is a predetermined vehicle permitted to travel on the specific road based on the at least one message is provided.
The control unit is a base station that controls the traffic safety device so that the target vehicle moves from the specific road to the general road when it is determined that the target vehicle is not the predetermined vehicle. The at least one message includes location information indicating the geographical location of the target vehicle.
The control unit
Based on the position information, it is determined whether or not the target vehicle is traveling on the specific road toward the intersection.
When it is determined that the target vehicle is traveling on the specific road toward the intersection and the target vehicle is determined not to be the predetermined vehicle, the target vehicle moves from the specific road to the general road. The base station according to claim 1, which controls the traffic safety device so as to perform the operation. The specific road is a dedicated road exclusively used for a predetermined type of vehicle.
The predetermined vehicle includes the vehicle of the predetermined type, and includes the vehicle of the predetermined type.
The at least one message includes type information indicating the type of the target vehicle.
The base station according to claim 1 or 2, wherein the control unit determines whether or not the target vehicle is the predetermined vehicle based on the type information. The predetermined vehicle includes an emergency vehicle and includes an emergency vehicle.
The at least one message includes emergency vehicle information indicating whether or not the target vehicle is an emergency vehicle.
The base station according to claim 1 or 2, wherein the control unit determines whether or not the target vehicle is the predetermined vehicle based on the emergency vehicle information. The traffic safety device is
A first gate provided on the specific road and located on the front side of the general road in the traveling direction of the target vehicle, and
A second gate provided on the specific road and located on the back side of the general road in the traveling direction of the target vehicle is included.
The control unit makes the first gate open and the second gate closed so that the target vehicle moves from the specific road to the general road. The base station according to any one of 4. The traffic safety device includes a traffic light provided on the general road.
The base station according to any one of claims 1 to 5, wherein the control unit causes the traffic light to display a stop signal when the target vehicle moves from the specific road to the general road. With the vehicle
A transportation communication system comprising the base station according to any one of claims 1 to 6. It is a control method that controls a traffic safety device installed at an intersection where a specific road and a general road intersect.
A step of receiving at least one message from a target vehicle traveling on the specific road toward the intersection, and
Based on the at least one message, a step of determining whether or not the target vehicle is a predetermined vehicle permitted to travel on the specific road, and
A control method including a step of controlling the traffic safety device so that the target vehicle moves from the specific road to the general road when it is determined that the target vehicle is not the predetermined vehicle.

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