WO2002103652A1

WO2002103652A1 - Intersection system and vehicle information communication method in intersection system

Info

Publication number: WO2002103652A1
Application number: PCT/JP2001/005094
Authority: WO
Inventors: Hiroshi Ogura
Original assignee: Fujitsu Limited
Priority date: 2001-06-14
Filing date: 2001-06-14
Publication date: 2002-12-27

Abstract

An intersection system comprises on-vehicle devices provided in vehicles and road-side devices provided near intersections where two or more roads cross and adapted to communicate with on-vehicle devices by radio and to transmit vehicle information on other vehicles to the on-vehicle devices of the vehicles near each intersection. The on-vehicle device of each vehicle creates vehicle information on the vehicle including information on the identification of the vehicle and information on the direction in which the vehicle travels, transmits the created vehicle information to the road-side device near the intersection by radio communication, receives vehicle information on other vehicles transmitted from the road-side device, and lets the driver of the vehicle to know at least the presence of the other vehicles on the basis of the vehicle information on the other vehicles received by a receiving unit of the vehicle.

Description

TECHNICAL FIELD The present invention relates to an intersection system and a vehicle information communication method in the intersection system.

The present invention relates to a vehicle-mounted device provided in a vehicle, and a road-side device provided near an intersection where two or more roads intersect, wirelessly communicating with the vehicle-mounted device and transmitting vehicle information of another vehicle to the vehicle-mounted device of each vehicle. And an intersection system comprising:

The present invention also relates to a vehicle information communication method in such an intersection system.

Further, the present invention relates to a roadside device and a vehicle device in an intersection system, and a vehicle information communication method thereof.

Furthermore, the present invention relates to a pedestrian crossing system and a railroad crossing notification system to which an intersection system is applied, and a communication method in those systems. Background art

In order to prevent traffic accidents between vehicles or between vehicles and pedestrians at intersections where multiple roads intersect, an intersection system has been proposed that notifies vehicles of the presence of other vehicles or pedestrians.

For example, sensors (infrared sensors, radio wave sensors, etc.) or multiple video cameras are installed at and near the intersection to detect the movement of pedestrians or vehicles. When a vehicle or a pedestrian is detected by this sensor or the like, a notification indicating that the vehicle or pedestrian is approaching the intersection (for example, “vehicle approaching”) is installed near the power intersection. Displayed on the display panel or indicator light.

However, in such a conventional intersection system, sensors must be installed at the intersection and at several points near it in order to detect the movement of vehicles or pedestrians. For this reason, multiple sensors are required, and the location of the sensors must be secured so that the sensors can accurately detect vehicles or pedestrians. In video and camera detection, image processing is performed and vehicles or passers-by An image processing device for recognizing that the vehicle is approaching an intersection is required, which increases costs.

In addition, the conventional intersection system detects the situation before a vehicle or a pedestrian enters the intersection and provides the situation, but detects the situation of the vehicle or pedestrian after entering the intersection in real time. Not a notice. For this reason, the conventional intersection system was not enough for the driver to grasp the situation of the intersection, which is constantly changing.

The present invention has been made in view of such a background. Disclosure of the invention

According to a first aspect of the present invention, an intersection system is provided near an intersection where two or more roads intersect with an in-vehicle device provided in a vehicle, and wirelessly communicates with the in-vehicle device to communicate with the in-vehicle device. In an intersection system including a device and a roadside device for transmitting vehicle information of another vehicle, the vehicle-mounted device includes a vehicle-side processing unit that generates vehicle information of the vehicle, including identification information and a traveling direction of the vehicle. A vehicle-side transmitting unit that transmits the vehicle information of the own vehicle generated by the vehicle-side processing unit to the roadside device by wireless communication; and a wireless communication of the vehicle information of the other vehicle transmitted from the roadside device. Based on the vehicle-side receiving unit received by the vehicle and the vehicle information of the other vehicle received by the vehicle-side receiving unit, the driver of the own vehicle determines at least the presence of the other vehicle by visual, auditory, or tactile sensation. 1 And a notifying unit for notifying the driver so that the vehicle can be perceived by the roadside device, wherein the roadside device includes at least a region within the intersection and a region where the vehicle enters the intersection on each of the two or more roads. A roadside receiving unit for receiving the vehicle information transmitted from the vehicle side transmitting unit of the vehicle entering the communication region, and a first information storing the vehicle information received by the roadside receiving unit; Roadside storage unit and vehicle information selection data that determines whether vehicle information of the other vehicle should be transmitted to one vehicle based on each approach direction and each traveling direction of the two vehicles at the intersection. A second roadside storage unit for storing vehicle information, an approach direction of a vehicle to which vehicle information of another vehicle is transmitted, an approach direction of the other vehicle, each traveling direction included in the vehicle information of these vehicles, 2 roadside Stored in said 憶部 based on the vehicle information selection data, said transmission A roadside processing unit for selecting vehicle information of another vehicle to be transmitted to the trusted vehicle from the vehicle information stored in the first roadside storage unit, and the other vehicle selected by the roadside processing unit And a first roadside transmission unit for transmitting the vehicle information to the transmission destination.

“Intersection” refers to the intersection of two or more roads, such as a crossroad, a T-junction, or any other intersection of two or more roads.

According to the first aspect of the present invention, the in-vehicle device of the intersection system generates the vehicle information of the own vehicle including the identification information of the own vehicle and the traveling direction. Next, the in-vehicle device transmits the generated vehicle information of the own vehicle to the roadside device by wireless communication. On the other hand, when the vehicle information of the other vehicle is transmitted from the roadside device, the vehicle-mounted device receives the vehicle information of the other vehicle by wireless communication. Then, the on-vehicle device enables the driver of the own vehicle to perceive at least one of the presence of the other vehicle visually, audibly, or tactilely based on the vehicle information of the other vehicle received by the vehicle-side receiver. To the driver. On the other hand, the roadside device of the intersection system determines whether or not vehicle information of the other vehicle should be transmitted to one vehicle based on each approach direction and each traveling direction of the two vehicles at the intersection. The selection data is stored in the roadside storage unit of the roadside device in advance. The roadside device has at least a region within the intersection and a region where the vehicle enters the intersection on each of the two or more roads as a communication region, and is transmitted from the vehicle-mounted device of the vehicle entering the communication region. Received vehicle information. Subsequently, the roadside device stores the received vehicle information in the roadside storage unit. Subsequently, the roadside device stores the approach direction of the vehicle to which the vehicle information of the other vehicle is transmitted, the approach direction of the other vehicle, the traveling directions included in the vehicle information of these vehicles, and the roadside storage unit. Based on the selected vehicle information selection data, vehicle information of another vehicle to be transmitted to the destination vehicle is selected from vehicle information stored in the roadside storage unit. The roadside device transmits the selected vehicle information of the other vehicle to the destination vehicle.

According to a second aspect of the present invention, an on-vehicle device is provided in a vehicle and communicates wirelessly with a road-side device provided near an intersection where two or more roads intersect. A vehicle-side processing unit that generates vehicle information of the own vehicle, including a vehicle direction and a traveling direction; and transmits the vehicle information of the own vehicle generated by the vehicle-side processing unit to the road-side device. A vehicle-side transmission unit that transmits by wireless communication, and whether to transmit vehicle information of the other vehicle to one vehicle based on each approach direction and each traveling direction of the two vehicles to the intersection is determined. The roadside device uses the vehicle information based on the vehicle information selection data, the approach direction of the own vehicle to the intersection, the approach direction of another vehicle, and the traveling directions included in the vehicle information of these vehicles. A vehicle-side receiving unit that receives the vehicle information of the other vehicle selected as necessary to be transmitted to the roadside device by wireless communication from the roadside device, and a vehicle information of the other vehicle that is received by the vehicle-side receiving unit. And a notifying unit for notifying the driver of at least one of the other vehicles based on at least one of visual, auditory, and tactile sensations based on the presence of the other vehicle.

According to a second aspect of the present invention, an on-vehicle device generates vehicle information of the own vehicle including identification information and a traveling direction of the own vehicle, and generates the vehicle information of the own vehicle on a roadside device provided near an intersection. To be transmitted by wireless communication. Subsequently, the on-board device transmits vehicle information selection data that determines whether vehicle information of the other vehicle should be transmitted to one vehicle based on each approach direction and each traveling direction to the intersection of the two vehicles. Based on the approach direction of the own vehicle and the approach direction of the other vehicle to the intersection, and the traveling directions included in the vehicle information of these vehicles, it is necessary to transmit to the own vehicle by the roadside device. The vehicle information of the other vehicle selected as a vehicle is received from the roadside device by wireless communication. Thus, vehicle information is communicated.

According to a third aspect of the present invention, a roadside device is provided near an intersection where two or more roads intersect, communicates wirelessly with an in-vehicle device provided in a vehicle, and communicates with the in-vehicle device in each vehicle. A roadside device for transmitting vehicle information of a vehicle, wherein at least each of the two or more roads has an area within the intersection and an area where the vehicle enters the intersection as a communication area. A roadside receiving unit for receiving vehicle information transmitted from the on-vehicle device of the vehicle entering the vehicle, including identification information and traveling direction of the vehicle, and a first storage unit for storing the vehicle information received by the roadside receiving unit. A roadside storage unit and vehicle information selection data that determines whether vehicle information of the other vehicle should be transmitted to one vehicle based on each approach direction and each traveling direction of the two vehicles at the intersection. Remember That a second roadside storage unit, and the approach direction of advance Ingress direction and said other vehicles of a vehicle to which to send the vehicle information of another vehicle, the progression included in the vehicle information of the vehicle Based on the direction and the vehicle information selection data stored in the second roadside storage unit, vehicle information of another vehicle to be transmitted to the destination vehicle is stored in the first roadside storage unit. A roadside processing unit that selects from the vehicle information stored in the vehicle, and a roadside transmission unit that transmits vehicle information of another vehicle selected by the roadside processing unit to the destination vehicle.

According to the third aspect of the present invention, the roadside device should transmit vehicle information of one vehicle to another vehicle based on each approach direction and each travel direction of the two vehicles at the intersection. The vehicle information selection data that determines whether or not the vehicle information is stored in advance in a second roadside storage unit provided in the roadside device. Then, the roadside device transmits the vehicle's information transmitted from the on-vehicle device of the vehicle that has entered the communication area including at least the area within the intersection and the area where the vehicle enters the intersection on each of the two or more roads. The vehicle information including the identification information and the traveling direction is received. Subsequently, the roadside device stores the received vehicle information in a first roadside storage unit provided in the roadside device. Subsequently, the roadside device stores the approach direction of the vehicle to which the vehicle information of the other vehicle is transmitted, the approach direction of the other vehicle, the traveling directions included in the vehicle information of these vehicles, and the second roadside memory. The vehicle information of the other vehicle to be transmitted to the destination vehicle is selected from the vehicle information stored in the first roadside storage unit based on the vehicle information selection data stored in the first unit. Next, the roadside device transmits the selected vehicle information of the other vehicle to the destination vehicle. In this way, communication of vehicle information is performed.

According to a fourth aspect of the present invention, a pedestrian crossing system includes a portable device carried by a pedestrian who passes through a pedestrian crossing, a roadside device provided near the pedestrian crossing, and an in-vehicle device mounted on a vehicle. A pedestrian crossing system comprising: a mobile-side transmitting unit that wirelessly transmits a notification signal for notifying the presence of a pedestrian; and the road-side device includes at least an area of the pedestrian crossing. A roadside receiving unit having a first communication area including a notification signal from the portable device in the first communication area by wireless communication, and a vehicle on the pedestrian crossing on a road crossing the pedestrian crossing. A roadside transmitting unit for transmitting the notification signal by wireless communication to the on-vehicle device in the second communication region, the road-side transmitting unit having a region on the side where the vehicle enters, as a second communication region. , The roadside Equipped with car-side receiving unit that receives a notification signal from the signal portion by the wireless communication You.

According to the fourth aspect of the present invention, the portable device of the pedestrian crossing system wirelessly transmits a notification signal for notifying the presence of a pedestrian.

On the other hand, the roadside device of the pedestrian crossing system receives the notification signal from the portable device by wireless communication within a first communication area including at least the pedestrian crossing area. The roadside device transmits, by wireless communication, a notification signal to an in-vehicle device mounted on a vehicle in a second communication area formed on a side where the vehicle enters the pedestrian crossing on a lane crossing the pedestrian crossing. Send. Next, the in-vehicle device receives the notification signal from the roadside device via wireless communication. Communication is performed in this way.

According to a fifth aspect of the present invention, a roadside device is a roadside device provided near a pedestrian crossing, having a first communication area including at least the pedestrian crossing area, A roadside receiving unit for receiving, by wireless communication, a notification signal for notifying the presence of a pedestrian, which is transmitted from a portable device carried by the pedestrian in the area, and a vehicle on the pedestrian crossing in a road crossing the pedestrian crossing A roadside transmitting unit that has an area on the side where the vehicle enters as a second communication area, and in the second communication area, transmits the notification signal by radio communication to an in-vehicle device mounted on the vehicle. Have.

According to a fifth aspect of the present invention, a roadside device provided near a pedestrian crossing is provided in a first communication area including at least a pedestrian crossing area. A notification signal for notifying the presence of a person is received by wireless communication. Subsequently, the roadside device transmits a notification signal to the on-vehicle device mounted on the vehicle in a second communication area provided on a side of the road crossing the pedestrian crossing where the vehicle enters the pedestrian crossing. Send by Communication is performed in this way.

According to a sixth aspect of the present invention, a railroad crossing notification system comprises: a roadside device provided near a railroad crossing where a railroad through which a train passes and a lane through which vehicles pass; A roadside device comprising: a first communication area including at least the area of the crossing, and a first communication area for detecting a vehicle having entered the first communication area. A detection unit, a second communication region having a region where the vehicle can be confirmed to have passed from the crossing region as a second communication region, and a second detection unit detecting a vehicle entering the second communication region; 1 detector A roadside transmitting unit that transmits vehicle entry information to the trackside device when the vehicle is detected by the vehicle, and transmits vehicle passage information to the trackside device when the vehicle is detected by the second detection unit; A track-side device that receives the vehicle entry information and the vehicle passage information from the road-side transmission unit; and a track-side device that is provided on a track ahead of the train in the direction of approach to the railroad crossing. The vehicle has a third communication area, and when the vehicle-entry information is received by the track-side receiving unit, transmission of a vehicle-entry notification is started in the third communication area. A vehicle entry information transmission unit that stops transmission of a vehicle entry notification when received.

According to the sixth aspect of the present invention, the roadside device in the railroad crossing notification system detects a vehicle entering the first communication area including at least the railroad crossing area, and detects that the vehicle has passed from the railroad crossing area. The vehicle that has entered the second communication area provided in the area where the traffic can be confirmed is detected. When a vehicle is detected in the first communication area, the roadside apparatus transmits the vehicle entry information to the trackside apparatus of the crossing notification system, and when a vehicle is detected in the second communication area, the roadside apparatus transmits the vehicle passage information. Transmit to the trackside device.

On the other hand, the trackside device of the railroad crossing notification system receives vehicle entry information and vehicle passage information from the roadside device. Then, upon receiving the vehicle entry information, the track side device starts transmitting a vehicle entry notification to a third communication area provided on the track ahead of the train in the direction of approach to the crossing, and receives the vehicle passage information. When the is received, transmission of the vehicle entry notification is stopped.

According to a seventh aspect of the present invention, a roadside device has a first communication area including at least a crossing area where a track on which a train passes and a road on which a vehicle passes intersects, A first detection unit that detects a vehicle that has entered the vehicle, and a second communication region that includes a region where it is possible to confirm that the vehicle has passed from the crossing region, and that the vehicle that has entered the second communication region. A second detection unit for detecting, and when the vehicle is detected by the first detection unit, transmitting vehicle entry information to a track side device for notifying a train of entry of the vehicle to the railroad crossing; And a roadside transmission unit that transmits vehicle passage information to the trackside device when the vehicle is detected by the second detection unit. According to a seventh aspect of the present invention, a roadside device that reports the entry and passage of a vehicle at a railroad crossing at which a railroad where a train passes and a lane where a car passes intersects the railroad crossing. In addition to detecting a vehicle that has entered the first communication area that includes at least the area of the crossing, it detects a vehicle that has entered the second communication area where it can be confirmed that the vehicle has passed from the crossing area. Then, when the vehicle is detected in the first communication area, the roadside device transmits the vehicle entry information to the trackside device that reports the approach of the vehicle to the railroad crossing to the train, and the vehicle enters the second communication area. When detected, the vehicle transmission information is transmitted to the trackside device. BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a plan view of an intersection for explaining a first embodiment of the present invention. Figure 2 is a block diagram showing the configuration of the vehicle-mounted device mounted on the vehicle.

Figure 3A is a side view showing the positional relationship between the zone formed by the radio waves transmitted from the antenna of the roadside communication device and the vehicle antenna.

Figure 3B is an example of the reception level graph.

Figure 4 is a block diagram showing the configuration of the roadside communication device.

Figure 5 is a block diagram showing the configuration of the roadside processing unit.

Figure 6 shows the data (held data) stored in the storage unit of the roadside processor. Figures 7A to 7D show the vehicle status data of each roadside communication device in a table format.

Figures 8A to 8F show vehicle information selection data in a table format. Figures 9A to 9F show the situation (plan view) of the intersection corresponding to Figs. 8A to 8F, respectively.

FIG. 10 shows, in the form of a table, traffic light state / access permission data according to the first embodiment of the present invention.

Figures 11A and 11B show priority / non-priority data in a table format.

Figures 12A and 12B show the situation (plan view) of the intersection corresponding to Figures 11A and 11B, respectively.

FIG. 13 is a sequence diagram showing a processing flow of the vehicle-mounted device, the roadside communication device, and the roadside processing device according to the first embodiment of the present invention.

Figure 14 shows the data structure of omnidirectional vehicle information. Figure 15 shows an example of the data structure of data (frames) transmitted from each roadside communication device to each jurisdiction zone.

Figure 16 shows an example of the data structure of the data transmitted from the vehicle-mounted device to the roadside communication device.

Figures 17 and 18 are flowcharts showing the detailed flow of the processing of individual vehicle information.

Figure 19 shows, in a table format, the priority data added at intersections where there is no traffic light and there is a distinction between priority roads and non-priority roads.

FIG. 20 is a plan view of the intersection corresponding to FIG.

FIG. 21 is a plan view (top view) of an intersection of a T-junction for explaining the fourth embodiment of the present invention.

FIG. 22 shows, in the form of a table, traffic light state / # 1 input availability correspondence data in the fourth embodiment of the present invention.

FIG. 23 is a perspective view showing a crosswalk for explaining the fifth embodiment.

FIG. 24 is a plan view of an intersection for explaining the eighth embodiment of the present invention. FIG. 25 is a sequence diagram showing a processing flow of the vehicle-mounted device, the roadside communication device, and the roadside processing device according to the eighth embodiment of the present invention.

Figure 26 is a plan view showing a railroad crossing where a railway track crosses a road on which vehicles pass, and the surrounding area. BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, the present invention will be described with reference to some embodiments. However, these embodiments are examples, and the technical scope of the present invention is limited to these embodiments. It is not something to be done.

1. First Embodiment

Figure 1 is a plan view (top view) of an intersection X where two roads R1 and R2 intersect at a substantially right angle. The intersection X is provided with the intersection system according to the first embodiment of the present invention. 1.1. Configuration of intersection system

At this intersection X, two roads R 1 and R 2 intersect at almost right angles. In the present embodiment, these roads R1 and R2 are left-hand traffic roads bounded by the center line (or the central demarcation zone) L1 and L2, respectively.

Road R1 has one or more lanes of one-sided roads R11 and R12. One-sided road R11 is in the direction from bottom to top in Fig. 1 (hereinafter referred to as "R11 direction"), and one-sided road R12 is in Fig. 1 in the direction from top to bottom (hereinafter referred to as "R12 direction"). ), The vehicle travels (passes).

Road R2 also has one-way or multiple-lane one-way roads R21 and R22. One-sided road R 21 is in the left-to-right direction in Fig. 1 (hereinafter referred to as "R21 direction"), and one-sided road R22 is in Fig. 1 in the right-to-left direction (hereinafter referred to as "R22 direction"). ), The vehicle travels (passes).

In FIG. 1, as an example, a state is shown in which vehicle 1 travels on one side road R11 and enters intersection X. Vehicle 1 may be a four-wheeled vehicle, or may be a two-wheeled or three-wheeled vehicle.

At intersection X, traffic lights 7a to 7d are installed. Traffic light 7a regulates the traffic (straight, left turn, and right turn) on one-way road R11. Similarly, traffic light 7b regulates traffic on one-way road R21, traffic light 7c regulates traffic on one-way road R12, and traffic light 7d regulates traffic on one-way road R22. is there. These traffic lights 7a to 7d are connected to the roadside processing device 3 by wire or wirelessly (signal lines are not shown), and signals representing their own status (red, yellow, or blue) will be described in detail later. It is transmitted to the roadside processing device 3.

The intersection system according to the present embodiment includes a roadside device installed at the intersection X and an in-vehicle device 10 mounted on the vehicle 1. The roadside device has four roadside communication devices 2 a to 2 d and a roadside processing device 3. The roadside communication devices 2a to 2d are sometimes called base stations, and the roadside processing device 3 is sometimes called a base station controller. The roadside communication devices 2a to 2d are connected to the roadside processing device 3 by a communication line, and transmit and receive data to be described later via the communication line. In Fig. 1, only the communication line between the roadside communication device 2a and the roadside processing device 3 is shown for simplicity. Communication line is omitted. These communication lines are wired communication lines in the present embodiment, but may be wireless communication lines.

The roadside communication device 2a controls a zone (area) 5a (shown by a virtual line (two-dotted line)) formed on the one-sided road R11. Similarly, the roadside communication device 2b has a zone (area) 5b formed on the one-sided road R21, and the roadside communication device 2c has a zone (area) 5 formed on the one-sided road R12. c, and the roadside communication device 2 d controls the zone (area) 5 d formed on the one-sided road R22. The roadside communication devices 2a to 2d have, for example, a DSRC (Dedicated Short Range Communication) function, and wirelessly communicate with the vehicle 1 entering the zones 5a to 5d under their control.

The speed of this wireless communication is, for example, 1 M [bps], 4 M [bps], and the like. The frequency band is, for example, the 5.8 G [Hz] band. The radio frequencies of the roadside communication devices 2a to 2d should be set within the given frequency band so that the radio waves of the roadside communication devices 2a to 2d do not interfere with each other in the region where at least two of the zones 5a to 5d intersect. , Different frequencies are assigned to each.

Each zone 5a to 5d is set in an area where intersection X can be effectively prevented. The specific range of this area is determined by simulations, experiments, actual operations, and so on.

For example, in zone 5a, in the R11 direction (longitudinal direction) of one-sided road R11, vehicles enter one-sided road R111 from the corner 6a (entrance) of intersection X (upstream side of the road). From about 10 to 20 meters toward the road, cross intersection X and go from corner 6b (exit) to the exit of the vehicle (downstream of the road) to several meters (about 1 to 3 meters). Area is set. Zone 5a is set in the direction (width direction) orthogonal to the R11 direction, in the area of almost the same width as the one-sided road R11 or a slightly narrower width (width about several tens of centimeters). Is done.

Thus, zone 5a consists of the entry area that forms the part from the vehicle's entry side to the entrance of intersection X (corner 6a), the area within intersection X, and the exit of intersection X (corner 6b). And a delivery side region which constitutes a part from the delivery side to the delivery side. Zone 5a has an exit area to reliably detect that vehicle 1 has left intersection X. is there.

The other zones 5b to 5d are set in the same area on each one-way road R21, R12, R22.

The vehicle 1 is equipped with an in-vehicle device that communicates with one of the roadside communication devices 2a to 2d. FIG. 2 is a block diagram showing the configuration of the vehicle-mounted device 10 mounted on the vehicle 1. As shown in FIG. The in-vehicle device 10 includes an antenna 11, a radio unit 12, a display unit 13, a speaker unit 14, a processing control unit 15, and a storage unit 16.

The antenna 1 is an antenna for performing wireless communication with any of the roadside communication devices 2a to 2d, and is composed of, for example, a planar antenna (patch, antenna, etc.). The antenna 1 is provided on the front of the vehicle 1 and has directivity in a range of a slight angle to the left and right with respect to the front (the traveling direction when traveling straight) and the front. The range of the slight left and right angles is a range in which the vehicle 1 can communicate with the roadside communication device in the left turn direction or the right turn direction when the vehicle 1 turns left or right slightly and turns the body 1 slightly. Therefore, antenna 1 mainly receives radio waves arriving from the front in the traveling direction and transmits radio waves toward the front in the traveling direction.

Under the control of the processing / control unit 15, the radio unit 12 transmits the radio frequency (frequency of the wireless communication of the antenna 11) and the baseband frequency (frequency of the input / output signal of the processing / control unit 15). It performs modulation / demodulation processing, conversion between analog signals (radio communication signals of antenna 11) and digital signals (input / output signals of processing / control unit 15) (A / D conversion and DZA conversion). The radio unit 12 can receive any of the frequencies assigned to the roadside communication devices 2a to 2d, and performs wireless communication at a frequency corresponding to the frequency of the signal received from the roadside communication devices 2a to 2d. It is configured as follows.

The processing / control unit 15 controls the radio unit 12, the display unit 13, the speaker unit 14, the storage unit 16, and the like, and also performs transmission of vehicle information described later, processing of other direction information, and the like. The processing control unit 15 can also apply a brake by controlling a braking device (not shown). The processing / control unit 15 may be composed of a CPU or a microcomputer and a program executed by the CPU or the microcomputer, or a hardware in which the processing described by the program is realized by hardware. It may be constituted by a circuit. In addition, this program It may be recorded on a recording medium (semiconductor memory, floppy disk, CD-ROM, DVD, etc.) and provided.

The storage unit 16 is transmitted from any of the vehicle number and vehicle ID assigned to the vehicle 1 in advance, a reception level function representing a reception level graph, own vehicle information, and the roadside communication devices 2a to 2d. The other direction vehicle information and the individual vehicle information are stored. The storage unit 16 can be constituted by, for example, a semiconductor memory, a hard disk device, or the like.

The “vehicle number” is, for example, the number given to the number plate of vehicle 1. “Vehicle ID” is an identifier assigned to the in-vehicle device 10 to uniquely identify the in-vehicle device 10, and can also be called the in-vehicle device ID. The “vehicle number” and / or the “vehicle ID” may include information identifying the type of vehicle 1. Both “vehicle number” and “vehicle ID” can be used as identification information for identifying vehicle 1 from other vehicles.

The “reception level function” is the reception level (intensity of the received radio wave) of the radio wave transmitted from any of the roadside communication devices 2a to 2d, and the distance from the entry position of zones 5a to 5d to vehicle 1. Is a function showing the relationship with Figure 3A shows the positional relationship between the zones 5a to 5d formed by the radio waves transmitted from the antennas 21 of the roadside communication devices 2a to 2d, respectively, and the antenna 11 of the vehicle 1 described later. FIG. Figure 3B is an example of a graph of a reception level function (reception level 'graph).

The reception level has the intensity shown in Fig. 3B from the upstream side (left side in Fig. 3) of one side road toward the downstream side (right side in Fig. 3). In Fig. 3B, the "service-in" point is that vehicle 1 travels in the direction of travel and vehicle-mounted device 10 (processing Z control unit 15 or wireless unit 12) is connected to any of roadside communication devices 2a to 2d. This is the point where you can recognize that you are receiving radio waves from the Internet. The “service out” point recognizes that the in-vehicle device 10 (processing / “controller 15 or wireless unit 12”) is receiving radio waves from any of the roadside communication devices 2 a to 2 d. It is a point that cannot be done.

Note that within the receivable area from the service 'in' point to the service 'out' point, antenna 21 can receive radio waves from antenna 11 as well. it can. In addition, this reception level function can be stored in the storage unit 16 as a correspondence table (table) between the reception level and the position, or can be stored in the storage unit 1 as a calculation formula (including an approximation formula) representing a graph curve. 6 can also be stored.

Of the information (data) stored in the storage unit 16, the “own vehicle information”, the “other direction vehicle information”, and the “individual vehicle information” will be described later in detail.

The display unit 13 displays information on the status of the intersection X (detailed later) to the driver (driver) under the control of the processing / control unit 15. The display unit 13 includes, for example, a liquid crystal display device, a CRT display device, and a plasma display device. Under the control of the processing control unit 15, the speaker unit 14 notifies the driver of the information on the status of the intersection X (described in detail later) by voice, warning sound, and the like.

The display unit 13 can also serve as a display device such as a car navigation system or a car audio system already mounted on the vehicle 1, for example. Similarly, the speaker section 14 can also be used as a speaker for the car 'navigation' system, car 'audio' system, etc. already mounted on the vehicle 1.

Since the speed meter 17 and the win force (direction indicator) 18 are known ones usually mounted on the vehicle 1, their detailed description is omitted here. The speed meter 17 gives the measured speed to the processing Z controller 15. The win force 18 is composed of a left-turn win force and a right-turn win force, and provides a signal indicating whether or not there is a blink (blink signal) to the processing control unit 15.

Fig. 4 is a block diagram showing the configuration of each of the roadside communication devices 2a to 2d. In the present embodiment, the roadside communication devices 2a to 2d all have the same configuration. Therefore, here, the configuration will be described using the roadside communication device 2a as an example.

The roadside communication device 2a includes a planar antenna 21, a radio unit 22, a processing Z control unit 23, an interface unit (I / F unit) 24, and a storage unit 25.

The planar antenna 21 is an antenna for performing wireless communication with the vehicle-mounted device 10. This flat antenna 21 is installed at a position (eg, at a height of 5 to 6 meters above the road surface of one-sided road R11) and orientation that can cover the zone 5a under its jurisdiction. You. Therefore, the installation location of the antenna 21 can be easily secured. The planar antenna 21 has directivity toward the upstream side of the zone 5a under its control. Therefore, the antenna 21 transmits radio waves from the downstream side of the one-sided road R11 to the upstream side, and receives radio waves from the onboard device 10 transmitted from the upstream side to the downstream side. The planar antenna 21 may be a patch 'antenna.

The radio section 22 modulates and demodulates the radio frequency (frequency of the wireless communication of the antenna 21) and the baseband frequency (frequency of the input / output signal of the processing control section 23) under the control of the processing control section 23. Processing, conversion (AZD conversion and D / A conversion) processing between analog signals (wireless communication signals of the planar antenna 21) and digital signals (input / output signals of the processing control unit 23). As described above, different frequencies are assigned to the radio frequencies of the radio units 22 of the roadside communication devices 2a to 2d, respectively. The processing control unit 23 controls the radio unit 22, the IZF unit 24, and the storage unit 25, and also performs processing such as communication requests, transmission of own-vehicle information, and reception of other-way vehicle information, which are described later. . The processing Z control unit 23 may be constituted by a CPU or a microcomputer and a program executed by the CPU or the microcomputer, or may be a hardware in which the processing described by the program is realized by hardware. It may be constituted by a circuit. This program may be recorded on a recording medium (semiconductor memory, floppy disk, CD-ROM, DVD, etc.) and provided.

The IF section 24 is connected to the roadside processing device 3, and performs interface processing (voltage matching, signal conversion, communication protocol processing, etc.) under the control of the processing Z control section 23.

The storage unit 25 temporarily stores the vehicle information transmitted from the vehicle 1, the slot number assigned to each vehicle 1 (described later), the information transmitted from the roadside processing device 3, and the like. An identification number (roadside communication device number) for identifying each of the roadside communication devices 2a to 2d is assigned in advance, and the storage unit 25 stores the roadside communication device number in advance. I have. The roadside processing device 3 can identify the roadside communication devices 2a to 2d based on the roadside communication device number. This storage unit 25 For example, it can be constituted by a semiconductor memory, a hard disk device, or the like. FIG. 5 is a block diagram showing the configuration of the roadside processing device 3. As shown in FIG. The roadside processing device 3 includes a processing control unit 31, a roadside communication device interface unit (roadside communication device I / F unit) 32, a traffic light interface unit (traffic light IZF unit) 33, and a storage unit 34.

The processing / control unit 31 controls the roadside communication device IF unit 32, the traffic signal IF unit 33, and the storage unit 34, and also performs processing such as vehicle registration and vehicle information reception, which will be described later. The processing Z control unit 31 may be configured by a CPU or a microcomputer and a program executed by the CPU or the microcomputer, or may be a hardware circuit in which the processing described by the program is realized by hardware. May be configured.

The roadside communication device IZF unit 32 has IZF units 32a to 32d. I / F 3

2a to 32d are connected to the roadside communication devices 2a to 2d, respectively, and perform interface processing (voltage matching, signal conversion, communication protocol processing, etc.) under the control of the Z control unit 31. Do.

The traffic signal IZF section 33 has I / F sections 33a to 33d. I / F section 33 a〜

33 d is connected to each of the traffic lights 7 a to 7 d (signal lines are not shown in FIG. 1), and under the control of the processing / control unit 31, interface processing (voltage matching, signal conversion, communication protocol) Processing).

The storage unit 34 stores data transmitted from the roadside communication device, predetermined table data, and the like. The storage unit 34 can be constituted by, for example, a semiconductor memory, a hard disk device, or the like.

FIG. 6 shows data (holding data) stored in the storage unit 34. The retained data includes vehicle status data, vehicle information selection data, traffic light status data, and traffic signal status_progress / non-progress information of the roadside communication devices 2a to 2d created from the data transmitted from the roadside communication devices 2a to 2d, respectively. Data and priority data.

Figures 7A to 7D show the vehicle status data of the roadside communication devices 2a to 2d in the form of tables, respectively. The vehicle status data of the roadside communication device 2a is based on vehicle information (described later) transmitted from the vehicle 1 to the roadside communication device 2a via the roadside communication device 2a. It is created by the processing / control unit 31. The vehicle status data of the roadside communication devices 2b to 2c are created in the same manner.

Each vehicle status data includes vehicle number, vehicle ID, information update time, heading direction, speed, travel stop, communication start time, and communication end time.

“Vehicle number” and “Vehicle ID” are the vehicle number and vehicle ID of vehicle 1 communicating with one of the roadside communication devices 2a to 2d, respectively. Since vehicle 1 can be identified only by the vehicle number, vehicle ID may be omitted.

The “traveling direction” is the direction in which the vehicle 1 travels in the future, and has one of the following values: straight ahead, left turn, or right turn. This traveling direction is created by the in-vehicle device 10 (processing / control unit 15) based on the information of the winkers 18 (see FIG. 2) of the vehicle 1, as described later. Therefore, this traveling direction is referred to as the traveling direction when the vehicle 1 enters the zones 5a to 5d (hereinafter referred to as “entering direction”). ) Does not always match. For example, vehicle 1 has a left-turn (that is, R22 direction) as the force traveling in zone 5a in direction R11, and may then turn left. In other words, the approach direction is determined by which of the roadside communication devices 2a to 2d has started communication when the vehicle 1 has entered any of the zones 5a to 5d. On the other hand, the direction of travel is the direction relative to the approach direction.

“Speed” is the running speed of vehicle 1 and is the value of speed meter 17 of vehicle 1. “Running Z stop” is data indicating whether the vehicle 1 is running or stopped, and has a value of either running or stopped. This “run / stop” can also be determined based on whether the “speed” value is 0, and can be omitted from the vehicle status data.

“Communication start time” is the time when vehicle 1 (vehicle-mounted device 10) starts communicating with any of roadside communication devices 2a to 2d. The communication start time is the time when vehicle 1 goes straight ahead and the service shown in Fig. 3 starts communication at the in-point, or when vehicle 1 makes a left or right turn and enters from one zone to another. (In this case, vehicle 1 enters between the service 'in' point and the service 'out' point), or the time when communication with the roadside communication device that governs the other zone started. Value.

The “communication end time” is the time when the vehicle 1 ends communication with one of the roadside communication devices 2a to 2d. It is the time that was completed. This communication end time is the time when vehicle 1 goes straight and ends communication at any of the service 'out' points in zones 5a to 5d, or turns left or right, and antenna 1 1 (and antenna 2 1) Due to the directivity of the vehicle 1, the vehicle 1 becomes unable to communicate with any of the roadside communication devices 2a to 2d, and thus takes any value of the communication termination time.

Thus, when vehicle 1 makes a left or right turn from straight ahead, the directivity of antenna 11 (and antenna 21) terminates communication with the roadside communication device that was communicating when traveling straight ahead. A new communication with the roadside communication device in the left or right turn direction will be started. In such a case, the vehicle condition data for the same vehicle is created in each of the roadside communication device in the straight ahead direction and the roadside communication device after turning left or right.

If the communication has not been completed (that is, if vehicle 1 is in the zone and is communicating), the communication end time column contains a value other than the time value such as "NULL". Is placed.

“Information update time” is the time when the traveling direction, speed, or running / stop content of the information of each vehicle number (and vehicle ID) was updated, when that information was updated. For example, when the traveling direction of vehicle 1 with a certain vehicle number is changed from straight ahead to left turn, the traveling direction column of that vehicle number is changed from straight ahead to left turn and the information update time column is displayed. Will record the time of the change. If the information is not updated, the information update time is recorded, for example, as the “NULL” value or the same time as the communication start time.

This vehicle status data is divided into the part where the communication end time is entered (history data) and the data where the communication end time is not entered yet (that is, data on vehicles in the zone that are communicating). Can also be provided.

Figures 8A to 8F show vehicle information selection data in a table format. This vehicle information selection data is data for determining which vehicle information (vehicle number, traveling direction, running / stop, priority, etc.) is to be included in the individual vehicle information described later. 9A to 9F show the situation (plan view) of the intersection corresponding to FIGS. 8A to 8F, respectively. Symbols A to D in these figures indicate vehicles. “Go straight”, “turn left”, “turn right”, and “stop” indicate the status of vehicles A to D. For example, vehicle A “straight” indicates that vehicle A is traveling straight. Whether the vehicles A to D are in the “straight ahead”, “left turn”, “right turn”, or “stopped” state is determined by the “traveling direction” data and “ Judgment is made based on "stop running" (or "speed") data.

8A to 8F, a circle (〇) indicates a case where individual vehicle information transmitted to one vehicle needs to include vehicle information of the other vehicle, and a cross (X) indicates In this case, it is not necessary to include the vehicle information of the other vehicle in the individual vehicle information of one vehicle.

For example, in Fig. 8A, when both the states of vehicles A and B are "straight ahead", a circle is marked. Therefore, in this case, the individual vehicle information transmitted to vehicle A includes the vehicle information of vehicle B, and the individual vehicle information transmitted to vehicle B includes the vehicle information of vehicle A. It will be. On the other hand, when the state of vehicle A is a left turn and the state of vehicle B is straight ahead, a cross is marked. Therefore, in this case, the individual vehicle information transmitted to vehicle A does not include the vehicle information of vehicle B, and the individual vehicle information transmitted to vehicle B does not include the vehicle information of vehicle A. It will not be.

By selecting the vehicle information to be transmitted based on the vehicle selection data, unnecessary transmission of vehicle information can be prevented. As a result, the amount of communication data is reduced, and efficient communication can be performed.

Figure 10 shows the traffic condition / accessibility data in a table format. Traffic light status Z entry availability data is based on the status of traffic lights 7a and 7c in the direction of road R1 (see Fig. 1) and whether vehicles can enter intersection X in the direction of road R1 (permission allowed, caution of approach). , And entry prohibition), and the status of traffic lights 7b and 7d in the direction of road R2 (see Fig. 1) and whether vehicles can enter the intersection X in the direction of road R2 (entry permission, , And entry prohibited).

It is assumed that both traffic lights 7a and 7c change to the same state (red, yellow, or blue) in synchronization, and that traffic lights 7b and 7d also change to the same state in synchronization. The traffic light status Z entry availability correspondence data is used to notify each vehicle 1 whether or not each vehicle 1 can enter the intersection according to the status of the traffic lights 7a to 7d. This notification is included in the individual vehicle information (described later) and transmitted to each vehicle 1. For example, when the traffic light 7a (7c) in the direction of the road R1 is "blue", the vehicle travels in the direction of the road R1 (that is, the approach direction is the direction of the road R11 or R12). The vehicle will be notified of the "entry permitted" force if it is "yellow" and "not allowed" if it is "red". Corresponding to the state of the traffic light 7b (7d) in the direction of the road R2, the same notification is given to vehicles traveling in that direction (that is, the approach direction is the direction of the road R21 or R22). .

Figures 11A and 11B show priority data in a table format. Figures 12A and 12B show the situation (plan view) of the intersection corresponding to Figures 11A and 11B, respectively. Symbols A to D in these figures indicate vehicles. “Go straight”, “turn left”, “turn right”, and “stop” indicate the status of vehicles A to D. The priority data indicates the priority of the two vehicles (straight ahead, left turn, right turn, and stopped), indicating which vehicle is allowed to travel with priority. In the figure, “A priority”, “C priority”, etc. indicate vehicles that are allowed to travel with priority.

For example, in Fig. 11A, the column of “turn right” for vehicle A and the column “straight ahead” for vehicle A are marked with “C priority”, so that the traffic of vehicle C has priority over the traffic of vehicle A. Which indicates that. In this case, “C priority” is sent to vehicle C and “non-priority” is sent to vehicle A as the priority. In the “turn right” column for both vehicles A and C, “Caution” is entered to indicate that both vehicles A and C need to pay attention to each other. In this case, “Attention” is sent to vehicle A and the same as priority.

The columns marked with crosses (X) indicate that no priority is transmitted because vehicle information is not included in the individual vehicle information, as described in FIGS. 8 and 9. .

This priority is included in the vehicle information of omnidirectional vehicle information (described later) or individual vehicle information (described later) and transmitted to each vehicle 1.

1.2. Intersection system processing FIG. 13 is a sequence diagram showing the processing flow of the vehicle-mounted device 10, the roadside communication devices 2 a to 2 d, and the roadside processing device 3. In the following, the roadside communication devices 2a to 2d are collectively referred to as “roadside communication device 2” when they are not particularly distinguished.

Processing of the roadside processing unit 3 The Z control unit 31 creates omnidirectional vehicle information at predetermined fixed time intervals (for example, at intervals of several milliseconds, tens of milliseconds, etc.). The data is transmitted to the roadside communication device 2 via 2a to 32d (step S21).

Figure 14 shows the data structure of this omnidirectional vehicle information. The omnidirectional vehicle information includes all vehicles traveling in any of the R11 direction to R22 direction in zones 5a to 5d (that is, all vehicles communicating with any of the four roadside communication devices 2). Vehicle).

This omnidirectional vehicle information includes the destination, direction data, and vehicle information for each direction.

The “transmission destination” indicates a transmission destination to which the omnidirectional vehicle information is transmitted. In the present embodiment, since all the roadside communication devices 2 are used, they are “all roadside communication devices”. “Direction data” indicates one of four directions from the R11 direction to the R22 direction. The “vehicle information” in each direction is information on vehicles traveling in each direction from the R11 direction to the R22 direction (that is, vehicles communicating with each roadside communication device 2).

The “vehicle information” is provided by the number of vehicles 1 communicating with each roadside communication device 2 and has the vehicle number, traveling direction, speed, traveling stop, and priority of each vehicle 1. This vehicle information is created based on the data held in the roadside processing device 3 shown in FIG.

In other words, the processing control unit 31 stores, in the stored data stored in the storage unit 34, the vehicle status data in which the communication end time is not entered (that is, exists in each of the zones 5a to 5d, Vehicle status data of vehicle 1 communicating with 2). Then, the processing / control unit 31 converts the vehicle number, the traveling direction, the speed, and the traveling stop value of the extracted vehicle status data into the vehicle information “vehicle number”, “traveling direction”, “speed”, and It is stored in the area of "stop when running". Note that whether to run or stop can also be determined by the value of “speed”, so the “run / stop” area can be omitted. In addition, the priority or non-priority value is stored in the “priority” area based on the traveling direction and priority data of each vehicle. The priority of each vehicle is given a value of “priority” only if priority is given to all other vehicles, and priority is given to even one of the other vehicles. Otherwise, a value of "Non-priority" is given. This vehicle information may further include an area of “entry permission”. When the “entry permission” area is provided, the processing Z control unit 31 determines the vehicle entry data corresponding to the vehicle status data stored in the storage unit 34 and the traffic light entry availability stored in the storage unit 34. Based on the data (see Fig. 10) and the status of the traffic lights 7a to 7d, it is determined whether or not each vehicle 1 can enter, and the determined value (permission allowed, prohibited, or cautioned) is entered into "In the area. For example, if the vehicle 1 is communicating with the roadside communication device 2a (ie, traveling in the R11 direction (including straight ahead, left turn, right turn)), the R11 direction (road If the status of the traffic light 7a (7c) in the R1 direction) is blue, “Entry Permitted” is stored in the “Entry Permitted” area of the vehicle information.

If there is a zone where no vehicle exists, only the direction data corresponding to that zone is provided, and no vehicle information following that direction data is provided.

Returning to FIG. 13, when the processing control unit 23 of each roadside communication device 2 receives the omnidirectional vehicle information from the roadside processing device 3 via the I / F unit 24, Only the vehicle information (vehicle information in other directions) in the direction (zone) other than the direction (zone) under its control is selected, and the other-directional vehicle information for broadcast, consisting of vehicle information in other directions, is created. Here, the term “for broadcast” is used because this other-directional vehicle information is broadcast to all vehicles in the zone, and is included in the individual vehicle information described later. This is for distinguishing from the direction vehicle information. Then, the processing Z control unit 23 transmits this multi-directional vehicle information for broadcast to the zone (vehicle device 10) under its control via the radio unit 22 and the antenna 21 (step S11). ).

For example, the processing / control unit 23 of the roadside communication device 2a determines from the omnidirectional vehicle information that the destination “all roadside communication device”, the direction data “R1 direction 1”, and the R1 direction vehicle information Select the part and send the selected part.

Except for the vehicle information in the zone (direction) under your control, you must travel in the same direction. This is because it is not considered necessary to provide vehicle information between vehicles. Of course, all such omnidirectional vehicle information may be transmitted to the vehicle-mounted device 10 without performing such selection processing.

Figure 15 shows an example of the data structure of data (frames) transmitted from each roadside communication device 2 to each of the control zones 5a to 5d. Frames of a fixed length are repeatedly transmitted from each roadside communication device 2 to each of the zones 5a to 5d. Each frame is divided into multiple slots. The first slot is the control slot. Following the control slot, a broadcast slot and multiple individual slots are provided.

The “control slot” stores the roadside communication device number of the roadside communication device 2 that transmitted this frame. Process of Roadside Communication Device 2 When transmitting a frame (creating a frame), the Z control unit 23 reads out its own roadside communication device number from the storage unit 25 and sends its own roadside communication number to a predetermined location in the control slot. Stores the device number. Processing of each in-vehicle device 10 The Z control unit 15 reads the roadside communication device number in the control slot and stores it in the storage unit 16. If the vehicle 1 makes a left or right turn and the roadside communication device 2 that performs communication changes, a roadside communication device number that is different from the roadside communication device number of the roadside communication device 2 that has been communicating so far is received. , And are stored in the storage unit 16.

The “control slot” also stores a set of a vehicle number as information for specifying vehicle 1 and an individual slot number (channel number) that stores information given to the vehicle with that vehicle number. The pairs of vehicle numbers and channel numbers are stored for the number of individual slots in one frame.

Processing of each in-vehicle device 10 The Z control unit 15 checks whether or not its own vehicle number is in the control slot. When the processing / control unit 15 has its own vehicle number, the processing / control unit 15 fetches the information in the individual slot corresponding to the channel number according to the channel number paired with the vehicle number. Remember in 6.

The “broadcast slot” includes information received by all of the vehicles 1 communicating with the roadside communication device 2. That is, any on-vehicle device 10 communicating with the roadside communication device 2 fetches the information stored in the broadcast slot and stores the information in the storage unit 16. To memorize. Therefore, the above-mentioned other direction vehicle information is stored and transmitted in this broadcast slot. If there is no information to be stored in the broadcast slot, the data in the broadcast slot is set to, for example, "NULL".

The “individual slot” stores individual information individually given to each vehicle (for example, individual vehicle information described later). If the number of vehicles 1 in one zone exceeds the number of individual slots in one frame, the individual information for vehicles that cannot be transmitted in the individual slot of a certain frame will be transmitted to other frames after this frame. Will be included in the individual slots of the system.

Returning to Fig. 13, the in-vehicle device 10 (the processing control unit 15) of the vehicle 1 detects whether or not the radio wave from the roadside communication device 2 is received at regular intervals (step S1). . This fixed time interval is preferably shorter than the interval at which the roadside processing device 3 transmits omnidirectional vehicle information (ie, the interval at which the roadside communication device 2 transmits other direction vehicle information). For example, several tens to several hundreds of microphones are used. Mouth-second intervals. Since the frequency transmitted by each roadside communication device 2 is different, the processing / control unit 15 of the on-vehicle device 10 controls the radio unit 12 so that the frequency of each roadside communication device 2 can be detected.

Then, when the vehicle 1 enters any of the zones 5a to 5d, the vehicle 1 receives the radio wave from the roadside communication device 2 located in front of the antenna 11 of the vehicle-mounted device 10 in the traveling direction. For example, when vehicle 1 travels in the direction shown in Fig. 1 and enters zone 5a, it receives radio waves from roadside communication device 2a.

The received radio wave is converted into a baseband frequency digital signal by the radio section 12 and given to the processing control section 15. As a result, the processing controller 15 determines that a radio wave has been detected (Y in step S1).

When determining that a radio wave has been detected, the processing control unit 15 transmits a communication request to the roadside communication device 2 located ahead in the traveling direction via the wireless unit 12 and the antenna 11. This communication request includes the vehicle number and the vehicle ID stored in the storage unit 16. This transmission frequency is adjusted to a frequency corresponding to the frequency of the radio wave received from the roadside communication device 2.

Fig. 16 shows an example of the data structure of the data transmitted from the vehicle-mounted device 10 to the roadside communication device 2. A fixed-length frame is also sent from the onboard device 10 to the roadside communication device 2. It consists of a repetition of the game. Each frame is transmitted in synchronization with (ie, at the same time as) each frame transmitted from the roadside communication device 2 to the vehicle-mounted device 10 shown in Fig. 15. Each frame is divided into multiple slots.

The first slot is a part corresponding to the control slot in Fig. 15 and is an empty area.

The next slot is a communication request slot used by the in-vehicle device 10 to transmit a communication request to one of the roadside communication devices 2. This communication request slot is divided into multiple areas. The processing / control unit 15 of the in-vehicle device 10 selects an arbitrary one of a plurality of areas provided in the communication request slot, and stores the selected area in the storage area 16 in the selected area. The vehicle number and the vehicle ID, and the time of the clock of the processing control unit 15 are stored and transmitted.

An individual slot is provided after the communication request slot. This individual slot will be described later.

Upon receiving the communication request (Y in step S12), the processing control unit 23 of the roadside communication device 2 temporarily stores the vehicle number and the vehicle ID included in the communication request in the storage unit 25 (the vehicle Registration) is done (step S13). On the other hand, when the communication request is not received, the processing of the processing control section 23 returns to step S11.

Immediately after receiving the communication request, the processing Z control unit 23, on the other hand, adds the time when the communication request was received (or the time when this vehicle information is transmitted) to the received vehicle number and vehicle ID and the own roadside communication device. A number is added and these are transmitted to the roadside processing device 3 as vehicle information.

On the other hand, the processing control unit 23 transmits the channel number to the vehicle-mounted device 10 and performs channel assignment. This channel number is stored, for example, in a control slot (see Fig. 15) together with the vehicle number. Therefore, the in-vehicle device 10 can detect its own vehicle number in the control slot and know the channel number assigned to itself based on the detected vehicle number. Further, the processing control unit 23 associates the channel number with the assigned vehicle number of the vehicle 1 and stores it in the storage block 25. The processing / control unit 31 of the roadside processing device 3 stores the vehicle number and vehicle ID as vehicle information. , When the roadside communication device 2 receives the time and time (and the roadside communication device number) from the roadside communication device 2 via the I / F section 32, the vehicle status data (see Fig. 7) of the roadside communication device 2 corresponding to the roadside communication device number is stored. The vehicle number, vehicle ID, and time (reception time or transmission time) are registered in the vehicle status data created in section 34 (step S22). This time is registered in the “communication start time” of the vehicle status data.

On the other hand, when receiving the channel number from the roadside communication device 2, the onboard device 10 performs speed detection, traveling direction detection, and reception level detection (step S2). Speed detection is performed by the processing / control unit 15 reading the value of the speed meter 17. The direction of travel is detected by the processing control unit 15 detecting the blinking of the win force 18. If only the left-turn win force is blinking, the direction of travel is “left turn”. If only the right-turn win force is blinking, the direction of travel is “right turn”. If neither the left-turn win power nor the right-turn win power is blinking, the direction of travel is straight. If both the left-turn win force and the right-turn win force are blinking (so-called hazard blinking), the traveling direction is “straight ahead”.

The reception level is detected by the processing / control unit 15 detecting the intensity [dBm] of the radio wave received from the roadside communication device 2.

Subsequently, the processing Z control unit 15 of the in-vehicle device 10 determines the traveling Z stop of the vehicle 1 (step S3). This traveling stop determination is performed by the processing control unit 15 determining whether the value of the speed meter 17 is 0 or any other value. If the value of the speed meter 17 is 0, it is judged as “stop”, and if it is any other value, it is judged as “running”.

Next, the processing control unit 15 creates own-vehicle information and transmits the created own-vehicle information to the roadside communication device 2 using the individual slot (see Fig. 16) specified by the channel number. Yes (step S4). As shown in Fig. 16, this vehicle information includes the vehicle number, traveling direction, running / stop, speed, and reception level.

When the roadside communication device 2 receives the own vehicle information from the onboard device 10, the roadside communication device 2 adds its own roadside communication device number as transmission source data to the received own vehicle information and transmits the information to the roadside processing device 3 ( Step S14). When the processing / control unit 31 of the roadside processing device 3 receives the vehicle information to which the roadside communication device number is added from the roadside communication device 2, the received vehicle information is stored in the vehicle status data stored in the storage unit 34. (Step S23). That is, the processing Z control unit 31 selects the vehicle situation data corresponding to the roadside communication device number from the vehicle situation data of each roadside communication device 2 (see Fig. 7). Then, from the selected vehicle status data, the processing Z control unit 31 selects the “traveling direction”, “speed”, and “traveling Z stop” fields corresponding to the vehicle number included in the received vehicle information. Then, the received information is registered.

Subsequently, the processing / control unit 31 creates and transmits individual vehicle information to the vehicle 1 that transmitted the vehicle information (steps S24 to S26).

That is, first, the processing Z control unit 31 selects the vehicle information of the related vehicle in the other direction (hereinafter, referred to as “other direction vehicle”) from the vehicle situation data (step S24).

The “vehicle information of the other direction vehicle” is a vehicle that is communicating with the roadside communication device 2 other than the roadside communication device 2 that is communicating with the vehicle 1 (hereinafter, “destination vehicle 两 J”) to which the individual vehicle information is transmitted. These are both vehicle information, and the vehicle information determined to need to be transmitted based on the vehicle information selection data (see Fig. 8).

For example, if the destination vehicle enters zone 5a in direction R11 and is communicating with roadside communication device 2a, roadside traffic in direction R12, direction R21, or direction R22 is assumed. Vehicle information of vehicles communicating with the communication devices 2b, 2c, and 2d (that is, vehicle information of vehicles for which communication end time is not entered) is selected from the vehicle situation data. It is not related to the direction of travel of each vehicle (straight ahead, left turn, right turn). Next, based on the selected vehicle status data, the vehicle information related to the circles in the vehicle information selection data (see Fig. 8) is determined based on the traveling direction of the destination vehicle and the traveling direction of the other direction vehicle. Selected.

Subsequently, the processing control unit 31 adds additional information based on the road (in this embodiment, entry permission / inhibition and priority) based on the traffic light state / entry permission correspondence data and priority data (step S25). ).

As described above, the entry possibility is determined based on the traveling direction of the destination vehicle and the other direction vehicle and the traffic light status / access possibility correspondence data. "Entry allowed", "Attention", or "Entry prohibited" of the vehicle is selected.

For example, if the direction of entry of the destination vehicle is the R11 direction and the status of the traffic light in the R1 direction is red, the “enterability” of the destination vehicle is “no entry”. If the approach direction of the other direction vehicle is the R21 direction and the traffic light status in the R2 direction is green, the “enterability” of the other direction vehicle is “entry permitted”.

As for the priority, as described above, the priority of the destination vehicle and the priority of the other direction vehicle are selected based on the traveling direction and the priority data of the destination vehicle and the other direction vehicle.

Subsequently, the processing control unit 31 creates the individual vehicle information of the relevant vehicle, and transmits the created individual vehicle information to the roadside communication device 2 that is communicating with the destination vehicle 1. When the processing / control device 23 of the roadside communication device 2 receives the individual vehicle information from the roadside processing device 3, the processing / control device 23 stores the received individual vehicle information in the individual slot of the frame shown in FIG. Send within the zone. The individual slot in which the individual vehicle information is stored is the individual slot of the channel assigned to the destination vehicle.

As shown in Fig. 15, the individual vehicle information has own vehicle information and other direction vehicle information. The own vehicle information includes the roadside communication device number of the roadside communication device 2 that transmits the individual vehicle information, the vehicle number of the destination vehicle, the traveling direction, the traveling stop, whether or not to enter, and the priority. Since the other direction vehicle information is three-way vehicle information in the present embodiment, it is composed of three other direction vehicle information.

These three other direction vehicle information are arranged by the roadside processing device 3 in a fixed order with respect to the approach direction of the destination vehicle. For example, the head of the three other-direction vehicle information is the vehicle information in the direction (R12 direction) opposite to the approach direction of the destination vehicle (for example, the R11 direction). The following is the vehicle information in the direction of entry from the left with respect to the direction of entry of the destination vehicle (R21 direction). The last one is entry from the right with respect to the direction of entry of the destination vehicle. This is the vehicle information of the direction in which the vehicle moves (R22 direction). In this way, since the other vehicle information is arranged in a certain order with respect to the approach direction of the destination vehicle, the on-board device 10 can know the positional relationship between the own vehicle 1 and the other vehicle. .

When receiving the individual vehicle information from the roadside communication device 2, the onboard device 10 Processing of separate vehicle information is performed (step S5). Figure 17 is a flowchart showing the detailed flow of processing individual vehicle information.

Processing of In-Vehicle Device 10 The Z control unit 15 determines whether the received individual vehicle information is usable information (steps S31 to S33). This determination determines whether the received individual vehicle information is from the roadside communication device 2 that transmitted the vehicle information in step S4, (step S31), and whether the received individual vehicle information is Whether the force is for the own vehicle, (Step S32), and whether the own vehicle's traveling direction is the same as the traveling direction when the vehicle information was transmitted in Step S4 (Step S33) It is performed by judging.

The determination in step S31 is made by comparing the roadside communication device number included in the own vehicle information of the received individual vehicle information with the roadside communication device number stored in the storage unit 16. If the two roadside communication numbers are the same, the received individual vehicle information is from the roadside communication device 2 to which the vehicle information was transmitted in step S4.

The determination in step S32 is made by comparing the vehicle number included in the own vehicle information of the received individual vehicle information with the vehicle number stored in the storage unit 16. If the vehicle numbers are the same, the received individual vehicle information is for the own vehicle. The determination in step S33 is performed by comparing the traveling direction included in the own vehicle information of the received individual vehicle information with the current traveling direction of the own vehicle. The current traveling direction of the vehicle is determined by the presence or absence of blinking of the win force 18, as described above.

If the determinations in steps S31 to S33 are all Yes, the received individual vehicle information is considered usable, and the processing Z control unit 15 includes the individual vehicle information in the own vehicle information of the individual vehicle information. Attention, warning, braking, etc. are performed based on the entry availability data and priority data.

For example, if the entry permission data included in the host vehicle information is “entry prohibited” and the speed detected by the speed meter 17 is equal to or higher than a predetermined threshold, the processing control unit 15 sets Can be braked, and the driver can be warned or warned (eg, "Brake on."). Caution Warning The display can be performed by both or one of display by the display unit 13 and voice notification by the speaker unit 14. Attention / warning can also be issued by appealing to the driver's tactile sensation. For example, a caution warning can be issued by vibrating a part of the vehicle 1 that is in contact with the driver's body so as not to hinder driving.

Also, two predetermined thresholds are set, and if the speed of the vehicle 1 is equal to or higher than the large threshold, braking is applied, and if the speed of the vehicle 1 is less than the small threshold and equal to or greater than the small threshold, a warning can be issued.

Furthermore, braking, warning, etc. can be performed taking into account the position of the host vehicle at the intersection X in addition to the speed. The position of the vehicle at intersection X can be obtained based on the reception level of the radio wave from the roadside communication device 2 and the reception level function. That is, the processing Z control unit 15 of the in-vehicle device 10 can obtain the relative position of the own vehicle in the zone based on the reception level and the reception level function. Since the area of the zone at the intersection X is known in advance, the processing control unit 15 determines the position (absolute position) of the own vehicle at the intersection X from the relative position within the zone. You can ask.

Subsequently, the processing Z control unit 15 provides the information based on the other vehicle information included in the individual vehicle information to the driver (step S35). For example, if the approach direction of the own vehicle is R11 and the traveling direction is straight ahead, there is a vehicle whose approach direction is the opposite R12 direction and the traveling direction is right turn. In such a case, the driver can be provided with information (caution) such as "There is a right-turning vehicle. Be careful with right-turning vehicles." In addition, when the own vehicle has no priority, information such as “there is a priority vehicle” can be provided to the driver. Such information can also be obtained by using the display unit 13 and / or the speaker unit 14 or by appealing to the sense of touch.

On the other hand, if No in any of steps S31 to S32, the received individual vehicle information is discarded as unusable (step S36). After discarding, new individual vehicle information is received again as described later. As a result, the on-board device 10 can determine the driver's information based on accurate host vehicle information and other vehicle information. Can provide appropriate information.

A part of the processing flow shown in FIG. 17 can be changed as shown in FIG. In Fig. 18, the same processes as those in Fig. 17 are denoted by the same reference numerals. In Fig. 18, in step S33, even if the traveling direction included in the own vehicle information is not the same as the current traveling direction of the own vehicle (N in step S33), it is included in the individual vehicle information. The other vehicle information is used, and the other vehicle information is provided to the driver (step S37). The other points are the same as in Fig. 17.

Returning to Fig. 13, following the processing of the individual vehicle information (step S5), the processing / control unit 15 of the in-vehicle device 10 determines whether or not the radio wave received from the roadside communication device 2 has been interrupted. Disconnect (step S6). This determination is made based on whether or not the reception level from the roadside communication device 2 is lower than a recognizable level (that is, whether or not reception cannot be detected). If it becomes lower than the recognizable level, it is determined that the radio wave has been cut off.

If the radio wave is not interrupted (N in step S6), the vehicle-mounted device 10 repeats the processing of steps S2 to S5 again. As a result, new own vehicle information is transmitted from the vehicle-mounted device 10 to the roadside communication device 2 and the roadside processing device 3, and updated individual vehicle information based on the new vehicle information is transmitted to the vehicle-mounted device 10. .

The cycle of this repetition depends on the processing speed of the processing / controllers 15, 23, and 31, the communication speed between these devices, the number of vehicles 1, and other factors. Thus, it is generally several milliseconds. Therefore, the individual vehicle information is updated almost in real time and transmitted to the vehicle-mounted device 10 of each vehicle 1. As a result, the status of the vehicle at the intersection X is notified to the roadside device (roadside communication device 2 and roadside processing device 3) almost in real time, and the vehicle 1 is also notified almost in real time.

Also, the information is provided to the vehicle 1 not only before entering the intersection X, but also after entering, so that the driver is not required to enter the intersection before entering or leaving the intersection. You can know the status of the vehicle. As a result, traffic accidents can be prevented even more effectively.

On the other hand, if the radio wave is blocked (Y in step S6), the processing / control unit 15 It is determined whether a radio wave from the roadside communication device 2 that controls another zone is detected (step S7). For example, if the vehicle 1 makes a right turn from the R11 direction, the processing control unit 15 will detect radio waves from the roadside communication device 2b that controls the zone 5b after turning right (see Fig. 1). ).

If a radio wave in another zone is detected (Y in step S7), the vehicle-mounted device 10 repeats the processes in steps S2 to S5 with the roadside communication device 2 in charge of the other zone. . On the other hand, if the radio waves of other zones are not detected (Ν in step S7), vehicle 1 has left intersection X, and the processing in the intersection system ends.

The processing / control unit 23 of the roadside communication device 2 executes the process when the radio wave from the vehicle-mounted device 1 is interrupted (that is, when the vehicle information by the processing in step S4 is not transmitted from the vehicle-mounted device 10 for a certain period of time or longer). In step S15, it is determined that communication with the in-vehicle device 10 has been completed. Then, the processing / "control unit 23 transmits the vehicle number of the vehicle-mounted device 10 and the time at which the communication is determined to be ended to the roadside processing device 3 (step S15).

When receiving the vehicle number and the time, the processing / control unit 31 of the roadside processing device 3 registers the received time in the communication end time of the vehicle status data corresponding to the received vehicle number (Step S). 2 7).

As described above, according to the present embodiment, since the individual vehicle information is given to each vehicle 1, the information of the vehicle captured by the other roadside communication device 2 is provided to each vehicle 1 (in-vehicle device 10). Can be provided.

Further, according to the present embodiment, the other-directional vehicle information for broadcast is also transmitted to each vehicle 1. Therefore, the driver can be informed of the information of the vehicle in the other direction by the broadcast other-direction vehicle information. In particular, if the radio section 12 of the on-board device 10 has only a receiving function and no transmitting function, such a vehicle cannot transmit its own vehicle information, and therefore the individual vehicle information is also not available. Not received. However, information on vehicles in other directions can be provided to such vehicles.

If the status of the traffic lights 7a to 7d is not transmitted to the roadside processing device 3, the information on whether or not to enter based on the status of the traffic lights 7a to 7d may be omitted from the individual vehicle information. And

In step SI, the signal received by the on-vehicle device 10 is not the other-directional vehicle information for broadcasting, but the individual vehicle information to be transmitted to another vehicle, depending on the situation of the intersection X at that time. It may be a signal to carry.

In addition, the other-directional vehicle information for broadcasting can be transmitted when the status of the intersection X changes, rather than at fixed time intervals.

Furthermore, in the present embodiment, the on-vehicle device 10 determines the speed of the vehicle 1 based on the value of the speed meter 17, but the roadside communication device 2 can also determine the speed of the vehicle 1. For example, the storage unit 25 of the roadside communication device 2 stores a reception level function in advance. The in-vehicle device 10 transmits the own vehicle information including the reception level every frame (at approximately 5 ms intervals at a communication speed of 4 M [bps]).

On the roadside communication device 2 side, each time the processing / control unit 23 receives the own vehicle information of each frame, the processing / control unit 23 receives the reception level included in the own vehicle information and the reception level function stored in the storage unit 25. The position of vehicle 1 is determined based on Then, the processing Z control unit 23 obtains the speed of the vehicle 1 by dividing the change in position for each frame by the time required for the change (for example, about 5 ms). In addition, the roadside communication device 2 can determine whether the vehicle 1 has stopped traveling Z based on the presence or absence of a change in the reception level or the speed.

In the first embodiment, the present invention can be similarly applied to a force S describing an intersection system applied to a left-hand traffic road, and a right-hand traffic road. In addition, the present invention can be similarly applied to intersections of T-shaped roads, intersections where three or more roads intersect, and the like. The same applies to the embodiments described below.

2. Second Embodiment

The position of the own vehicle at the intersection X can be added to the own vehicle information (see Fig. 16) in the first embodiment, or replaced by the reception level.

As described above, the position of the own vehicle at the intersection X is obtained by the processing control unit 15 based on the reception level of the electric wave from the roadside communication device 2 and the reception level function.

In this case, the “position” data of each vehicle is added to the vehicle situation data shown in Fig. 7. In addition, “position” data may be included in at least one of the omnidirectional vehicle information, the other-directional vehicle information for broadcast communication, and the individual vehicle information.

3. Third Embodiment

In the first or second embodiment, if the intersection X does not have the traffic lights 7a to 7d, the priority data shown in FIGS. The new priority data shown in Fig. 9 can be added, and the priority can be determined based on these two priority data.

Fig. 19 shows priority data when road R1 shown in Fig. 20 (plan view of the intersection) is a priority road with respect to road R2. The meaning of each column of the priority data in Fig. 19 is the same as that shown in Fig. 11.

Note that in Fig. 19, the relationship between vehicle A and vehicle D, the relationship between vehicle C and vehicle B, and the relationship between vehicle C and vehicle D are omitted. The content is the same as.

4. Fourth Embodiment

The intersection system according to the fourth embodiment of the present invention relates to a T-junction. Figure 21 is a plan view (top view) of an intersection Y of a T-shaped road where two roads R1 and R3 intersect at a substantially right angle. The same components as those in the first embodiment (FIG. 1) are denoted by the same reference numerals, and detailed description thereof will be omitted.

Road R3 is a one-way road in the direction of approach to intersection Y (left to right in the figure). In other words, entry from the road R1 to the road R3 via the intersection Y is prohibited. Traffic light 7e regulates the entry and passage of vehicles from one-way road R3 to intersection Y.

At the intersection Y, a roadside device of an intersection system (a crossroads intersection system) according to the fourth embodiment of the present invention is installed. This roadside device has roadside communication devices 2 a, 2 c, 2 e, and 2 f, and a roadside processing device 3.

As in the first embodiment (Fig. 1), the roadside communication device 2a controls the zone 5a, and the roadside communication device 2c controls the zone 5c. The roadside communication device 2 e has control of the zone 5 e, and the roadside communication device 2 f has control of the zone 5 f.

Zones 5e and 5i, Road R3, Intersection Y and within Intersection Y Region. In addition, both zones 5e and 5f are set in the width direction in a region having almost the same width as the road R3 or a width slightly narrower (several tens of centimeters narrower). In the present embodiment, the zones 5b and 5e partially overlap each other in the width direction and do not partially overlap with each other, but all may overlap.

The roadside communication device 2e, like the roadside communication devices 2a and 2c, transmits the communication request from the vehicle 1 and the traffic request transmitted from the entrance side of the intersection Y in the direction of the intersection Y in the zone 5e. In addition to receiving the vehicle information, it transmits the other-directional vehicle information for broadcast communication and individual vehicle information from the intersection Y side to the approach side in zone 5e.

On the other hand, the roadside communication device 2f transmits the entry prohibition information into the zone 5f at predetermined time intervals (for example, several milliseconds to several tens of milliseconds), and from the entrance side of the intersection Y to the inside of the intersection Y. I do. This entry prohibition information is stored in the broadcast slot (see Fig. 15) and transmitted so that all vehicles 1 in zone 5f receive it.

Therefore, vehicles traveling on one-sided road R11 and turning left at intersection Y to enter road R3, and vehicles traveling on one-sided road R12 and turning right at intersection Y and entering road R3 The vehicle 1 to be tried receives the entry prohibition information from the roadside communication device 2f.

When receiving the entry prohibition information through the broadcast slot, the processing / control unit 15 of the in-vehicle device 10 drives the vehicle by means of the display on the display unit 13, the sound from the speaker unit 14, and the means of appealing to the driver's tactile sensation. To that effect. As a result, even if the driver overlooks the no-go sign and tries to enter the no-go road R3, this can be prevented beforehand.

In addition, at the T-junction intersection Y having such a prohibited road, the signal state entry permission / inhibition correspondence data can be as shown in Fig. 22 as an example. Then, the roadside processing device 3 performs the “straight ahead permission”, the “straight ahead caution”, Select “Do not turn left,” etc., and send it in the individual vehicle information (and omnidirectional vehicle information).

For example, when the approach direction of vehicle 1 is R11 direction (road R1 direction) and the traveling direction is straight ahead, when the traffic light 7a (7c) in the direction of road R1 is blue Is sent to the vehicle 1 for permission to go straight. If the direction of travel is a left turn or a right turn, a left turn prohibition or right turn prohibition is transmitted, regardless of the status of traffic light 7a (7c).

5. Fifth Embodiment

A system similar to the above-mentioned intersection system (hereinafter referred to as the “crosswalk system”) is provided at the pedestrian crossing to notify the driver of vehicle 1 that a pedestrian is walking on the pedestrian crossing. it can.

Figure 23 is a perspective view showing a crosswalk equipped with a crosswalk system. Pedestrian crossing W1 is provided on road R4.

This pedestrian crossing system has roadside communication devices 2 s and 2 t and a roadside processing device 3 as roadside devices. The roadside communication device 2s has a zone 5s including at least the area of the crosswalk W1 as a communication area. In addition, the roadside communication device 2 t connects the vehicle 1 (not shown in FIG. 23) to the pedestrian crossing on the road R 4 where the pedestrian crossing W 1 is installed (and another road (not shown) connected to the pedestrian crossing W 1) In the communication area, there is a zone on the side where the vehicle enters.

The pedestrian 100 carries a pedestrian portable device 100a, which is almost the same device as the in-vehicle device 10. The storage unit (not shown) of the pedestrian portable device 10a stores, as identification information, information indicating that the device is carried by a pedestrian. The pedestrian portable device 10a transmits its identification information at fixed time intervals or in response to reception of radio waves from the roadside communication device 2s. Therefore, while the pedestrian 100 is crossing the pedestrian crossing W1, the identification information transmitted from the pedestrian portable device 100a is received by the roadside communication device 2s.

When receiving the identification information, the roadside communication device 2 s transmits the identification information to the roadside processing device 3. The roadside processing device 3 determines that the pedestrian is crossing the pedestrian crossing W1 based on the identification information transmitted from the roadside communication device 2s, and the pedestrian is crossing the pedestrian crossing W1. Information indicating that there is (pedestrian crossing information) is transmitted to the roadside communication device 2t.

The roadside communication device 2t transmits the pedestrian crossing information transmitted from the roadside processing device 3 to the zone under its control. As a result, the vehicle 1 in the zone under the jurisdiction of the roadside communication device 2t receives this pedestrian crossing information and crosses the pedestrian crossing where the pedestrian is located in front. Notify the driver that he is disconnected. As a result, the driver of vehicle 1 can know in advance that a pedestrian is crossing pedestrian crossing W1, and can prevent a traffic accident at the pedestrian crossing.

The vehicle information (or the existence of the vehicle) transmitted from the roadside communication device 2 t to the roadside processing device 3 can be transmitted to the pedestrian portable device 10 a via the roadside communication device 2 s. . Then, the pedestrian portable device 10a can also notify the pedestrian 100 by sound, voice, or the like that the vehicle is approaching the pedestrian crossing W1.

6. Sixth Embodiment

The roadside processors 3 installed at multiple intersections can be connected to one or more information collectors, and the vehicle status data of each roadside processor 3 can be centrally managed by the information collectors. .

The roadside processor 3 can also count the number of vehicles that have passed through the intersection X and send only the number to the information collection device. As a result, the traffic volume at each intersection can be collected.

7. Seventh Embodiment

The roadside processing devices 3 installed at multiple intersections can be connected by a communication line (wired or wireless), and information on traffic accidents occurring at each intersection can be reported to each other between the roadside processing devices 3.

For example, in FIG. 1, the in-vehicle device 10 is an airbag activation sensor (not shown) for detecting that an airbag (not shown) provided in the vehicle 1 has been activated, or a driver, passenger or the like. It has a traffic accident notification switch (not shown) that can be operated by the operator. This airbag activation sensor or traffic accident notification switch is connected to the processing / control unit 15.

The vehicle information (individual slot) or the communication request slot (see Fig. 16) transmitted from the on-board device 10 to the roadside communication device 2 contains an area that stores the presence or absence of a traffic accident (see Fig. 16). (Hereinafter referred to as “accident area”). Also, an accident occurrence area (not shown) is provided in the other-way vehicle information for broadcast communication (broadcast slot: see Fig. 15) transmitted from the roadside communication device 2 to the vehicle-mounted device 10. Similarly, the information communicated between the roadside communication device 2 and the roadside processing device 3 also has an accident occurrence area. You.

When vehicle 1 causes a traffic accident such as a collision in the zone and the airbag is activated, the airbag activation sensor detects the activation of the airbag and processes / controls the signal (activation signal) indicating that the airbag was activated. Give to part 15 When the driver or the like operates the traffic accident notification switch, a signal (operation signal) indicating that the switch has been operated is given to the processing control unit 15.

When the processing / control unit 15 receives the operation signal from the airbag operation sensor or the operation signal from the traffic accident notification switch, the accident occurs in the accident area of the own vehicle information or the communication request slot. The presence is stored and transmitted to the roadside communication device 2. The roadside communication device 2 transmits the received information indicating the occurrence of the accident to the roadside processing device 3. In addition, the roadside processing device 3 transmits the received information indicating the occurrence of the accident to the other roadside communication devices 2 and the roadside processing devices 3 installed at other intersections. The other roadside communication device 2 stores information on the occurrence of an accident in the broadcast slot and transmits it to the zone under its control. Similarly, the roadside processing device 3 installed at another intersection transmits to the roadside communication device 2 connected to itself, and the roadside communication device 2 stores the information indicating that an accident has occurred in the broadcast slot. To be sent within the zone. As a result, the in-vehicle device 10 existing in the zone receives the information indicating that an accident has occurred, and informs the driver to that effect.

As described above, according to the present embodiment, a vehicle (driver) existing in a zone of another intersection can be notified of a traffic accident occurring at a certain intersection.

8. Eighth Embodiment

Each of the zones 5a to 5d in the first embodiment can be divided into a plurality of areas, and these areas can be controlled by a plurality of roadside communication devices.

8.1 Configuration of intersection system

FIG. 24 is a plan view (top view) of an intersection X where two roads R 1 and R 2 intersect at a substantially right angle, similarly to the first embodiment shown in FIG. The same components as those of the first embodiment (see FIG. 1) are denoted by the same reference numerals, and detailed description thereof will be omitted. In Fig. 24, the traffic signals are not shown for simplicity and clarity. At this intersection X, the roadside device of the intersection system according to the eighth embodiment of the present invention is installed. This roadside device has a roadside communication device 20 a to 20 h and a roadside processing device 3.

Each of the roadside communication devices 20a to 20h has the same configuration as the roadside communication devices 2a to 2c of the first embodiment shown in FIG. Communicate with On the other hand, the roadside communication devices 20a to 20h control the zones 50a to 50h, respectively, and the area and size of the controlled zones are different from those of the first embodiment. I have.

Zones 50a and 50b are obtained by dividing zone 5a shown in Fig. 1 into two in the R11 direction.

Zone 50a is set in an area where the entry of vehicle 1 into intersection X can be detected. For example, zone 50a is about 10 to 20 meters from the entrance of the intersection in the direction R11 of one-sided road R11 toward the entrance of vehicles on one-sided road R11 (upstream of the road). It is set to the area from the position of to the position where it partially enters the intersection X.

Zone 5 Ob (shown by hatching in Fig. 24) covers the area within intersection X and the area from the exit to several meters (about 1 to 3 meters) from the exit to the exit of the vehicle (downstream of the road). Is set. There is an overlap between zones 50a and 50b so that communication is not interrupted.

Similarly, zone 50c and zone 50d have zone 5b in the R21 direction, zones 50e and 50f have zone 5c in the R12 direction, zones 50g and 50g. h is the zone 5d divided into two in the R22 direction.

8.2. Intersection system processing

FIG. 25 is a sequence diagram showing the processing flow of the vehicle-mounted device 10, the roadside communication devices 20 a to 20 h, and the roadside processing device 3. The same processes as those in the sequence diagram of FIG. 13 in the first embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.

For example, when the vehicle 1 travels on a one-way road R11 and approaches the intersection X, the vehicle-mounted device 10 first detects the radio wave of the roadside communication device 20a (Y in step S1). When detecting the radio wave from the roadside communication device 20a, the in-vehicle device 10 transmits a communication request as in the first embodiment. As in the first embodiment, when the roadside communication device 20a receives a communication request from the vehicle-mounted device 10 (Y in step S12), the roadside communication device 20a registers the vehicle, and stores the channel number in the vehicle-mounted device 10 and the roadside communication device. The vehicle information (vehicle number, vehicle ID, communication start time) is sent to the processing unit 3 (step S13). After receiving the channel number from the roadside communication device 20a, the in-vehicle device 10 detects the reception level of the radio wave from the roadside communication device 20a (step S41). Then, the on-board device 10 includes the detected reception level in the own vehicle information and transmits it to the roadside communication device 20a through the individual slot indicated by the channel number (step S42). This is different from the first embodiment (steps S2 and S3 in Fig. 13) in which speed detection, traveling direction detection, and traveling stop determination are performed. Therefore, the vehicle information includes only the vehicle number (and vehicle ID) and the reception level among those shown in Fig. 16.

The detection of these reception levels and the vehicle information are transmitted in each frame when a channel (individual slot) for that vehicle is assigned to each frame. For example, if the communication speed between the on-vehicle device 10 and the roadside communication device 20 is 4 M [bps], one frame is transmitted at approximately 5 ms intervals, and transmission is performed at approximately 5 ms intervals. Will be

The roadside communication device 20a (processing control unit 23) has a reception level function shown in FIG. 3B in its storage unit 25, and based on this reception level function and the reception level transmitted from the vehicle-mounted device 10, Then, the position of vehicle 1 (the absolute position at intersection X) is determined (step S51).

Next, the roadside communication device 20a determines whether the vehicle 1 is running or stopped based on the reception level (step S52). That is, when there is a change between a plurality of (for example, two) reception levels transmitted for each frame, the roadside communication device 20a determines that the vehicle 1 is running and changes between the reception levels. If there is no vehicle, it is determined that vehicle 1 is stopped.

Subsequently, when the roadside communication device 20a determines that the vehicle 1 is running (“running” in step S52), it creates vehicle information and transmits it to the roadside processing device 3. S53). This vehicle information includes the roadside communication device number, vehicle number, running, and vehicle position.

The roadside communication device 20a performs the processing of steps S51 to S53 each time it receives own vehicle information (reception level) from the on-vehicle device 10.

In step S52, when the roadside communication device 20a determines that the vehicle 1 is stopped (“stopped” in step S52), the roadside communication device 20a receives the next own vehicle information from the on-vehicle device 10. Then, the processing from step S51 is repeated again.

When receiving the vehicle information transmitted from the roadside communication device 2a, the roadside processing device 3 obtains the speed and traveling direction of the vehicle 1 based on the vehicle information (step S61).

The speed of vehicle 1 is determined by dividing the change in the position of vehicle 1 by the time required for the change. In addition, the speed of the vehicle 1, for example, enters zone 50a (starts communication with the roadside communication device 20a) and then leaves zone 50a (ends communication with the roadside communication device 20a). It can also be determined according to the time required until. In other words, since the length of zone 50a is known in advance, it can also be obtained by dividing this length by the required time.

The traveling direction of vehicle 1 is determined by taking the trajectory of movement of vehicle 1 between zones (the trajectory of movement between roadside communication devices). For example, if vehicle 1 moves from zone 50a to 5Ob and then to zone 50d, vehicle 1 is determined to be making a right turn. Also, when vehicle 1 moves from zone 50a to 50h, it is determined that the traveling direction of vehicle 1 is a left turn.

Subsequently, the roadside processing device 3 registers the speed and the traveling direction of the vehicle 1 in the vehicle status data (step S62), selects the relevant other-direction vehicle information (step S63), and individually identifies the relevant vehicle. The vehicle information is created and transmitted (step S64). Subsequent processing is the same as in the first embodiment (FIG. 13).

Although the description so far has been made by taking the roadside communication device 20a as an example, the same applies to the processing of the other roadside communication devices 20b to 20h.

In the present embodiment, one zone is divided into two, but it can be divided into three or more. 9. Ninth Embodiment

The intersection system described so far can also be applied to railroad crossings.

Figure 26 is a plan view of the railroad crossing Z at the intersection of the railway track P and the road R on which vehicles pass, and the surrounding area. The track P may be a single track or a double track. Road R is a two-way road in this embodiment.

This level crossing Z is provided with a level crossing notification system that applies the intersection system to railroad level crossings. This level crossing notification system consists of a communication device for entry detection 101a and 101b, a communication device for passage detection 102a and 102b, a roadside processing device 103, a communication device for train communication 1 It has an onboard device (not shown) mounted on a vehicle and a train device (not shown) mounted on a train. The entry detection communication devices 102a and 102b, the passage detection communication devices 102a and 102b, and the train communication devices 104a and 104b It has the same configuration as the roadside communication device 2 (see FIG. 4) in the embodiment. The roadside processing device 103 has substantially the same configuration as the roadside processing device 3 (see FIG. 5) in the first embodiment except that signals from the traffic signals 7a to 7d are not input. The in-vehicle device and the train device have the same configuration as the in-vehicle device 10 (see FIG. 2) in the first embodiment.

The entry detection communication device 102a has a zone (entry zone) 202a that can detect that the vehicle has entered the crossing Z as a wireless (eg, DSRC) communication area. Detects vehicles entering the approach zone 202a from above. Similarly, the entry detection communication device 102b has an entry zone 202b that can detect that the vehicle has entered the crossing Z as a wireless communication area, and enters from the top to the bottom in the drawing. A vehicle entering the area 202b is detected. Vehicle detection is performed by the approach detection communication devices 102a and 102b communicating with the vehicle-mounted device, as in the above-described embodiments. In the present embodiment, the entry zones 202a and 202b are set in the same region, but differ if the region is capable of appropriately detecting the vehicle entering the crossing Z. Set in the area It may be.

The intrusion detection communication devices 102a and 102b are connected to the roadside processing device 103 via a communication line (wired or wireless). When the entry detecting communication devices 102 a and 102 b detect the entry of the vehicle into the entry areas 202 a and 202 b, respectively, the vehicle numbers (and vehicle IDs) of the entered vehicles are detected. ), And that the vehicle having the vehicle number has entered is reported (transmitted) to the roadside processing device 103.

In addition, the entry detection communication devices 102 a and 102 b operate in conjunction with a not-shown crossing alarm or crossing breaker (not shown) to sound an alarm from the crossing alarm or to lower the crossing breaker. The information that the train is approaching the railroad crossing z is sent to the respective approach zones 201a and 201b (vehicle-mounted equipment).

The passage detection communication device 101a has a zone (passing zone) 20la on the road R where the vehicle can detect that the vehicle has passed the takeoff Z as a wireless (eg, DSRC) communication area. A vehicle that has entered the passing zone 202a from the bottom up is detected. Similarly, the passage detection communication device 101b has, as a wireless communication area, a passage zone 201b that can detect that the vehicle has passed the takeoff Z on the road R. Detects vehicles that have entered the passing zone 202b downward.

The passage detection communication devices 101a and 101b are connected to the roadside processing device 103 by communication lines (wired or wireless), respectively. Then, when the passage detecting communication devices 101a and 101b detect that the vehicle has entered each of the passing zones 2Ola and 201b, the vehicle numbers (and vehicle IDs) of the vehicles that have entered the vehicle are detected. , And that the vehicle having the vehicle number has entered is reported (transmitted) to the roadside processor 103.

The communication device for train communication 104 a has a communication zone 204 a provided on the track P in front of the approach to the crossing Z of the train. The communication device for train communication 104 a detects a train traveling from left to right in the drawing, and the train device of the train in the communication zone 204 a enters the entry zone 200 for the take-off Z. a (202b) is notified (transmitted) of vehicle entry information indicating that a vehicle is present. Likewise In addition, the communication device for train communication 104b has a communication zone 204b provided on the track P in front of the approach direction to the crossing Z of the train. The communication device for train communication 104b detects a train running from right to left in the drawing, and the train device of the train in the communication zone 204b is connected to the entrance zone of the railroad crossing Z 20 2a (20 2 b) Notify (send) that the vehicle exists.

Communication zones 204a and 204b reach takeoff Z when the train that has been notified that vehicles are present in approach zone 202a (202b) brakes after receiving the notification. It is set in an area where it can be safely stopped before starting.

When receiving the vehicle number (vehicle ID) and the vehicle's entry from the entry detection communication device 102a (102b), the roadside processing device 103 registers this vehicle number in the vehicle status data. Then, the roadside processing device 103 sends the vehicle entry information to the train communication devices 104a and 104b.

As a result, the train communication devices 104a and 104b start transmitting vehicle entry information to their respective communication zones 204a and 204b. The transmission of the vehicle entry information is continued until the vehicle passage information described later is received.

When the roadside processing device 103 receives the vehicle number and the vehicle's entry from the passage detection communication device 1 O la (101b), the vehicle with the registered vehicle number has already passed the crossing. Is registered in the vehicle status data. Thus, the vehicle status data includes the vehicle number (and vehicle ID) and data indicating whether the vehicle has passed (passed data). Then, the roadside processing device 103 transmits information that the vehicle has passed the railroad crossing Z (vehicle passing information) to the train communication devices 104a and 104b.

As a result, the train communication devices 104a and 104b stop transmitting vehicle entry information to the respective communication zones 204a and 204b.

However, the vehicle entry information is stored in the communication devices for train communication 104a and 104b for the number received from the roadside processing device 3, and is deleted one by one as the vehicle passage information is received. It has become.

That is, for example, when two vehicles enter, two vehicle entry information is stored. When one of them passes through a railroad crossing, one vehicle passage information is received. One of the two vehicle entry information is deleted. As a result, one vehicle approach information remains. The train communication devices 104a and 104b continue to transmit the vehicle entry information to the communication zones 204a and 204b, respectively, as long as at least one vehicle entry information is stored. When all of the stored vehicle entry information is erased to zero, the train communication devices 104a and 104b stop transmitting the vehicle entry information to the communication zones 204a and 204b.

As a result, the train driver knows that there is a vehicle at railroad crossing Z and can perform operations such as deceleration and stopping. As a result, an accident at level crossing Z can be prevented.

The following communication method can be executed. That is, when the roadside processing device 103 receives a train entry from the train communication device 104a (104b), the roadside processing device 103 determines whether or not there is a vehicle that has not passed the takeoff Z at this reception. Search in vehicle status data. In other words, the roadside communication device 103 searches the vehicle status data to see if any of the passed data is not registered as passed.

As a result of the search, when there is a vehicle that has not passed the railroad crossing Z, the roadside processing device 3 sends the information that the vehicle that has not passed the railroad crossing exists through the train communication device 104a (104b). To the train (train equipment) in the communication zone 204a (204b).

The entry detection communication device 102a (102b) is a train communication device.

When the train approach information is received via 4a (104b) and the roadside processor 3, the train approach information can be transmitted to the approach zone 202a (202b). In addition, the passage detection communication device 1 Ola (101b)

It can also be sent to 0 1a (20 1b).

The present embodiment can be applied to a pedestrian who carries a device similar to an in-vehicle device. Industrial applicability

ADVANTAGE OF THE INVENTION According to this invention, the information of other vehicles in an intersection can be notified to the driver of each vehicle, and the traffic accident in an intersection can be prevented beforehand. Further, according to the present invention, it is possible to notify each vehicle of the information on the vehicle at the intersection almost in real time. In addition, the information to be notified can be minimized. Furthermore, according to the present invention, accidents at pedestrian crossings or crossings can be prevented.

Claims

Claims: An on-vehicle device provided in a vehicle is provided near an intersection where two or more roads intersect, and wirelessly communicates with the on-vehicle device to transmit vehicle information of another vehicle to the on-vehicle device of each vehicle. In an intersection system having a roadside device for transmitting,

The in-vehicle device,

A vehicle-side processing unit for generating vehicle information of the own vehicle including identification information of the own vehicle and a traveling direction;

A vehicle-side transmitting unit that transmits the vehicle information of the own vehicle generated by the vehicle-side processing unit to the road-side device by wireless communication;

A vehicle-side receiving unit that receives, by wireless communication, vehicle information of another vehicle transmitted from the roadside device;

On the basis of the vehicle information of the other vehicle received by the vehicle-side receiving unit, the driver of the own vehicle is provided to the driver so that the driver of the own vehicle can perceive at least one of visual, auditory, or tactile sensation. A notification unit for notifying,

With

The roadside device,

Each of the two or more roads has, as at least a communication area, an area within the intersection and an area where the vehicle enters the intersection, and is transmitted from the vehicle-side transmitting unit of the vehicle that has entered the communication area. A roadside receiving unit that receives the vehicle information, a first roadside storage unit that stores the vehicle information received by the roadside receiving unit, and a roadside receiving unit that stores the vehicle information received by the roadside receiving unit. A second roadside storage unit that stores vehicle information selection data that determines whether vehicle information of the other vehicle should be transmitted to one vehicle;

The approach direction of the vehicle that is the destination of the vehicle information of the other vehicle, the approach direction of the other vehicle, the traveling directions included in the vehicle information of these vehicles, and the second roadside storage unit. A roadside processing unit that selects vehicle information of another vehicle to be transmitted to the destination vehicle based on the vehicle information selection data from vehicle information stored in the first roadside storage unit; A first roadside transmission unit for transmitting vehicle information of another vehicle selected by the roadside processing unit to the destination vehicle;

An intersection system, comprising:

2. In claim 1,

The vehicle information selection data determines whether vehicle information of the other vehicle should be transmitted to one vehicle based on the traveling or stopped state of the two vehicles in addition to the approach direction and the traveling direction. Data further included,

The vehicle-side processing unit detects a running or stopped state of the own vehicle, and includes a running or stopped state in the vehicle information.

The roadside processing section further includes, in addition to the approach direction of the vehicle to which the vehicle information of the other vehicle is transmitted, the approach direction of the other vehicle, and the traveling directions included in the vehicle information of these vehicles, The vehicle of the other vehicle to be transmitted to the destination vehicle based on the running or stop state of each of the destination vehicle and the other vehicle and the vehicle information selection data included in Selecting information from the vehicle information stored in the first roadside storage unit;

An intersection system, characterized in that:

3. In claim 2,

The vehicle-side processing unit detects a speed of the own vehicle, and includes, in addition to or instead of the vehicle running or stopped state, the detected speed in the vehicle information. Determining the running or stopped state based on the speed included in the vehicle information;

An intersection system, characterized in that:

4. In claim 2,

The vehicle-side processing unit includes, in the vehicle information, a reception level, which is a signal strength of wireless communication from the road-side device, received by the vehicle-side receiving unit, instead of a running or stopped state of each vehicle. , The roadside processing unit obtains a running or stopped state of the vehicle that has transmitted the vehicle information from presence or absence of a change in a reception level included in the vehicle information,

An intersection system, characterized in that:

5. In claim 1,

The roadside device,

A traffic light receiving unit that receives a state of a traffic light installed at the intersection; and a traffic light that determines permission or prohibition of entry of the vehicle into the intersection based on the state of the traffic light and the direction of entry of the vehicle into the intersection. A third roadside storage unit for storing the state / entry permission correspondence data,

Is further provided,

The roadside processing section includes a vehicle approach direction, a state of a traffic signal received by the signal receiving section, which restricts vehicle entry in the approach direction, and a traffic light state stored in the third roadside storage section. Based on the availability data, a request is made to permit or prohibit the vehicle from entering the intersection,

The first roadside transmitting unit further transmits data representing the entry permission or the entry inhibition obtained by the roadside processing unit to the in-vehicle device,

An intersection system, characterized in that:

6. In claim 5,

The vehicle-side processing unit, when data indicating entry prohibition is transmitted from the first road-side transmission unit, when the vehicle is running, notifies the driver of a warning by the notification unit, or Braking the running of the vehicle,

'The intersection system characterized by that.

7. In claim 1,

The roadside device stores priority data that determines which of the two vehicles should be given priority based on each approach direction and each traveling direction of the two vehicles to the intersection. Roadside storage unit, The roadside processing section includes: an approach direction of a vehicle to which vehicle information of another vehicle is transmitted; an approach direction of the other vehicle; each traveling direction included in the vehicle information of these vehicles; A priority of traffic of the destination vehicle and a priority of traffic of another vehicle based on the priority data stored in the storage unit;

The vehicle information transmitted to the in-vehicle device by the first roadside transmitting unit further includes vehicle information of a vehicle to be transmitted, and further includes vehicle information of the vehicle to be transmitted and vehicle information of another vehicle. Both further include the priority obtained by the roadside processing unit,

An intersection system, characterized in that:

8. In Claim 1,

The in-vehicle device stores a reception level function representing a relationship between a reception level, which is a signal strength of wireless communication from the roadside device, received by the vehicle side reception unit and a position in the communication area. Part,

The vehicle-side processing unit obtains a position of the vehicle in the communication area or a position of the vehicle at the intersection based on the reception level and a reception level function stored in the vehicle-side storage unit. The intersection system includes the position in the vehicle information of the own vehicle.

9. In claim 1,

When at least one of the roads forming the intersection is a one-way road in a direction to enter the intersection, the first road-side transmitting unit of the road-side device transmits the one-way road from the intersection to the one-way road. Transmitting data indicating that entry is prohibited so that the vehicle-side receiver of the vehicle to be entered can receive the data;

An intersection system, characterized in that:

10. In claim 1,

The vehicle information transmitted to the on-vehicle device by the first roadside transmission unit further includes vehicle information of a vehicle to be transmitted. The vehicle-side processing unit compares the traveling direction of the vehicle information of the vehicle to be transmitted, which is included in the vehicle information received by the vehicle-side receiving unit, with the current traveling direction of the own vehicle. If the direction is different, do not use the vehicle information of the other vehicle included in the vehicle information received by the vehicle-side receiver.

An intersection system, characterized in that: 1. In claim 1,

The roadside device is connected to a collection device, and transmits to the collection device vehicle information stored in the first roadside storage unit or the number of vehicles passing through the intersection obtained from the vehicle information. Roadside transmission unit,

An intersection system, characterized in that: 2. In claim 1,

The in-vehicle device detects the operation of an airbag mounted on the vehicle and transmits an detection signal to the vehicle-side processing unit by an airbag operation detection unit, or by an operator when a traffic accident occurs. The vehicle further includes at least one of a traffic accident occurrence operation unit that is operated and transmits an operation signal to the vehicle-side processing unit when operated. The vehicle-side processing unit includes a detection signal from the airbag operation detection unit or a traffic signal. Upon receiving at least one of the operation signals from the accident occurrence operation unit, the control unit transmits traffic accident occurrence data indicating that a traffic accident has occurred to the roadside device via the vehicle side transmission unit,

The first roadside transmitting section, when the roadside receiving section receives the traffic accident occurrence data, transmits the traffic accident occurrence data so that an in-vehicle device of a vehicle existing in the communication area can receive the traffic accident occurrence data.

An intersection system, characterized in that: 3. In Claims 1 and 2,

The roadside processing device comprises:

A third roadside transmission unit that transmits the traffic accident occurrence data to another roadside processing device, Receiving the traffic accident occurrence data transmitted from the other roadside processing device;

2 roadside receiver,

An intersection system, further comprising:

1 4. In Claim 1,

The roadside device includes two or more roads forming the intersection and the same number of roadside communication devices and one roadside processing device;

Each of the roadside communication devices has the communication area on each of the two or more roads, and includes the roadside reception unit and the first roadside transmission unit that communicate with the on-vehicle device by wireless communication. Have,

The roadside processing device communicates with the two or more roadside communication devices, and has the first and second roadside storage units and the roadside processing unit.

An intersection system, characterized in that:

15 5. In claim 1,

The roadside device includes a plurality of roadside communication devices and one roadside processing device, and the communication area is divided for each of the two or more roads, and further divided into a plurality of regions along the direction of each road. And

Each of the plurality of roadside communication devices has one of the divided communication areas, and has the roadside reception unit and the first roadside transmission unit that communicate with the in-vehicle device by wireless communication,

The roadside processing device communicates with the plurality of roadside communication devices, and has the first and second roadside storage units and the roadside processing unit.

An intersection system, characterized in that:

16. An on-board device installed in a vehicle is installed near an intersection where two or more roads intersect, communicates wirelessly with the on-board device, and transmits vehicle information of other vehicles to the on-board device of each vehicle. In a vehicle information communication method in an intersection system including a roadside device, The in-vehicle device,

The vehicle information of the own vehicle including the identification information and the traveling direction of the own vehicle is generated, and the generated vehicle information of the own vehicle is transmitted to the roadside device by wireless communication, and the other vehicle transmitted from the roadside device is transmitted. Vehicle information is received by wireless communication,

Notifying the driver of the own vehicle based on the received vehicle information of the other vehicle so that the driver of the own vehicle can perceive at least one of visual, auditory, or tactile sensation;

The roadside device,

A roadside device having vehicle information selection data that determines whether vehicle information of one vehicle should be transmitted to one vehicle based on each approach direction and each traveling direction of the two vehicles at the intersection. A storage unit stores in advance a region within the intersection and a region where the vehicle enters the intersection at each of the two or more roads as a communication region. Receiving the vehicle information transmitted from the in-vehicle device,

Storing the received vehicle information in the roadside storage unit,

The approach direction of the vehicle that is the destination of the vehicle information of the other vehicle, the approach direction of the other vehicle, the traveling directions included in the vehicle information of these vehicles, and the vehicle information selection data stored in the roadside storage unit. The vehicle information of the other vehicle to be transmitted to the destination vehicle is selected from the vehicle information stored in the roadside storage unit, and the selected vehicle information of the other vehicle is transmitted to the destination vehicle. A vehicle information communication method that transmits to the vehicle that becomes the vehicle. 7. An in-vehicle device that is installed in a vehicle and communicates wirelessly with a roadside device near an intersection where two or more roads intersect.

A vehicle-side transmitting unit that transmits the vehicle information of the own vehicle generated by the vehicle-side processing unit to the road-side device by wireless communication; Vehicle information selection data that determines whether vehicle information of the other vehicle should be transmitted to one vehicle based on each approach direction and each traveling direction of the two vehicles to the intersection; Based on the approach direction of the own vehicle and the approach direction of the other vehicle, and the respective traveling directions included in the vehicle information of these vehicles, the roadside device has selected the vehicle as having to be transmitted to the own vehicle. A vehicle-side receiving unit that receives vehicle information of another vehicle from the road-side device by wireless communication;

An in-vehicle device comprising: 8. A vehicle information communication method performed by an in-vehicle device that is provided in a vehicle and communicates wirelessly with a roadside device provided near an intersection where two or more roads intersect,

Generating vehicle information of the own vehicle including the identification information and the traveling direction of the own vehicle, transmitting the generated vehicle information of the own vehicle to the roadside device by wireless communication,

Vehicle information selection data that determines whether vehicle information of the other vehicle should be transmitted to one vehicle based on each approach direction and each traveling direction of the two vehicles to the intersection; Based on the approach direction of the own vehicle and the approach direction of the other vehicle, and the respective traveling directions included in the vehicle information of these vehicles, the roadside device has selected the vehicle as having to be transmitted to the own vehicle. Receiving vehicle information of another vehicle from the roadside device by wireless communication;

Vehicle information communication method. 9.2 A roadside device that is installed near the intersection where two or more roads intersect and communicates wirelessly with the in-vehicle device installed in the vehicle and transmits vehicle information of other vehicles to the in-vehicle device of each vehicle. So,

Each of the two or more roads has, as at least a communication area, an area within the intersection and an area where the vehicle enters the intersection, and is transmitted from the vehicle-mounted device of the vehicle that has entered the communication area. Includes vehicle identification and direction of travel A roadside receiver for receiving vehicle information;

A first roadside storage unit that stores the vehicle information received by the roadside reception unit, and a first vehicle-side storage unit that stores the vehicle information with respect to one vehicle based on each approach direction and each traveling direction of the two vehicles. A second roadside storage unit for storing vehicle information selection data that determines whether vehicle information should be transmitted;

The approach direction of the vehicle that is the destination of the vehicle information of the other vehicle, the approach direction of the other vehicle, the respective traveling directions included in the vehicle information of these vehicles, and the vehicle stored in the second roadside storage unit. A roadside processing unit for selecting vehicle information of another vehicle to be transmitted to the destination vehicle based on the information selection data from the vehicle information stored in the first roadside storage unit;

A roadside transmitting unit that transmits the vehicle information of the other vehicle selected by the roadside processing unit to the destination vehicle;

Roadside device comprising: A roadside device that is installed near an intersection where 0.2 or more roads intersect and communicates wirelessly with in-vehicle devices provided in vehicles and transmits vehicle information of other vehicles to the in-vehicle devices of each vehicle. A vehicle information communication method,

Based on each approach direction and each traveling direction of the two vehicles to the intersection, vehicle information selection data that determines whether to transmit vehicle information of the other vehicle to one vehicle is transmitted to the roadside device. It is stored in advance in the second roadside storage unit provided,

Identification information and progress of the vehicle transmitted from the vehicle-mounted device of a vehicle that has entered a communication area including at least an area within the intersection and an area where the vehicle enters the intersection on each of the two or more roads. Receiving vehicle information including the direction, storing the received vehicle information in a first roadside storage unit provided in the roadside device,

The approach direction of the vehicle that is the destination of the vehicle information of the other vehicle, the approach direction of the other vehicle, the traveling directions included in the vehicle information of these vehicles, and the second roadside storage unit. Based on the vehicle information selection data, The vehicle information of the other vehicle to be transmitted is selected from the vehicle information stored in the first roadside storage unit.

A vehicle information communication method, wherein the selected vehicle information of another vehicle is transmitted to the destination vehicle. 1. A pedestrian crossing system comprising a portable device carried by a pedestrian who crosses a pedestrian crossing, a roadside device provided near the pedestrian crossing, and an on-vehicle device mounted on a vehicle,

The portable device includes a portable transmitting unit that wirelessly transmits a notification signal for notifying the presence of a pedestrian,

The roadside device,

A roadside receiving unit having a first communication area including at least the pedestrian crossing area, and receiving a notification signal from the portable device by wireless communication in the first communication area; A roadside transmission unit having, as a second communication area, an area on the side where a vehicle enters the pedestrian crossing, and transmitting the notification signal to the in-vehicle device in the second communication area by wireless communication; ,

With

The in-vehicle device includes a vehicle-side receiving unit that receives a notification signal from the road-side transmitting unit by wireless communication.

Pedestrian crossing system. 2. A communication method in a pedestrian crossing system including a portable device carried by a pedestrian who passes a pedestrian crossing, a roadside device provided near the pedestrian crossing, and an on-vehicle device mounted on a vehicle. hand,

The portable shingle wirelessly transmits a notification signal for notifying the presence of a pedestrian,

Receiving, by wireless communication, a notification signal from the portable device within a first communication area including at least the crosswalk area;

On the side of the road that intersects the pedestrian crossing, where the vehicle enters the pedestrian crossing. Transmitting the notification signal by wireless communication to the in-vehicle device in the formed second communication area;

A communication method, wherein the in-vehicle device receives a notification signal from the roadside device by wireless communication.

2 3. A roadside device installed near the crosswalk,

A pedestrian has a first communication area including at least the pedestrian crossing area, and a notification signal for notifying the presence of a pedestrian transmitted from a portable device carried by a pedestrian in the first communication area is wirelessly transmitted. A roadside receiving unit for receiving by communication;

A second communication area includes a region on the side of the road that intersects the pedestrian crossing where the vehicle enters the pedestrian crossing, and a vehicle-mounted device mounted on the vehicle in the second communication region. A roadside transmitter for transmitting the notification signal by wireless communication,

Roadside device comprising:

24. A communication method performed by roadside devices provided near the pedestrian crossing,

Receiving, by wireless communication, a notification signal, which is transmitted from a portable device carried by a pedestrian and notifies the presence of the pedestrian, in at least a first communication area including the pedestrian crossing area;

Transmitting the notification signal by radio communication to an in-vehicle device mounted on the vehicle in a second communication area provided on a side of the vehicle that crosses the pedestrian crossing on the sidewalk that crosses the pedestrian crossing;

Communication method.

25. A railroad crossing notification system comprising a roadside device installed near a railroad crossing where a train passes and a lane where vehicles pass, and a railroad device installed near the railroad. hand,

The roadside device,

A first communication unit that includes a first communication area including at least the crossing area, and detects a vehicle that has entered the first communication area; A second communication area having an area where the vehicle can be confirmed to have passed from the crossing area as a second communication area, and a second detection section for detecting a vehicle having entered the second communication area; and the first detection section A roadside transmission unit that transmits vehicle entry information to the trackside device when the vehicle is detected by the roadside device, and transmits vehicle passage information to the trackside device when the vehicle is detected by the second detection unit;

With

The line-side device includes:

A track-side receiving unit that receives the vehicle entry information and the vehicle passing information from the road-side transmitting unit;

A third communication area provided on the track ahead of the train in the direction of approach to the railroad crossing; when the vehicle-side information is received by the line-side receiver, the vehicle enters the third communication area; A railroad crossing notification system, comprising: a vehicle entry information transmission unit that starts transmitting a notification and stops transmitting a vehicle entry notification when the vehicle side information is received by the track side reception unit. 6. A communication method in a railroad crossing notification system, comprising: a roadside device provided near a railroad crossing where a train passes on a track and a vehicle lane crossing; and a railroad device provided near the railroad. And

The roadside device,

A vehicle that has entered a first communication area including at least the crossing area is detected, and a vehicle that has entered a second communication area provided in an area where it can be confirmed that the vehicle has passed from the crossing area is detected. ,

When a vehicle is detected in the first communication area, vehicle entry information is transmitted to the trackside device. When a vehicle is detected in the second communication area, vehicle passage information is transmitted to the trackside device.

The line-side device includes:

Upon receiving the vehicle entry information and the vehicle passage information from the roadside device, and receiving the vehicle entry information, the vehicle enters a third communication area provided on the track ahead of the train at the railroad crossing direction. Start sending entry notification A communication method that stops sending vehicle entry notifications when vehicle passing information is received.

27. A first communication area including at least a railroad crossing area where a track on which a train passes and a lane on which a vehicle passes intersects, and a first communication area for detecting a vehicle entering the first communication area is provided. A detection unit;

A second communication area having an area in which the vehicle can be confirmed to have passed from the railroad crossing area as a second communication area, and a second detection section for detecting a vehicle entering the second communication area; and the first detection section When the vehicle is detected by the second detection unit, vehicle entry information is transmitted to a track side device that notifies the train of the entry of the vehicle to the crossing to the train. When the second detection unit detects the vehicle, the vehicle passage information is transmitted. A roadside transmitting unit for transmitting a signal to the lineside device;

Roadside device comprising:

28. A communication method performed by a roadside device that reports the entry and passage of a vehicle at a railroad crossing where a track on which a train passes and a road on which the vehicle crosses, wherein the first communication includes at least the region of the railroad crossing Detects vehicles that have entered the area,

Detecting a vehicle that has entered the second communication area where it can be confirmed that the vehicle has passed from the crossing area,

When the vehicle is detected in the first communication area, vehicle entry information is transmitted to a track-side device that notifies a train of the approach of the vehicle to the railroad crossing to a train, and the vehicle is transmitted to the second communication area. A communication method for transmitting vehicle passage information to the trackside device when detected.