WO2018116827A1 - Système de communication de véhicule à véhicule, dispositif de communication côté route, dispositif de communication à bord d'un véhicule et procédé de communication de véhicule à véhicule - Google Patents

Système de communication de véhicule à véhicule, dispositif de communication côté route, dispositif de communication à bord d'un véhicule et procédé de communication de véhicule à véhicule Download PDF

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Publication number
WO2018116827A1
WO2018116827A1 PCT/JP2017/043770 JP2017043770W WO2018116827A1 WO 2018116827 A1 WO2018116827 A1 WO 2018116827A1 JP 2017043770 W JP2017043770 W JP 2017043770W WO 2018116827 A1 WO2018116827 A1 WO 2018116827A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
information
communication device
unit
roadside
Prior art date
Application number
PCT/JP2017/043770
Other languages
English (en)
Japanese (ja)
Inventor
雄一 児玉
Original Assignee
株式会社オートネットワーク技術研究所
住友電装株式会社
住友電気工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2017059683A external-priority patent/JP6699610B2/ja
Application filed by 株式会社オートネットワーク技術研究所, 住友電装株式会社, 住友電気工業株式会社 filed Critical 株式会社オートネットワーク技術研究所
Priority to US16/470,579 priority Critical patent/US11501635B2/en
Priority to CN201780074492.0A priority patent/CN110073427A/zh
Publication of WO2018116827A1 publication Critical patent/WO2018116827A1/fr

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
    • H04W16/24—Cell structures
    • H04W16/26—Cell enhancers or enhancement, e.g. for tunnels, building shadow
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]

Definitions

  • the present invention relates to a vehicle-to-vehicle communication system and a vehicle-to-vehicle communication method that perform wireless transmission and reception of information between a plurality of vehicles, and a roadside communication device and a vehicle-mounted communication device that constitute this system.
  • an in-vehicle communication device mounted on a vehicle can exchange various information between vehicles by transmitting and receiving radio signals to and from the on-vehicle communication device mounted on another vehicle.
  • Communication systems are attracting attention. For example, by exchanging position information of the own vehicle among a plurality of vehicles, it is possible to realize a system that determines whether or not another vehicle is approaching and avoids a collision between the vehicles.
  • a road-to-vehicle communication system that provides various information by radio signals from a roadside communication device installed on the road to an in-vehicle communication device mounted on a vehicle has been put into practical use.
  • the information transmitted from the roadside communication device to the in-vehicle communication device can be, for example, information such as the lighting state of the traffic light and surrounding traffic information.
  • information such as the lighting state of the traffic light and surrounding traffic information.
  • alerting the driver of the vehicle for example, alerting the driver of the vehicle
  • processing such as driving assistance control of vehicles, can be performed.
  • Patent Document 1 an electromagnetic wave is transmitted to the outside of a vehicle, a reflected wave of the transmitted electromagnetic wave is received, and information on an object existing outside is acquired based on a reception group, thereby performing obstacle detection and the like.
  • a communication system that realizes vehicle-to-vehicle communication using an in-vehicle device has been proposed.
  • the in-vehicle device acquires information on the host vehicle, transmits an electromagnetic wave including this information, receives the electromagnetic wave from the outside, extracts information contained in the received electromagnetic wave, and stores it in the storage unit.
  • the in-vehicle device transmits an electromagnetic wave including the information on the other vehicle and the information on the host vehicle.
  • an in-vehicle communication device mounted on a vehicle transmits a radio signal having a predetermined frequency, and the radio signal is received by another vehicle within the reach of the radio signal.
  • the radio signal transmitted from one vehicle is shielded by the building and reaches the other vehicle. It may not be possible.
  • a vehicle-to-vehicle communication system that employs 5.9 GHz as the frequency of the radio signal, there is a high possibility that the radio signal will be blocked by the shielding object.
  • the present invention has been made in view of such circumstances, and an object of the present invention is to provide information between vehicles even when the arrival of a radio signal can be hindered by a shield existing between vehicles. Is to provide a vehicle-to-vehicle communication system, a roadside communication device, an in-vehicle communication device, and a vehicle-to-vehicle communication method.
  • a vehicle-to-vehicle communication system is a vehicle-to-vehicle communication system that performs wireless communication between a plurality of vehicles each having a vehicle-mounted communication device that transmits and receives information using a radio signal.
  • a roadside receiving unit that receives information transmitted by a radio signal, and a roadside transmitting unit that transmits information by radio signal to the in-vehicle communication device, and the information received by the roadside receiving unit is sent to the roadside transmitting unit.
  • a roadside communication device that relays communication between the vehicles by transmitting.
  • the in-vehicle communication device receives information transmitted wirelessly by an in-vehicle communication device mounted on another vehicle and information transmitted wirelessly by the roadside transmission unit of the roadside communication device.
  • the determination unit determines that the information is not necessary when the information received by the vehicle-side reception unit is the same information as the previously received information. It is characterized by that.
  • the inter-vehicle communication system includes an acquisition unit that acquires information related to the host vehicle, and a vehicle-side transmission unit that wirelessly transmits the information acquired by the acquisition unit, The determination unit determines that the information is not necessary when the information received by the vehicle-side reception unit is information transmitted by the vehicle-side transmission unit of the device itself.
  • the information processing unit performs a process of transmitting information determined to be necessary by the determination unit to another in-vehicle device mounted on the own vehicle. .
  • the inter-vehicle communication system includes an acquisition unit that acquires information related to the host vehicle, and a vehicle-side transmission unit that wirelessly transmits the information acquired by the acquisition unit,
  • the roadside communication device includes a relay determination unit that determines whether to relay the information based on information received by the roadside reception unit.
  • the relay determination unit determines that the information is not relayed when the vehicle that is the transmission source of the information received by the roadside reception unit is in a stopped state. It is determined that the information is relayed when the vehicle is not stopped.
  • the relay determination unit when the relay determination unit is configured such that the traveling direction of the information transmission vehicle of the information received by the roadside reception unit is a direction approaching a predetermined location on the road. It is determined that the information is not relayed when the traveling direction of the transmission source vehicle is a direction away from the predetermined location.
  • the relay determination unit when the relay determination unit has a position of a vehicle that is a transmission source of information received by the roadside reception unit within a predetermined range from a predetermined location on the road, If the position of the transmission source vehicle is outside the predetermined range from the predetermined location, it is determined that the information is not relayed.
  • the relay determination unit expands or contracts the predetermined range according to the number of vehicles existing in the predetermined range.
  • the vehicle-to-vehicle communication system includes an identification information adding unit that adds its own identification information to information relayed by the roadside communication device, and information received by the roadside receiving unit itself or another roadside communication device. And a relay determination unit that determines whether or not to relay the information according to whether or not the identification information is attached.
  • the roadside communication device controls a transmission direction of a radio signal by the roadside transmission unit when relaying the information based on information received by the roadside reception unit. It has a transmission direction control part.
  • the transmission direction control unit transmits a radio signal in a direction along another road that intersects the road on which the vehicle that transmits the information received by the roadside reception unit travels.
  • the transmission direction of the radio signal by the roadside transmission unit is controlled so as to transmit.
  • a roadside communication device includes a roadside receiving unit that is installed on the road and receives information transmitted by a vehicle by a radio signal, and a roadside transmission unit that transmits information to the vehicle by a radio signal, Communication between vehicles is relayed by transmitting the information received by the roadside receiving unit at the roadside transmitting unit.
  • the roadside communication apparatus includes a relay determination unit that determines whether to relay the information based on information received by the roadside reception unit.
  • the relay determination unit determines that the information is not relayed when a vehicle that is a transmission source of the information received by the roadside reception unit is in a stopped state. It is determined that the information is relayed when the vehicle is not stopped.
  • the roadside communication device is configured so that the relay determination unit receives the information when the traveling direction of the vehicle that is the transmission source of the information received by the roadside reception unit is a direction approaching a predetermined location on the road. It is determined to relay, and when the traveling direction of the transmission source vehicle is a direction away from the predetermined location, it is determined that the information is not relayed.
  • the roadside communication device is configured so that the relay determination unit receives the information when the position of the vehicle that is the transmission source of the information received by the roadside reception unit is within a predetermined range from a predetermined location on the road. It is determined to relay, and when the position of the transmission source vehicle is outside the predetermined range from the predetermined location, it is determined that the information is not relayed.
  • the roadside communication device is characterized in that the relay determination unit expands or contracts the predetermined range according to the number of vehicles existing in the predetermined range.
  • the roadside communication device includes an identification information adding unit that adds its own identification information to information to be relayed, and identification information of itself or another roadside communication device is added to the information received by the roadside reception unit.
  • a relay determination unit that determines whether to relay the information according to whether or not the information is relayed.
  • the roadside communication apparatus includes a transmission direction control unit that controls a transmission direction of a radio signal by the roadside transmission unit when relaying the information based on information received by the roadside reception unit. It is characterized by.
  • the transmission direction control unit transmits a radio signal in a direction along another road that intersects a road on which a vehicle that transmits the information received by the roadside reception unit travels.
  • the transmission direction of the radio signal by the roadside transmission unit is controlled so as to transmit.
  • an in-vehicle communication device is mounted on a vehicle, and receives a vehicle-side receiving unit that receives information transmitted by other vehicles using radio signals and information transmitted by a road-side communication device installed on the road.
  • the information processing apparatus includes: a determination unit that determines whether the information received by the vehicle-side reception unit is necessary; and an information processing unit that performs information processing based on the information determined to be necessary by the determination unit.
  • the vehicle-mounted communication apparatus which concerns on this invention determines that the said determination part does not require the said information, when the information which the said vehicle side receiving part received is the same information as the information received previously. It is characterized by.
  • the in-vehicle communication device includes an acquisition unit that acquires information related to the host vehicle, and a vehicle-side transmission unit that wirelessly transmits the information acquired by the acquisition unit, and the determination unit includes the vehicle When the information received by the side receiving unit is information transmitted by the vehicle side transmitting unit of the own apparatus, it is determined that the information is not necessary.
  • the in-vehicle communication device is characterized in that the information processing unit performs a process of transmitting information determined to be necessary by the determination unit to another in-vehicle device mounted on the own vehicle.
  • the vehicle-to-vehicle communication method is a roadside communication device installed on the road in a vehicle-to-vehicle communication method in which wireless communication is performed between a plurality of vehicles each having an in-vehicle communication device that transmits and receives information by wireless signals.
  • the vehicle-mounted communication device receives information transmitted by a wireless signal, and relays communication between a plurality of vehicles by transmitting the received information by a wireless signal.
  • the in-vehicle communication device wirelessly transmits information related to the own vehicle, and the roadside communication device determines whether to relay the information based on the received information. It is characterized by doing.
  • a plurality of vehicles each equipped with an in-vehicle communication device that transmits and receives information by radio signals exchange information.
  • Each vehicle can directly exchange information with other vehicles.
  • a plurality of vehicles indirectly receive information via a roadside communication device installed on the road. Can be exchanged.
  • the roadside communication device receives information transmitted by the in-vehicle communication device of the vehicle using a radio signal, and relays information exchange between a plurality of vehicles by transmitting the received information using a radio signal.
  • the roadside communication device installed on the road can relay information exchange between a plurality of vehicles, so that the information transmitted from one vehicle can be While being able to receive directly from a vehicle, the information relayed by the roadside communication apparatus can be received indirectly. Accordingly, for example, there is a possibility that the information relayed by the roadside communication device can be received even in a situation where there is a shield between the vehicles and communication between the vehicles cannot be performed directly. . Therefore, by adopting a configuration in which the roadside communication device relays information exchange between vehicles, it is possible to increase the possibility that communication between vehicles can be performed even in an environment where there are many shielding objects.
  • the in-vehicle communication device can directly receive information from the in-vehicle communication device mounted in another vehicle, and from the in-vehicle communication device mounted in the other vehicle via the roadside communication device. Since information can be received indirectly, there is a possibility that the same information is received redundantly, for example. Therefore, when receiving information from another vehicle or a roadside communication device, the in-vehicle communication device determines whether or not the information is necessary, and performs information processing based on the information determined to be necessary. Accordingly, the in-vehicle communication device can perform information processing by eliminating unnecessary reception information.
  • the in-vehicle communication device can determine that the information received this time is not necessary. This may occur when the same information relayed via the roadside communication device is received after directly receiving the information transmitted by the vehicle.
  • the in-vehicle communication device can determine that the information received this time is not necessary when the received information is information that the device itself has previously transmitted. This may occur when the roadside communication device receives information transmitted by the in-vehicle communication device and the transmission source in-vehicle communication device receives information relayed by the roadside communication device.
  • the in-vehicle communication device performs processing for transmitting received information determined to be necessary to other in-vehicle devices mounted on the host vehicle as information processing.
  • the in-vehicle communication device receives the information transmitted from the other vehicle, and transmits the received information related to the other vehicle to the other in-vehicle devices in the own vehicle. Processing such as avoidance or an approach warning of another vehicle can be realized by another in-vehicle device.
  • the in-vehicle communication device acquires information related to the host vehicle, for example, information such as the position of the host vehicle, the vehicle speed, the traveling direction, the state of the transmission, and / or the history of the travel route, and transmits the acquired information to the outside of the vehicle.
  • information related to the host vehicle for example, information such as the position of the host vehicle, the vehicle speed, the traveling direction, the state of the transmission, and / or the history of the travel route
  • each vehicle transmits its own vehicle information, and the roadside communication device relays the vehicle information, which may increase the amount of wireless communication performed on the road.
  • the roadside communication device determines whether to relay this information to another in-vehicle communication device according to the information received from the in-vehicle communication device.
  • the roadside communication device may perform wireless transmission to the vehicle only for the information determined to be relayed. Thereby, since the information determined that the roadside communication device is not necessary is not relayed, an increase in the amount of wireless communication can be suppressed.
  • the roadside communication device determines whether or not the vehicle that has transmitted this information is in a stopped state. Whether or not the vehicle is stopped can be determined from information such as the vehicle speed of the vehicle or the state of the transmission. The roadside communication device determines that information is not relayed when the transmission source vehicle is stopped, and determines that information is relayed when the transmission source vehicle is not stopped. As a result, the roadside communication device can exclude information on the stopped vehicle from being relayed with little risk of a collision with another vehicle.
  • the roadside communication device determines, based on the received information, whether or not the traveling direction of the vehicle that has transmitted this information is a direction approaching a predetermined location on the road.
  • the predetermined place can be a place where an accident is likely to occur, such as a road intersection.
  • Whether or not the traveling direction of the vehicle is a direction approaching a predetermined location can be determined from information such as the position of the vehicle and the traveling direction.
  • the roadside communication device determines that information is relayed when the traveling direction of the transmission source vehicle is a direction approaching a predetermined location, and determines that information is not relayed when the traveling direction is away from the predetermined location. To do.
  • the roadside communication device can move away from a predetermined location such as an intersection of the road, so that the information about the vehicle that is less likely to collide with other vehicles can be excluded from the relay target.
  • the roadside communication device determines whether or not the position of the vehicle that is the transmission source of this information is within a predetermined range from a predetermined location on the road based on the received information.
  • the predetermined location can be, for example, a place where an accident is likely to occur, such as an intersection of a road, or a location where a roadside communication device is installed.
  • the predetermined range can be, for example, a range of several hundred meters in radius around the predetermined location. .
  • the roadside communication device determines to relay information when the position of the transmission source vehicle is within a predetermined range from a predetermined location on the road, and determines not to relay information when outside the predetermined range. To do.
  • the roadside communication device can be excluded from the relay target because it is away from a predetermined location such as an intersection of the road and the vehicle is less likely to collide with other vehicles.
  • the roadside communication device may expand or contract the predetermined range serving as a determination criterion according to the number of vehicles existing in the predetermined range. For example, the roadside communication device reduces the predetermined range when there are many vehicles within the predetermined range, and expands the predetermined range when the number of vehicles is small. Thereby, the roadside communication apparatus can expand and contract the range of relaying information according to the degree of congestion of the vehicle, and can suppress an increase in communication amount due to an increase in the number of vehicles.
  • the roadside communication device relays the information received from the vehicle. However, if another roadside communication device exists within the radio signal reachable range of the roadside communication device, the roadside communication device relays the information on the vehicle relayed separately. May be further relayed by the roadside communication device. When such a situation is repeated, there is a possibility that vehicle information may be relayed over a wide range that is not necessary. Therefore, in the present invention, when relaying information from the vehicle, the roadside communication device transmits the information with its own identification information. When the roadside communication device receives the information, the roadside communication device determines whether or not identification information of itself or another roadside communication device is attached to the information.
  • the roadside communication device determines not to relay information when the identification information of the roadside communication device is attached, and determines to relay information when the identification information is not attached. Thereby, it is possible to prevent the information transmitted by the vehicle from being repeatedly relayed by a plurality of roadside communication devices.
  • this information is not information related to the vehicle generated by the vehicle, but other roadside communication apparatuses If the generated information is, for example, traffic signal information or traffic information, this information may be relayed.
  • the roadside communication device has a function of controlling the transmission direction of the radio signal. For example, by using a technique such as beam forming, a radio signal can be focused and emitted in a specific direction, whereby the roadside communication apparatus can control the transmission direction of the radio signal. For example, there is a high possibility that a radio signal transmitted by this vehicle will reach the direction along the road where the transmission source vehicle travels. The signal may not reach. Therefore, the roadside communication device is configured to control the transmission direction so as to transmit a wireless signal that relays the received information in a direction along another road that intersects the road on which the vehicle from which the received information is transmitted travels. It can be. Thus, by controlling the transmission direction of the radio signal relayed by the roadside communication device, it is possible to reduce reception of unnecessary information by the in-vehicle communication device 10 of the vehicle.
  • the roadside communication device installed on the road relays the exchange of information between a plurality of vehicles, the arrival of a radio signal can be hindered by a shielding object present between the vehicles. Even if it exists, it becomes possible to exchange information between vehicles via a roadside communication apparatus.
  • FIG. 10 is a flowchart illustrating a procedure of relay determination processing determination example 1 performed by the roadside communication device according to the second embodiment.
  • 10 is a flowchart illustrating a procedure of relay determination processing determination example 1 performed by the roadside communication device according to the second embodiment.
  • 10 is a flowchart illustrating a procedure of determination example 2 of relay determination processing performed by the roadside communication device according to the second embodiment.
  • 10 is a flowchart illustrating a procedure of determination example 3 of the relay determination process performed by the roadside communication device according to the second embodiment.
  • 10 is a flowchart illustrating a procedure of determination example 4 of relay determination processing performed by the roadside communication device according to the second embodiment.
  • FIG. 10 is a flowchart illustrating a procedure of determination example 4 of relay determination processing performed by the roadside communication device according to the second embodiment.
  • 6 is a schematic diagram for explaining an outline of a vehicle-to-vehicle communication system according to Embodiment 3.
  • FIG. 6 is a schematic diagram for explaining an outline of a vehicle-to-vehicle communication system according to Embodiment 3.
  • FIG. 6 is a block diagram illustrating a configuration of a roadside communication device according to a third embodiment.
  • 10 is a flowchart illustrating a procedure of information reception processing performed by a roadside communication apparatus according to Embodiment 3.
  • FIGS. 1 to 4 are schematic diagrams for explaining the inter-vehicle communication system according to the present embodiment.
  • a total of four lanes of main roads are shown in the vertical direction in two lanes on one side, and a total of two lanes in one lane crossing the main road are shown in the left and right directions. That is, FIGS. 1 to 4 show a state where an intersection where a main road and a section road intersect is seen from above.
  • four vehicles 1a to 1d are traveling toward this intersection from different directions.
  • the vehicle 1a exists on the main road below the intersection and travels upward
  • the vehicle 1b exists on the right section road of the intersection and travels left
  • 1c exists on the main road on the upper side of the intersection and travels downward
  • the vehicle 1d exists on the partition road on the left side of the intersection and travels to the right.
  • each vehicle 1 transmits / receives a wireless signal to perform wireless communication with a device outside the vehicle (not shown in FIGS. 1 to 4, not shown in FIG. 5). Is mounted).
  • the in-vehicle communication device of each vehicle can perform communication, that is, so-called inter-vehicle communication, with an in-vehicle communication device of another vehicle.
  • the in-vehicle communication device of each vehicle 1 acquires, for example, the position information of each vehicle 1, generates a message including the acquired position information, and transmits it as a radio signal.
  • the in-vehicle communication device of each vehicle 1 that has received a wireless signal from another vehicle acquires position information included in the message related to the received wireless signal, grasps the position of the other vehicle, and performs processing such as collision avoidance. It can be carried out.
  • the wireless information transmission from the three vehicles 1b to 1d to the one vehicle 1a is indicated by a dashed-dotted arrow.
  • the radio signal transmitted from the vehicle 1b and the radio signal transmitted from the vehicle 1d there is a possibility that a building existing between the vehicles 1b and 1d and the vehicle 1a becomes a shield and does not reach the vehicle 1a.
  • the radio signal transmitted from the vehicle 1c has a high possibility of reaching the vehicle 1a without being obstructed because there is no shielding between the vehicle 1c and the vehicle 1a.
  • the roadside communication device 5 that relays communication between vehicles is arranged at an appropriate place on the road.
  • the roadside communication device 5 is installed together with, for example, a traffic signal at an intersection, and normally performs processing for distributing information related to the lighting state of the traffic signal to surrounding vehicles.
  • the roadside communication device 5 is disposed at the upper right corner of the intersection.
  • one roadside communication device 5 is installed at one intersection, and the roadside communication device 5 is arranged at a place with good visibility from each road that intersects at the intersection.
  • the roadside communication device 5 can receive radio signals transmitted from the three vehicles 1b to 1d.
  • the roadside communication device 5 acquires information included in the messages related to the radio signals received from the three vehicles 1b to 1d, and transmits the message including the acquired information to the surrounding vehicles 1a to 1d as a radio signal.
  • the roadside communication device 5 may transmit the received radio signal as it is to the surrounding vehicles 1a to 1d.
  • the in-vehicle communication device of the vehicle 1a can receive the information transmitted by the vehicles 1b to 1d.
  • the radio signal transmitted from the vehicle 1c is directly received by the in-vehicle communication device of the vehicle 1a. Furthermore, the in-vehicle communication device of the vehicle 1a also receives a radio signal transmitted from the vehicle 1c and relayed by the roadside communication device 5. For this reason, the vehicle-mounted communication apparatus of the vehicle 1a will receive the information of the substantially same content in multiple times. Therefore, when the in-vehicle communication device according to the present embodiment receives a radio signal, the in-vehicle communication device performs processing for determining whether or not the reception information related to the radio signal is necessary. If the information related to the wireless signal received this time is the same as the information related to the previously received wireless signal, the in-vehicle communication device determines that the current reception information is unnecessary and discards it.
  • the radio signal transmitted by the vehicle 1 a is received by the roadside communication device 5.
  • the roadside communication device 5 that has received this radio signal relays to the vehicles 1a to 1d existing in the vicinity.
  • the roadside communication device 5 does not transmit a radio signal by designating a reception destination, but performs broadcast, so-called broadcast, without designating the reception destination.
  • the radio signal transmitted by the roadside communication device 5 is received by the vehicle 1a, and the in-vehicle communication device of the vehicle 1a receives the same information as the information transmitted by itself.
  • the in-vehicle communication device when the in-vehicle communication device according to the present embodiment receives a radio signal, the in-vehicle communication device performs a process of determining whether or not the reception information related to the radio signal is necessary.
  • the in-vehicle communication device determines that the current reception information is unnecessary and discards it.
  • the message transmitted / received between the plurality of in-vehicle communication devices 10 and the message transmitted / received between the in-vehicle communication device 10 and the roadside communication device 5 are defined in the standard of SAE J2735, for example.
  • Basic Safety Message (Basic Safety Message) can be adopted.
  • the configuration may be such that the in-vehicle communication device 10 and the roadside communication device 5 transmit and receive messages of other standards.
  • FIG. 5 is a block diagram showing a configuration of the in-vehicle communication device mounted on the vehicle 1 according to the present embodiment.
  • the vehicle 1 according to the present embodiment is equipped with an in-vehicle communication device 10 that performs communication with devices inside and outside the vehicle 1.
  • the in-vehicle communication device 10 according to the present embodiment includes a processing unit 11, a storage unit 12, an in-vehicle communication unit 13, a wireless communication unit 14, a GPS receiving unit 15, and the like.
  • the processing unit 11 is configured using an arithmetic processing device such as a CPU (Central Processing Unit) or an MPU (Micro-Processing Unit), and reads a program stored in the storage unit 12 or a ROM (Read Only Memory) (not shown).
  • a CPU Central Processing Unit
  • MPU Micro-Processing Unit
  • the storage unit 12 is configured using a nonvolatile memory element such as an EEPROM (ElectricallyrErasable Programmable Read Only Memory) or a flash memory.
  • the storage unit 12 stores, for example, a program executed by the processing unit 11 and various data used for processing of the processing unit 11.
  • the in-vehicle communication unit 13 communicates with other in-vehicle devices mounted on the vehicle 1 via an in-vehicle network such as CAN (Controller Area Network) provided in the vehicle 1.
  • the in-vehicle communication unit 13 communicates with in-vehicle devices such as an automatic driving ECU 31, a car navigation device 32, and an engine ECU 33 mounted on the vehicle 1.
  • the in-vehicle communication unit 13 transmits a message by converting the message for transmission given from the processing unit 11 into an electric signal and outputs it to the communication line constituting the in-vehicle network, and samples the potential of the communication line. A message is received by acquiring the message, and the received message is given to the processing unit 11.
  • the wireless communication unit 14 performs wireless communication with the in-vehicle communication device 10 mounted on another vehicle 1 and the roadside communication device 5 provided on the road.
  • the wireless communication unit 14 outputs a signal obtained by modulating the message for transmission given from the processing unit 11 from the antenna, thereby performing message transmission to the other in-vehicle communication device 10 and the roadside communication device 5 and also to the antenna.
  • demodulating the received signal messages from other in-vehicle communication device 10 and roadside communication device 5 are received, and the received message is given to processing unit 11.
  • the GPS receiving unit 15 receives a radio signal transmitted by a GPS artificial satellite, and gives information included in the received signal to the processing unit 11.
  • the processing unit 11 can perform a process of calculating the position (latitude, longitude, etc.) of the vehicle 1 based on the information given from the GPS receiving unit 15.
  • the processing unit 11 of the in-vehicle communication device 10 executes a program stored in the storage unit 12 or the ROM, thereby receiving a reception information determination unit 21, a reception information processing unit 22, and vehicle information acquisition.
  • the unit 23, the vehicle information transmission unit 24, and the like are realized as software functional blocks.
  • the reception information determination unit 21 performs processing to determine whether information included in a message from another in-vehicle communication device 10 or roadside communication device 5 received by the wireless communication unit 14 is necessary.
  • the processing unit 11 of the in-vehicle communication device 10 stores, in the storage unit 12, information determined to be necessary by the reception information determination unit 21 among information included in the message received by the wireless communication unit 14. .
  • the reception information determination unit 21 compares the information included in the message received by the wireless communication unit 14 with the previous reception information stored in the storage unit 12, and if the information is the same, the reception information determination unit 21 received this time. The information contained in the message is determined to be unnecessary, and this information is discarded. If the same reception information as the information included in the received message is not stored in the storage unit 12, the reception information determination unit 21 determines that the information included in the message received this time is necessary, and stores this information in the storage unit 12 To remember.
  • the processing unit 11 of the in-vehicle communication device 10 stores information included in the message transmitted to the outside by the wireless communication unit 14 in the storage unit 12 for a predetermined period, and the storage unit 12 after the predetermined period has elapsed. Erase from The reception information determination unit 21 compares the information included in the message received by the wireless communication unit 14 with the previous transmission information stored in the storage unit 12, and if the information is the same, the reception information determination unit 21 received this time The information contained in the message is determined to be unnecessary, and this information is discarded. When the same transmission information as the information included in the received message is not stored in the storage unit 12, the reception information determination unit 21 determines that the information included in the message received this time is necessary, and stores this information in the storage unit 12. To remember.
  • the reception information processing unit 22 performs various information processing on the reception information determined to be necessary by the reception information determination unit 21 and stored in the storage unit 12.
  • the reception information processing unit 22 reads information from the storage unit 12, and transmits the read information to the automatic driving ECU 31, the car navigation device 32, the engine ECU 33, or the like in the vehicle 1 by the in-vehicle communication unit 13. I do.
  • the reception information stored in the storage unit 12 is deleted after the reception information processing unit 22 transmits the information to the vehicle and a predetermined period has elapsed. This is because the reception information stored in the storage unit 12 may be used for determination by the reception information determination unit 21.
  • the vehicle information acquisition unit 23 is predetermined vehicle information that is transmitted outside the vehicle by the wireless communication unit 14 based on information obtained by communication via the in-vehicle network by the in-vehicle communication unit 13 and information obtained from the GPS receiving unit 15. Process to get.
  • the vehicle information acquisition unit 23 acquires the position information of the vehicle 1 based on the information from the GPS reception unit 15.
  • the vehicle information acquisition unit 23 may acquire information such as the vehicle speed or acceleration of the vehicle 1 through in-vehicle communication by the in-vehicle communication unit 13.
  • the vehicle information transmission unit 24 performs a process of transmitting the vehicle information acquired by the vehicle information acquisition unit 23 to the other in-vehicle communication device 10 and the roadside communication device 5 by the wireless communication unit 14.
  • the acquisition of the vehicle information by the vehicle information acquisition unit 23 and the transmission of the vehicle information by the vehicle information transmission unit 24 are performed at a predetermined cycle, for example, every second or every minute.
  • the vehicle information transmission unit 24 transmits the vehicle information at a predetermined cycle regardless of whether or not the other in-vehicle communication device 10 or the roadside communication device 5 exists within the reach of the wireless signal transmitted by the wireless communication unit 14. Repeatedly.
  • FIG. 6 is a block diagram showing a configuration of the roadside communication device 5 according to the present embodiment.
  • the roadside communication device 5 according to the present embodiment includes a processing unit 51, a storage unit 52, a wireless communication unit 53, a wired communication unit 54, and the like.
  • the processing unit 51 is configured using an arithmetic processing device such as a CPU, and performs various arithmetic processes related to communication. For example, the processing unit 51 performs a process of acquiring information regarding the lighting state of the traffic light 71, a process of acquiring traffic congestion information of surrounding roads from the traffic control server device 72, a process of simultaneously transmitting the acquired information to the vehicle 1, and the like. Do. Further, the roadside communication device 5 according to the present embodiment performs processing for relaying vehicle-to-vehicle communication performed between the plurality of vehicles 1.
  • the storage unit 52 is configured using a storage device such as a DRAM (Dynamic Random Access Memory), a flash memory, or a hard disk.
  • the storage unit 52 transmits / receives information received from the vehicle 1 by the wireless communication unit 53 and information received from the traffic light 71 or the traffic control server device 72 by the wired communication unit 54, etc. Information to be stored temporarily.
  • the wireless communication unit 53 performs wireless communication with the in-vehicle communication device 10 mounted on the vehicle 1.
  • the wireless communication unit 53 transmits a message to the in-vehicle communication device 10 by outputting a signal obtained by modulating the message for transmission given from the processing unit 51 from the antenna, and demodulates the signal received by the antenna.
  • the message from the in-vehicle communication device 10 is received, and the received message is given to the processing unit 51.
  • the wired communication unit 54 communicates with a traffic light 71 connected via a communication line, for example, and communicates with a traffic control server device 72 operated by a traffic management center via a network such as the Internet.
  • the wired communication unit 54 transmits the message for transmission given from the processing unit 51 to the traffic control server device 72 and the like, and receives the message from the traffic light 71 or the traffic control server device 72 and gives it to the processing unit 51. .
  • the processing unit 51 of the roadside communication device 5 is provided with functional blocks such as a traffic signal information transmission unit 61 and an inter-vehicle communication relay unit 62.
  • the traffic signal information transmission unit 61 generates and generates a message including information obtained from the traffic signal 71 via the wired communication unit 54, for example, information such as the lighting state of the traffic signal 71 and the time until switching to another lighting state.
  • the wireless communication unit 53 performs a process of simultaneously transmitting messages to the surrounding vehicles 1. Transmission of the traffic signal information by the traffic signal information transmission unit 61 is performed at a predetermined cycle, for example, every second or every minute.
  • the roadside communication device 5 is configured to transmit the information of the traffic light 71, but the present invention is not limited to this, and various information such as traffic jam information or accident information may be transmitted.
  • the inter-vehicle communication relay unit 62 retransmits the message transmitted to the other vehicle 1 among the messages from the vehicle 1 received by the wireless communication unit 53, thereby retransmitting the message.
  • the message transmitted by the vehicle 1 includes a message transmitted toward another vehicle 1 as so-called vehicle-to-vehicle communication and a message toward the roadside communication device 5 as so-called road-to-vehicle communication. In the present embodiment, these two messages can be distinguished by, for example, a message ID included in the message.
  • the processing unit 51 performs processing for transmitting information included in the received message, for example, to the traffic control server device 72 using the wired communication unit 54.
  • the inter-vehicle communication relay unit 62 When the wireless communication unit 53 receives a message for another vehicle 1, the inter-vehicle communication relay unit 62 generates a transmission message including information included in the received message and gives the message to the wireless communication unit 53. Thus, this message is simultaneously transmitted to the surrounding vehicles 1.
  • FIG. 7 is a schematic diagram showing an example of a message transmitted and received by a radio signal in the present embodiment.
  • the message wirelessly transmitted to the other vehicle 1 by the in-vehicle communication device 10 according to the present embodiment includes information such as a vehicle ID, a message ID, a transmission time, and vehicle information (see the upper part of FIG. 7).
  • the vehicle ID is identification information uniquely assigned to each vehicle 1.
  • the message ID is identification information predetermined for the type of vehicle information.
  • the transmission time is information on the time when the in-vehicle communication device 10 transmits a message. Instead of the transmission time, for example, a value such as a count value that is counted up each time a message is transmitted may be included in the message.
  • the vehicle information is various information in the vehicle 1 acquired by the vehicle information acquisition unit 23, for example, position information of the vehicle 1.
  • the roadside communication device 5 associates a message ID attached to a message transmitted by the in-vehicle communication device 10 of the vehicle 1 with information about whether or not this message should be relayed to another vehicle 1 in a format such as a table. I remember.
  • the roadside communication device 5 receives a message from the in-vehicle communication device 10 at the wireless communication unit 53, the roadside communication device 5 acquires the message ID included in this message and refers to the stored table to determine whether to relay this message. Determine.
  • the roadside communication device 5 When it is determined that the message is relayed, the roadside communication device 5 generates a relay message based on the message received from the in-vehicle communication device 10.
  • the relay message generated by the roadside communication device 5 includes, for example, information such as roadside ID, vehicle ID, message ID, transmission time, and vehicle information (see the middle of FIG. 7).
  • the roadside ID is identification information uniquely assigned to the roadside communication device 5.
  • the vehicle ID, message ID, transmission time, vehicle information, and the like are the same as the message received from the in-vehicle communication device 10.
  • the transmission time included in the relay message is the time when the original message is transmitted by the in-vehicle communication device 10, and is not the time when the roadside communication device 5 transmits the message.
  • the roadside communication device 5 uses a message received from the in-vehicle communication device 10 with its own roadside ID as a relay message, and the wireless communication unit 53 transmits this relay message to surrounding vehicles 1. To send.
  • the roadside communication device 5 performs processing for periodically transmitting information such as the lighting state of the traffic light 71 to the surrounding vehicle 1.
  • the message that the roadside communication device 5 wirelessly transmits to the surrounding vehicle 1 includes information such as roadside ID, message ID, transmission time, and traffic signal information (see the lower part of FIG. 7).
  • the roadside ID is identification information uniquely assigned to the roadside communication device 5 as described above.
  • the message ID is identification information predetermined for the type of information transmitted by the roadside communication device 5, and is set so as not to overlap with the message ID attached to the message transmitted by the in-vehicle communication device 10. Is preferred.
  • the transmission time is information on the time when the roadside communication device 5 transmits a message.
  • the traffic signal information is information such as a lighting state acquired from the traffic signal 71 via the wired communication unit 54.
  • FIG. 8 is a flowchart showing a procedure of vehicle information transmission processing performed by the in-vehicle communication device 10 according to the present embodiment.
  • the in-vehicle communication device 10 according to the present embodiment repeatedly performs a process of transmitting vehicle information of the vehicle 1 to another vehicle 1 or the roadside communication device 5 at a predetermined cycle.
  • the processing unit 11 of the in-vehicle communication device 10 determines whether or not the timing for transmitting the vehicle information to the outside of the vehicle has been reached (step S1). When the timing for transmitting the vehicle information has not been reached (S1: NO), the processing unit 11 stands by until the timing for transmitting the vehicle information is reached.
  • the vehicle information acquisition unit 23 of the processing unit 11 detects the position information of the vehicle 1 based on the signal received by the GPS reception unit 15 and the in-vehicle communication unit 13. Various information received from other in-vehicle devices in the vehicle 1 through the vehicle is acquired as vehicle information (step S2).
  • the vehicle information transmission unit 24 of the processing unit 11 generates a transmission message by adding information such as a vehicle ID, a message ID, and a transmission time to the vehicle information acquired in step S2 (step S3).
  • the vehicle information transmission unit 24 transmits the generated message through the wireless communication unit 14 (step S4).
  • the process part 11 memorize
  • FIG. 9 is a flowchart showing a procedure of information reception processing performed by the in-vehicle communication device 10 according to the present embodiment.
  • the processing unit 11 of the in-vehicle communication device 10 according to the present embodiment determines whether or not the wireless communication unit 53 has received a wireless signal message (step S11). When the message is not received (S11: NO), the processing unit 11 stands by until the message is received. When the message is received (S11: YES), the reception information determination unit 21 of the processing unit 11 acquires information included in the received message (step S12).
  • the reception information determination unit 21 determines whether or not the acquired reception information is vehicle information (step S13).
  • the reception information determination unit 21 can determine whether the reception information is vehicle information based on the message ID included in the received message.
  • the received information is not vehicle information (S13: NO)
  • the received information determination unit 21 stores the received traffic signal information in the storage unit 12 (step S14) and proceeds to step S19.
  • the information included in the message received by the in-vehicle communication device 10 is either vehicle information transmitted by the vehicle 1 or signal information transmitted by the roadside communication device 5.
  • the in-vehicle communication device 10 may receive other information.
  • the reception information determination unit 21 compares this reception information with the previous reception information stored in the storage unit 12, and the current reception information is the previous reception information. It is determined whether or not the same as (step S15).
  • the reception information determination unit 21 can determine whether or not the reception information is the same by comparing information such as a vehicle ID, a message ID, and a transmission time included in the received message.
  • the processing unit 11 discards the current reception information (step S17) and ends the process.
  • the reception information determination unit 21 compares the current reception information with the information included in the transmitted message stored in the storage unit 12. Then, it is determined whether or not the current information is the same as the transmitted information of the own device (step S16). If the current information is the same as the transmitted information (S16: YES), the processing unit 11 discards the current received information (step S17) and ends the process.
  • the processing unit 11 stores the vehicle information received this time in the storage unit 12 (step S18).
  • the reception information processing unit 22 of the processing unit 11 reads the traffic signal information stored in step S14 or the vehicle information stored in step S18 from the storage unit 12, and the read information is stored in the vehicle 1 in the in-vehicle communication unit 13. It transmits to another vehicle equipment (step S19), and a process is complete
  • FIG. 10 is a flowchart showing a procedure of traffic signal information transmission processing performed by the roadside communication device 5 according to the present embodiment.
  • the roadside communication device 5 according to the present embodiment repeatedly performs a process of transmitting traffic signal information such as a lighting state of the traffic light 71 to the surrounding vehicle 1 at a predetermined cycle.
  • the traffic signal information transmission unit 61 of the processing unit 51 of the roadside communication device 5 determines whether or not it is time to transmit the traffic signal information to the vehicle 1 (step S31). When the timing for transmitting the traffic signal information has not been reached (S31: NO), the traffic signal information transmitting unit 61 waits until the timing for transmitting the traffic signal information is reached.
  • the traffic signal information transmission unit 61 acquires the traffic signal information such as the lighting state of the traffic signal 71 in the wired communication unit 54 (step S32). Next, the traffic signal information transmission unit 61 generates a transmission message by adding information such as a roadside ID, a message ID, and a transmission time to the traffic signal information acquired in step S32 (step S33). The traffic signal information transmission unit 61 transmits the generated message in the wireless communication unit 53 (step S34), and the process is terminated.
  • FIG. 11 is a flowchart showing a procedure of information reception processing performed by the roadside communication device 5 according to the present embodiment.
  • the processing unit 51 of the roadside communication device 5 according to the present embodiment determines whether or not the wireless communication unit 53 has received a message from the vehicle 1 (step S41). When the message from the vehicle 1 is not received (S41: NO), the process part 51 waits until a message is received. When the message is received (S41: YES), the processing unit 51 acquires information included in the received message (step S42).
  • the processing unit 51 determines whether or not the information acquired in step S42 is information to be relayed to the surrounding vehicle 1 (step S43).
  • the inter-vehicle communication relay unit 62 of the processing unit 51 generates a relay message based on the information acquired in step S42 (step S44). ).
  • the vehicle-to-vehicle communication relay unit 62 transmits the generated relay message to the surrounding vehicle 1 by the wireless communication unit 53 (step S45), and ends the process.
  • the processing unit 51 stores the information acquired in step S42 in the storage unit 52 (step S46).
  • the processing unit 51 appropriately transmits the information stored in the storage unit 52 to the traffic control server device 72 or the like through the wired communication unit 54 (step S47), and ends the process.
  • the inter-vehicle communication system is a system for exchanging information by performing wireless communication among a plurality of vehicles 1 each equipped with an in-vehicle communication device 10 that transmits and receives information by wireless signals.
  • Each vehicle 1 can directly transmit and receive information to and from other vehicles 1 by radio, but in the inter-vehicle communication system according to the present embodiment, the vehicle 1 is connected via a roadside communication device 5 installed on the road.
  • the plurality of vehicles 1 can indirectly transmit and receive information.
  • the roadside communication device 5 receives information transmitted by the in-vehicle communication device 10 of the vehicle 1 by a wireless signal, and transmits the received information to the surrounding vehicle 1 by a wireless signal, thereby information between the plurality of vehicles 1. Relay the transfer of.
  • the roadside communication device 5 installed on the road is configured to relay information exchange between the plurality of vehicles 1, so that information transmitted from one vehicle 1
  • the vehicle 1 can receive directly from one vehicle 1 and can indirectly receive information relayed by the roadside communication device 5.
  • the roadside communication device 5 can relay the exchange of information between the vehicles 1, it is possible to increase the possibility that the vehicle 1 can communicate even in an environment where there are many shielding objects. be able to.
  • the in-vehicle communication device 10 can directly receive information from the in-vehicle communication device 10 mounted in the other vehicle 1, and the in-vehicle communication device mounted in the other vehicle 1. Since information can be indirectly received from 10 via the roadside communication device 5, the same information may be received in duplicate. Therefore, when receiving information from another vehicle 1 or the roadside communication device 5, the in-vehicle communication device 10 determines whether this information is necessary and performs information processing based on the information determined to be necessary. Accordingly, the in-vehicle communication device 10 can perform information processing by eliminating unnecessary reception information.
  • the in-vehicle communication device 10 can determine that the information received this time is not necessary. This may occur when the same information relayed via the roadside communication device 5 is received after directly receiving the information transmitted by the other vehicle 1.
  • the in-vehicle communication device 10 can determine that the information received this time is not necessary when the received information is information that the device has previously transmitted. This may occur when the roadside communication device 5 receives information transmitted by the in-vehicle communication device 10 and the transmission source in-vehicle communication device 10 receives information relayed by the roadside communication device 5.
  • the message transmitted by the in-vehicle communication device 10 and the message transmitted by the roadside communication device 5 that relays the message are not completely the same data as shown in FIG.
  • a message transmitted by the roadside communication device 5 is relayed, and a roadside ID that is identification information of the roadside communication device 5 is attached to the original message transmitted by the in-vehicle communication device 10 or an error is detected in the message.
  • this code may change.
  • the in-vehicle communication device 10 determines whether the received information is the same as the stored information, information such as a header and footer accompanying the message is excluded, and a part included in the message What is necessary is just to determine whether information (information, such as vehicle ID, message ID, transmission time, and vehicle information) is the same.
  • the vehicle-mounted communication apparatus 10 which concerns on this Embodiment performs the process which transmits the received information determined to be necessary to vehicle equipment, such as automatic operation ECU31 mounted in the own vehicle 1, the car navigation apparatus 32, and engine ECU33. Do. Thereby, the vehicle-mounted communication apparatus 10 receives the information transmitted from the other vehicle 1, transmits the received information related to the other vehicle 1 to the other vehicle-mounted device of the host vehicle 1, and the vehicle-mounted device based on this information. However, for example, processing such as avoiding collision between vehicles or approaching warning of another vehicle 1 can be performed.
  • the roadside communication device 5 transmits the traffic signal information such as the lighting state of the traffic signal 71 to the surrounding vehicle 1, but is not limited thereto.
  • the roadside communication device 5 may be configured to transmit information other than traffic signal information, such as road traffic information, traffic jam information, or accident information, to the vehicle 1. Further, the roadside communication device 5 may simply be configured to relay only the inter-vehicle communication without transmitting these information.
  • the in-vehicle communication device 10 is configured to transmit the information received from the other vehicle 1 to the automatic driving ECU 31, the car navigation device 32, the engine ECU 33, and the like, but is not limited thereto.
  • the in-vehicle communication device 10 may be configured to transmit information to other in-vehicle devices. Further, the in-vehicle communication device 10 does not transmit the received information to other in-vehicle devices, but uses the received information for its own arithmetic processing.
  • the structure which performs this may be sufficient, and the structure which transmits the result of this arithmetic processing to other vehicle equipment may be sufficient.
  • the message configuration shown in FIG. 7 is an example, and the present invention is not limited to this.
  • FIG. 12 is a block diagram illustrating a configuration of the roadside communication apparatus 205 according to the second embodiment.
  • the roadside communication device 205 according to the second embodiment has a configuration in which the functional block of the relay determination unit 63 is added to the processing unit 51 with respect to the roadside communication device 5 according to the first embodiment.
  • the relay determination unit 63 When the wireless communication unit 53 receives a message from the vehicle 1, the relay determination unit 63 performs a process of determining whether to relay this message based on information included in the message.
  • the inter-vehicle communication relay unit 62 relays the message that the relay determination unit 63 determines to relay, and does not relay the message that the relay determination unit 63 determines not to relay.
  • a determination example of whether or not to relay a message by the relay determination unit 63 will be shown.
  • conditions and methods for determination by the relay determination unit 63 are not limited to those shown below, and various conditions and methods may be employed.
  • the in-vehicle communication device 10 of the vehicle 1 transmits the position information of the host vehicle 1 together with information on the traveling speed (vehicle speed) of the vehicle 1 and information on the transmission state of the vehicle 1 in a message.
  • the transmission state information includes, for example, “D (drive)”, “N (neutral)”, “R (reverse)”, “P (parking)”, etc. It can be information indicating whether the position has been switched.
  • the relay determination unit 63 acquires vehicle speed information and transmission state information included in this message.
  • vehicle speed is a predetermined speed (for example, 4 km / h) or less, or the transmission state is “P” or “N”, the relay determination unit 63 determines that the vehicle 1 that has transmitted this message is in a stopped state. The message is determined not to be relayed.
  • the relay determination unit 63 determines that the message transmission source vehicle 1 is running, and the message Is determined to be relayed.
  • FIGS. 13 and 14 are flowcharts illustrating the procedure of relay determination processing determination example 1 performed by the roadside communication device 205 according to the second embodiment.
  • the processing unit 51 of the roadside communication device 205 according to Embodiment 2 determines whether or not the wireless communication unit 53 has received a message from the vehicle 1 (step S51). When the message from the vehicle 1 is not received (S51: NO), the process part 51 waits until a message is received. When the message is received (S51: YES), the processing unit 51 acquires information on the message ID included in the received message (step S52).
  • the processing unit 51 determines whether or not the information with the message ID acquired in step S52 is information to be relayed to the surrounding vehicle 1 (step S53).
  • the processing unit 51 stores the information included in the received message in the storage unit 52 (step S54).
  • the processing unit 51 appropriately transmits the information stored in the storage unit 52 to the traffic control server device 72 or the like through the wired communication unit 54 (step S55), and ends the process.
  • the relay determination unit 63 of the processing unit 51 determines whether or not the amount of messages received from the vehicle 1 over a certain time exceeds a threshold value. Is determined (step S61).
  • a threshold value Is determined (step S61).
  • the processing part 51 of the roadside communication apparatus 205 in order for the processing part 51 of the roadside communication apparatus 205 to perform determination of step S61, for example, the received amount of the number of messages or the number of bytes received from the vehicle 1 per minute Counting.
  • the relay determination unit 63 determines to relay the received message.
  • the inter-vehicle communication relay unit 62 of the processing unit 51 generates a relay message based on the received message information (step S65).
  • the vehicle-to-vehicle communication relay unit 62 transmits the generated relay message to the surrounding vehicle 1 by the wireless communication unit 53 (step S66), and ends the process.
  • the relay determining unit 63 acquires the vehicle speed information and the transmission state information included in the received message (step S62). Based on the acquired vehicle speed information, the relay determination unit 63 determines whether or not the vehicle speed of the message transmission source vehicle 1 is 4 km / h or less (step S63). When the vehicle speed of the vehicle 1 is 4 km / h or less (S63: YES), the relay determination unit 63 determines that the vehicle 1 is stopped, determines that the received message is not relayed, and determines the received message. Discard (step S67) and end the process.
  • the relay determination unit 63 determines the message transmission source vehicle 1 based on the acquired transmission state information. It is determined whether or not the transmission state is “P” or “N” (step S64). When the transmission state is “P” or “N” (S64: YES), the relay determination unit 63 determines that the vehicle 1 is stopped, determines that the received message is not relayed, and receives the message. The message is discarded (step S67), and the process is terminated.
  • the relay determination unit 63 determines that the vehicle 1 is traveling.
  • the received message is determined to be relayed.
  • the inter-vehicle communication relay unit 62 of the processing unit 51 generates a relay message based on the received message information (step S65).
  • the vehicle-to-vehicle communication relay unit 62 transmits the generated relay message to the surrounding vehicle 1 by the wireless communication unit 53 (step S66), and ends the process.
  • the roadside communication device 205 is configured to perform message relay determination based on vehicle speed information and transmission state information only when the amount of messages received in a certain time exceeds a threshold.
  • the present invention is not limited to this. Absent.
  • the roadside communication device 205 may be configured to always perform the relay determination of the message based on the vehicle speed information and the transmission state information without determining the received amount of the message in a certain time.
  • the relay determination unit 63 of the roadside communication device 205 determines whether the vehicle 1 as the message transmission source is traveling in a direction approaching a predetermined location (for example, the center of an intersection) or traveling away. In response, it is determined whether to relay the message.
  • the in-vehicle communication device 10 of the vehicle 1 transmits information on the traveling direction of the vehicle 1 together with the position information of the host vehicle 1 in a message.
  • the roadside communication device 205 may calculate a change in position based on a plurality of messages received from the vehicle 1 and calculate the traveling direction of the vehicle 1.
  • the vehicle-mounted communication device 10 may include the travel history information of the vehicle 1 in a message, and the road-side communication device 205 may calculate the travel direction of the vehicle 1 based on the travel history.
  • the roadside communication device 205 is installed, for example, at or near a road intersection, and stores information on the position (latitude and longitude) of this intersection in advance. Based on the position and traveling direction of the vehicle 1 that is the message transmission source and the position of the intersection, the roadside communication device 205 is traveling in the direction in which the vehicle 1 approaches the intersection or in the direction in which the vehicle 1 is moving away. Can be determined.
  • the relay determination unit 63 acquires position information and travel direction information included in this message. Whether the relay determination unit 63 is traveling in the direction in which the vehicle 1 as the message source is approaching the intersection based on the position information of the intersection stored in advance and the position information and the traveling direction information acquired from the message. Or whether the vehicle is traveling away from the vehicle. The relay determination unit 63 determines that the message from the vehicle 1 is relayed when the vehicle 1 is traveling in a direction approaching the intersection. On the other hand, when the vehicle 1 is traveling in a direction away from the intersection, the relay determination unit 63 determines not to relay the message from the vehicle 1.
  • FIG. 15 is a flowchart illustrating a procedure of determination example 2 of the relay determination process performed by the roadside communication device 205 according to the second embodiment.
  • the relay determination process performed by the roadside communication device 205 in the determination example 2 is the same as the process illustrated in FIGS. 13 and 14 in the determination example 1 described above. That is, the relay determination process of the determination example 2 is the same as steps S51 to S55 in the flowchart of the determination example 1, and the subsequent processes are different. Accordingly, in FIG. 15, illustration of steps S51 to S55 that are the same processing contents is omitted, and only steps S71 to S76 that are subsequent processing are illustrated. Also in the following description, the description of the processing of steps S51 to S55 is omitted, and the processing of steps S71 to S76 is described.
  • the relay determination unit 63 of the processing unit 51 determines whether the received amount of the message from the vehicle 1 over a certain time exceeds the threshold value. It is determined whether or not (step S71). When the received amount of the message does not exceed the threshold (S71: NO), the relay determination unit 63 determines to relay the received message.
  • the inter-vehicle communication relay unit 62 of the processing unit 51 generates a relay message based on the received message information (step S74).
  • the vehicle-to-vehicle communication relay unit 62 transmits the generated relay message to the surrounding vehicle 1 by the wireless communication unit 53 (step S75), and ends the process.
  • the relay determining unit 63 acquires the position information and the traveling direction information of the vehicle 1 included in the received message (step S72). Based on the acquired position information and travel direction information, the relay determination unit 63 determines whether or not the message transmission source vehicle 1 is approaching a predetermined intersection (that is, traveling in the approaching direction) ( Step S73).
  • the relay determination unit 63 When the message transmission source vehicle 1 is not approaching the predetermined intersection (S73: NO), that is, when the vehicle 1 is traveling in a direction away from the intersection, the relay determination unit 63 must relay the received message. Determination is made, the received message is discarded (step S76), and the process is terminated.
  • the relay determination unit 63 determines to relay the received message.
  • the inter-vehicle communication relay unit 62 of the processing unit 51 generates a relay message based on the received message information (step S74).
  • the vehicle-to-vehicle communication relay unit 62 transmits the generated relay message to the surrounding vehicle 1 by the wireless communication unit 53 (step S75), and ends the process.
  • the roadside communication device 205 is configured to perform the message relay determination based on the position information and the traveling direction information only when the received amount of the message in a certain time exceeds the threshold.
  • the roadside communication device 205 may be configured to always perform the relay determination of the message based on the position information and the traveling direction information without determining the amount of message received in a certain time.
  • the “predetermined location” that is a criterion for determination based on the traveling direction is the center of the road intersection, but the predetermined location is not limited to this.
  • the predetermined location may be an installation position of the roadside communication device 205 or an arbitrary point on the road.
  • the relay determination unit 63 of the roadside communication device 205 calculates the distance from the predetermined location (for example, the center of the intersection) to the vehicle 1 as the message transmission source, and the vehicle 1 is within the predetermined distance range from the predetermined location. Whether to relay the message is determined according to whether it exists.
  • the in-vehicle communication device 10 of the vehicle 1 may transmit at least the position information of the own vehicle 1.
  • the roadside communication device 205 is installed, for example, at or near a road intersection, and stores information on the position (latitude and longitude) of this intersection in advance.
  • the roadside communication device 205 can determine whether or not the vehicle 1 exists within a predetermined range from the intersection based on the position of the vehicle 1 as a message transmission source and the position of the intersection.
  • the relay determination unit 63 acquires the position information included in this message.
  • the relay determination unit 63 calculates the distance from the intersection to the message transmission source vehicle 1 based on the position information of the intersection stored in advance and the position information acquired from the message.
  • the relay determination unit 63 can calculate the number of vehicles 1 existing within a predetermined range from the intersection by calculating the distance from the intersection to each vehicle 1 based on messages received from the plurality of vehicles 1. .
  • the relay determination unit 63 limits the vehicles 1 that are messages to be relayed to vehicles 1 that are within a range of, for example, 300 m from the intersection. To do.
  • the relay determination unit 63 determines that the message from the vehicle 1 is relayed when the message transmission source vehicle 1 exists within a range of 300 m from the intersection. On the other hand, when the vehicle 1 exists outside the range of 300 m from the intersection, the relay determination unit 63 determines not to relay the message from the vehicle 1.
  • the relay determination unit 63 may limit the vehicle 1 that is a message relay target to a range of, for example, 15 m from the intersection. As described above, when the number of vehicles 1 existing within a predetermined range exceeds the threshold, the relay determination unit 63 may gradually reduce the range to be relayed of the message. The relay determination unit 63 may gradually expand the range to be relayed of the message when the number of vehicles 1 existing within the predetermined range does not exceed the threshold value.
  • the relay determination unit 63 determines, for example, that the distance from the intersection is short, determines that the message is relayed for the vehicles 1 from the first to the 50th, and relays the message for the other vehicles 1 It may be determined not to perform.
  • FIG. 16 is a flowchart illustrating a procedure of determination example 3 of the relay determination process performed by the roadside communication device 205 according to the second embodiment.
  • the relay determination process performed by the roadside communication device 205 in the determination example 3 is the same as the process illustrated in FIGS. 13 and 14 in the determination example 1 described above. That is, the relay determination process of the determination example 3 is the same as steps S51 to S55 in the flowchart of the determination example 1, and the subsequent processes are different. Therefore, in FIG. 16, the illustration of steps S51 to S55, which are the same processing contents, is omitted, and only the steps S81 to S86, which are the subsequent processes, are illustrated. Also in the following description, the description of the processing of steps S51 to S55 is omitted, and the processing of steps S81 to S86 is described.
  • the relay determination unit 63 of the processing unit 51 determines that the vehicle 1 exists within a predetermined range from a predetermined position such as a road intersection. It is determined whether or not the number exceeds the threshold (step S81). If the number of vehicles 1 does not exceed the threshold (S81: NO), the relay determination unit 63 determines to relay the received message.
  • the inter-vehicle communication relay unit 62 of the processing unit 51 generates a relay message based on the received message information (step S84).
  • the vehicle-to-vehicle communication relay unit 62 transmits the generated relay message to the surrounding vehicle 1 by the wireless communication unit 53 (step S85), and ends the process.
  • the relay determination unit 63 acquires the position information of the vehicle 1 included in the received message (step S82). Based on the acquired position information, the relay determination unit 63 determines whether or not the message transmission source vehicle 1 exists within a predetermined range from a predetermined position such as a road intersection (step S83).
  • the predetermined range for determining the number of vehicles 1 in step S81 and the predetermined range for determining in step S83 may be the same range or different ranges.
  • the relay determination unit 63 determines not to relay the received message, and discards the received message (step S86). The process is terminated.
  • the relay determination unit 63 determines to relay the received message.
  • the inter-vehicle communication relay unit 62 of the processing unit 51 generates a relay message based on the received message information (step S84).
  • the vehicle-to-vehicle communication relay unit 62 transmits the generated relay message to the surrounding vehicle 1 by the wireless communication unit 53 (step S85), and ends the process.
  • the “predetermined location”, which is a criterion for determination based on the position of the vehicle 1, is the center of the intersection of the road, but the predetermined location is not limited to this.
  • the predetermined location may be an installation position of the roadside communication device 205 or an arbitrary point on the road.
  • the relay determination unit 63 of the roadside communication device 205 excludes the message of the vehicle 1 that has already been relayed by the other roadside communication device 205 from the relay target.
  • the roadside communication device 205 performs relay by transmitting a relay message with its own roadside ID to the message received from the vehicle 1. For this reason, when the roadside ID and the vehicle ID are added to the message received by the roadside communication device 205, it is determined that the message is a message from the vehicle 1 that has already been relayed by the other roadside communication device 205. be able to. Therefore, when the roadside ID and the vehicle ID are attached to the received message, the roadside communication device 205 determines not to relay this message.
  • the message received by the roadside communication device 205 from the other roadside communication device 205 includes a message generated by another roadside communication device 205 in addition to the message transmitted by the vehicle 1 relayed by the other roadside communication device 205.
  • the roadside communication device 205 may generate and transmit messages such as information on traffic lights installed on the road and traffic information on the road.
  • Such a message generated by the roadside communication device 205 includes a roadside ID, but does not include a vehicle ID.
  • the roadside communication device 205 may or may not relay this message.
  • the message ID included in the message Whether or not relaying is possible may be determined based on this.
  • FIGS. 17 and 18 are flowcharts illustrating a procedure of determination example 4 of the relay determination process performed by the roadside communication device 205 according to the second embodiment.
  • the processing unit 51 of the roadside communication device 205 according to Embodiment 2 determines whether or not the wireless communication unit 53 has received a message (Step S91). When the message is not received (S91: NO), the processing unit 51 stands by until the message is received. When the message is received (S91: YES), the relay determination unit 63 of the processing unit 51 determines whether or not a roadside ID is attached to the received message (step S92).
  • the relay determination unit 63 determines whether or not the vehicle ID is attached to the message (step S93). When the vehicle ID is attached (S93: YES), the relay determination unit 63 determines that this message is a message from the vehicle 1 relayed by another roadside communication device 205, and does not relay the message. judge. The processing unit 51 discards this message (step S94) and ends the process.
  • the relay determination unit 63 determines that this message is a message generated by another roadside communication device 205.
  • the processing unit 51 appropriately performs processing on the message generated by the roadside communication device 205 based on, for example, the message ID included in the message (step S95), and ends the processing.
  • the relay determination unit 63 determines that this message is a message transmitted from the vehicle 1, and uses the message ID information included in this message as the message. Obtain (step S96). The relay determination unit 63 determines whether or not the information with the acquired message ID is information to be relayed to the surrounding vehicle 1 (step S97).
  • the inter-vehicle communication relay unit 62 of the processing unit 51 When the information with the acquired message ID is information to be relayed (S53: YES), the inter-vehicle communication relay unit 62 of the processing unit 51 generates a relay message based on the received message information. (Step S98). The vehicle-to-vehicle communication relay unit 62 transmits the generated relay message to the surrounding vehicle 1 by the wireless communication unit 53 (step S99), and ends the process.
  • the processing unit 51 stores the information included in the received message in the storage unit 52 (step S100).
  • the processing unit 51 appropriately transmits the information stored in the storage unit 52 to the traffic control server device 72 or the like through the wired communication unit 54 (step S101), and ends the process.
  • the roadside communication device 205 determines whether or not to relay this message to another vehicle based on information included in the message received from the in-vehicle communication device 10 of the vehicle 1.
  • wireless communication performed between the roadside communication apparatus 205 and the vehicle-mounted communication apparatus 10 can be suppressed.
  • the roadside communication device 205 is configured to determine whether another roadside communication device 205 has already relayed this message based on whether or not the roadside ID is attached to the received message. However, it is not limited to this.
  • the roadside communication device 205 may be configured to transmit the number of times of relaying with the message when relaying the message. When the roadside communication device 205 receives a message, the roadside communication device 205 can determine whether or not to further relay this message by examining the number of relays attached to the message.
  • the four methods of the determination examples 1 to 4 have been described as methods for determining whether or not the relay determination unit 63 relays the message.
  • the relay determination unit 63 is any one of these methods. The determination may be performed by one method or may be performed by combining a plurality of methods.
  • inter-vehicle communication system according to the second embodiment is the same as that of the inter-vehicle communication system according to the first embodiment, the same reference numerals are given to the same parts, and detailed description is omitted. .
  • FIG. 3 is schematic diagrams for explaining the outline of the inter-vehicle communication system according to the third embodiment.
  • the roadside communication device 305 of the inter-vehicle communication system according to Embodiment 3 can control the transmission direction of the radio signal by using a technique such as beam forming, for example.
  • the roadside communication device 305 is installed at the upper right corner of the intersection at the intersection where the road extending in the vertical direction and the road extending in the left-right direction in the drawings are substantially orthogonal to each other.
  • the roadside communication device 305 according to Embodiment 3 has a radio signal transmission direction in a direction along a road extending in the up-down direction as shown in FIG. 19 and a direction in a road extending in the left-right direction as shown in FIG.
  • the two patterns can be limited.
  • the in-vehicle communication device 10 of the vehicle 1 transmits a message including information such as the position and traveling direction of the host vehicle 1 to the other vehicle 1 and the roadside communication device 305.
  • the roadside communication device 305 that has received the message from the vehicle 1 determines whether the vehicle 1 as the message transmission source is a road extending in the vertical direction or a road extending in the left-right direction in the drawing based on the information included in the received message. Determine if it exists.
  • the roadside communication device 305 when the message transmission source vehicle 1 is present on a road extending in the left-right direction, the roadside communication device 305 is provided on a road that intersects the road where the vehicle 1 is present, that is, a road extending in the vertical direction. A wireless signal that relays the received message is transmitted along the direction. 19 and 20, the receivable range of the radio signal transmitted by the roadside communication device 305 is shown as a hatched area.
  • the roadside communication device 305 is provided on a road that intersects the road where the vehicle 1 is present, that is, a road extending in the left-right direction.
  • a wireless signal that relays the received message is transmitted along the direction.
  • FIGS. 19 and 20 when the road extending in the vertical direction and the road extending in the left-right direction are substantially orthogonal to each other, a so-called cross road has been described as an example.
  • application of the roadside communication device 305 according to the third embodiment is applied. Is not limited to crossroads.
  • the present invention can be applied to various road configurations such as a three-way, a T-junction, a Y-junction, a five-way, a six-way, a seven-way, or a multi-way.
  • the wireless signal that relays the message may be transmitted in a direction along one or a plurality of roads that intersect with the road where the vehicle 1 as the message transmission source exists.
  • FIG. 21 is a block diagram illustrating a configuration of the roadside communication device 305 according to the third embodiment.
  • the roadside communication apparatus 305 according to Embodiment 3 includes a wireless communication unit 353 that can control (change or limit) the transmission direction of a wireless signal by using a technique such as beamforming, for example.
  • the wireless communication unit 353 uses an active phased array antenna that can dynamically control directivity by controlling the phase of signals applied to a plurality of antennas, for example, and dynamically switches the transmission direction of the wireless signal. .
  • the wireless communication unit 353 switches the transmission direction of the wireless signal according to the command given from the processing unit 51.
  • the switching of the transmission direction of the wireless signal by the wireless communication unit 353 may be performed as long as it can be switched at least in two stages, the vertical direction and the horizontal direction, in the case of the cross road configuration shown in FIGS. 19 and 20, for example. There is no need to perform switching in three or more steps or without steps.
  • the wireless communication unit 353 has two antennas, an up-down direction antenna and a left-right direction antenna, and the transmission direction is switched by selecting and using one of the antennas. Also good.
  • a transmission direction control unit 64 is added to the processing unit 51 with respect to the roadside communication device 205 according to the second embodiment.
  • the transmission direction control unit 64 acquires position information included in the received message, and on which road the message transmission source vehicle 1 exists. Determine.
  • the roadside communication device 305 stores in advance information such as the position, direction, and shape of surrounding roads.
  • the transmission direction control unit 64 can determine on which road the message transmission source vehicle 1 exists by comparing the stored information with the position information included in the received message.
  • the transmission direction control unit 64 that has determined the road where the message transmission source vehicle 1 is present is set to the transmission direction so that the radio signal transmission direction of the message relaying the direction along the road intersecting the road is set. Instruct the wireless communication unit 353 to switch.
  • the radio communication unit 353 switches the radio signal transmission direction in accordance with an instruction from the transmission direction control unit 64 and transmits the relay message given from the processing unit 51 as a radio signal.
  • FIG. 22 is a flowchart illustrating a procedure of information reception processing performed by the roadside communication device 305 according to the third embodiment.
  • the processing unit 51 of the roadside communication device 305 according to Embodiment 3 determines whether or not the wireless communication unit 353 has received a message from the vehicle 1 (step S111). When the message from the vehicle 1 is not received (S111: NO), the process part 51 waits until a message is received.
  • the relay determination unit 63 of the processing unit 51 determines whether to relay the received message (step S112). Note that any method described in the second embodiment may be adopted as a determination method by the relay determination unit 63. When the relay determination unit 63 determines not to relay this message (S112: NO), the processing unit 51 performs appropriate processing according to information included in the received message (step S113), and ends the process.
  • the transmission direction control unit 64 of the processing unit 51 acquires the position information included in the received message (step S114). Based on the acquired position information, the transmission direction control unit 64 determines the road on which the message transmission source vehicle 1 is present, and determines the direction along the road intersecting this road as the transmission direction of the relayed message (step) S115).
  • the inter-vehicle communication relay unit 62 of the processing unit 51 generates a relay message based on the information included in the message received from the vehicle 1 (step S116).
  • the wireless communication unit 353 is instructed about the transmission direction determined in step S115, and the relay message generated by the inter-vehicle communication relay unit 62 is given to the wireless communication unit 353 so that the relay message is transmitted to the wireless communication unit 353 in the vicinity.
  • step S117 To the vehicle 1 (step S117), and the process ends.
  • the roadside communication apparatus 305 includes a wireless communication unit 353 having a function of switching the transmission direction of a wireless signal.
  • the wireless communication unit 353 can concentrate and emit the radio signal in a specific direction by using a technique such as beam forming, for example, so that the roadside communication device 305 controls the transmission direction of the radio signal. be able to.
  • the roadside communication device 305 according to the third embodiment transmits a radio signal that relays the received message in a direction along another road that intersects the road on which the vehicle 1 that has transmitted the received message travels. To control the transmission direction.
  • the roadside communication device 305 can reduce the reception of unnecessary information by the in-vehicle communication device 10 of the vehicle by controlling the transmission direction of the radio signal of the message to be relayed.
  • the direction in which the message relayed by the roadside communication device 305 is transmitted is the direction along the road.
  • the transmission direction of the radio signal by the roadside communication device 305 may not be along the road, and may be the direction in which the road exists.
  • the transmission direction of the radio signal by the roadside communication device 305 may be a direction in which the radio signal reaches the other vehicle 1 existing on the road that intersects the road where the message transmission source vehicle 1 exists.
  • the other configurations of the vehicle-to-vehicle communication system according to the third embodiment are the same as those of the vehicle-to-vehicle communication system according to the first and second embodiments. Omitted.

Abstract

La présente invention concerne un système de communication de véhicule à véhicule, un dispositif de communication côté route, un dispositif de communication à bord d'un véhicule et un procédé de communication de véhicule à véhicule permettant d'envoyer et de recevoir des informations entre des véhicules même en cas d'obstruction de l'arrivée d'un signal sans fil par un obstacle bloquant situé entre les véhicules. Un système de communication de véhicule à véhicule d'après le présent mode de réalisation met en œuvre une communication sans fil parmi une pluralité de véhicules. Chacun des véhicules comprend un dispositif de communication à bord d'un véhicule qui transmet et reçoit des informations au moyen d'un signal sans fil. Le système de communication de véhicule à véhicule comprend un dispositif de communication côté route qui relaie la communication entre la pluralité de véhicules. Ledit dispositif de communication côté route comprend : une unité de réception côté route qui reçoit les informations que le dispositif de communication à bord d'un véhicule transmet au moyen du signal sans fil; et une unité de transmission côté route qui transmet au moyen d'un signal sans fil les informations que l'unité de réception côté route a reçues. Le dispositif de communication à bord d'un véhicule comprend : une unité de réception côté véhicule qui reçoit les informations que les dispositifs de communication à bord d'un véhicule qui ont été montés sur d'autres véhicules envoient en un mode sans fil et les informations que le dispositif de communication côté route envoie en un mode sans fil; une unité d'évaluation qui évalue le caractère de nécessité des informations que l'unité de réception côté véhicule a reçues; et une unité de traitement des informations qui réalise un traitement des informations sur la base des informations que l'unité d'évaluation a évaluées comme étant nécessaires.
PCT/JP2017/043770 2016-12-20 2017-12-06 Système de communication de véhicule à véhicule, dispositif de communication côté route, dispositif de communication à bord d'un véhicule et procédé de communication de véhicule à véhicule WO2018116827A1 (fr)

Priority Applications (2)

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US16/470,579 US11501635B2 (en) 2016-12-20 2017-12-06 Vehicle-to-vehicle communication system, roadside communication apparatus, in-vehicle communication apparatus, and vehicle-to-vehicle communication method
CN201780074492.0A CN110073427A (zh) 2016-12-20 2017-12-06 车车间通信系统、路侧通信装置、车载通信装置及车车间通信方法

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JP2016247163 2016-12-20
JP2016-247163 2016-12-20
JP2017-059683 2017-03-24
JP2017059683A JP6699610B2 (ja) 2016-12-20 2017-03-24 車車間通信システム、路側通信装置及び車車間通信方法

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