WO2019044007A1 - Terminal device, roadside device, communications system, and communications method - Google Patents

Terminal device, roadside device, communications system, and communications method Download PDF

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Publication number
WO2019044007A1
WO2019044007A1 PCT/JP2018/010185 JP2018010185W WO2019044007A1 WO 2019044007 A1 WO2019044007 A1 WO 2019044007A1 JP 2018010185 W JP2018010185 W JP 2018010185W WO 2019044007 A1 WO2019044007 A1 WO 2019044007A1
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WO
WIPO (PCT)
Prior art keywords
communication
terminal
vehicle
pedestrian
terminal device
Prior art date
Application number
PCT/JP2018/010185
Other languages
French (fr)
Japanese (ja)
Inventor
剛 上野
須藤　浩章
後明　一聖
悟史 田中
慎太郎 村松
Original Assignee
パナソニック株式会社
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
Application filed by パナソニック株式会社 filed Critical パナソニック株式会社
Priority to PCT/JP2018/026523 priority Critical patent/WO2019044208A1/en
Priority to US16/642,677 priority patent/US11212653B2/en
Priority to JP2019539039A priority patent/JP7231547B2/en
Priority to CN201880070547.5A priority patent/CN111279403A/en
Publication of WO2019044007A1 publication Critical patent/WO2019044007A1/en

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    • 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]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup
    • H04W76/14—Direct-mode setup
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/005—Traffic control systems for road vehicles including pedestrian guidance indicator
    • 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
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W28/00—Network traffic management; Network resource management
    • H04W28/02—Traffic management, e.g. flow control or congestion control
    • H04W28/0226—Traffic management, e.g. flow control or congestion control based on location or mobility
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W28/00—Network traffic management; Network resource management
    • H04W28/02—Traffic management, e.g. flow control or congestion control
    • H04W28/08—Load balancing or load distribution
    • H04W28/0875—Load balancing or load distribution to or through Device to Device [D2D] links, e.g. direct-mode links
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W28/00—Network traffic management; Network resource management
    • H04W28/02—Traffic management, e.g. flow control or congestion control
    • H04W28/08—Load balancing or load distribution
    • H04W28/09—Management thereof
    • H04W28/0958—Management thereof based on metrics or performance parameters
    • 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
    • H04W40/00—Communication routing or communication path finding
    • H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
    • H04W40/22—Communication route or path selection, e.g. power-based or shortest path routing using selective relaying for reaching a BTS [Base Transceiver Station] or an access point
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/24—Connectivity information management, e.g. connectivity discovery or connectivity update
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W48/00—Access restriction; Network selection; Access point selection
    • H04W48/18—Selecting a network or a communication service
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/024—Guidance services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/12—Messaging; Mailboxes; Announcements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/90—Services for handling of emergency or hazardous situations, e.g. earthquake and tsunami warning systems [ETWS]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
    • H04W88/02—Terminal devices
    • H04W88/04—Terminal devices adapted for relaying to or from another terminal or user

Definitions

  • the present invention is a terminal device that transmits a message including position information of the own device to another terminal device by walk-to-vehicle communication, a roadside device installed on a road to communicate with the terminal device, a communication including a terminal device and a roadside device
  • the present invention relates to a system and a communication method for transmitting a message from a terminal device to another terminal device by means of inter-vehicle communication.
  • the vehicle-to-vehicle communication is performed by vehicle-to-vehicle communication in which vehicle-mounted terminals mounted in the vehicle communicate with each other, or road-to-vehicle communication in which communication is performed between a roadside machine installed on the road and the vehicle-mounted terminal.
  • ITS Intelligent Transport System: Intelligent Transport System
  • inter-pedal communication that communicates between a pedestrian terminal carried by a pedestrian and an on-vehicle terminal has been proposed.
  • the pedestrian terminal and the in-vehicle terminal directly exchange messages including position information etc. to notify the in-vehicle terminal of the presence of the pedestrian and notify the pedestrian terminal of the presence of the vehicle. Since it is possible to alert the pedestrian and the driver of the vehicle at an appropriate timing, a great effect is expected in preventing a pedestrian's accident.
  • V2X communication road-to-vehicle communication and inter-pedal communication
  • a roadside device performs a second communication such as a wireless LAN with a pedestrian terminal and performs a first communication (road-to-vehicle communication) with an on-vehicle terminal. 1).
  • the congestion of the inter-pedicular communication can be suppressed even if the number of terminals increases.
  • the pedestrian terminal and the in-vehicle terminal are configured to perform indirect communication via the roadside device, it takes time to transmit and receive messages between the pedestrian terminal and the in-vehicle terminal. For this reason, when the pedestrian or vehicle is in a dangerous state, direct communication (between pedestrians or the like) is performed to notify the pedestrian or vehicle driver in the vicinity of the presence of the pedestrian or vehicle quickly and reliably. Communication) is desirable.
  • the walk-to-go communication can be performed.
  • a terminal device capable of quickly and reliably notifying the pedestrians and drivers of vehicles of the presence of pedestrians and vehicles when pedestrians and vehicles are in a dangerous state while suppressing congestion.
  • An object is to provide an apparatus, a communication system, and a communication method.
  • the terminal device is a terminal device that transmits a message including position information of the own device to another terminal device through inter-walking communication, and is a first communication method with the other terminal device.
  • a controller configured to select a system and transmit the message to the other terminal device in the selected communication system.
  • a roadside apparatus is a roadside apparatus installed on a road and performing communication with a terminal device, the communication unit relaying transmission and reception of a message including position information performed between the terminal devices, and the terminal
  • the status information on the status of the device is collected from the terminal device, and it is determined based on the status information whether or not the terminal device is in the dangerous status, and according to the determination result, the inter-terminal devices
  • a control unit that selects one of the direct communication and the indirect communication via the own device, and transmits a message including information on the selected communication method from the communication unit to the terminal device; It has composition.
  • the communication system of the present invention includes a terminal device for transmitting a message including position information of the own device to another terminal device by inter-walking communication, and a roadside device which is installed on a road and communicates with the terminal device.
  • the terminal device is a communication system including: a first communication unit that performs direct communication with the other terminal device by the inter-pedal communication that is a first communication method; and the other terminal Based on the second communication unit that performs indirect communication with the device by the second communication method via the roadside device installed on the road, and the own device in a dangerous state based on the state information on the state of the own device It is determined whether or not there is any, and in accordance with the determination result, there is provided a control unit which selects one of the direct communication and the indirect communication.
  • the communication method according to the present invention is a communication method in which a terminal device transmits a message including position information of the own device to another terminal device by means of inter-pedal communication, and based on state information regarding the state of the own device. It is determined whether or not the own device is in a dangerous state, and according to the determination result, direct communication by the inter-pedal communication as the first communication method and a second communication method via the roadside device installed on the road A configuration is adopted in which any communication method with indirect communication by communication method is selected, and the message is transmitted to the other terminal device by the selected communication method.
  • the present invention it is possible to appropriately switch between walk-to-car communication (direct communication) between the terminal devices and indirect communication via the roadside device according to the state of the pedestrian or the vehicle. It is possible to quickly and reliably notify the pedestrians and drivers of vehicles of the presence of the terminal devices (pedestrians and vehicles) in a dangerous state while suppressing congestion of communication.
  • the flowchart which shows the procedure of communication system selection which is done with pedestrian terminal 1 which relates to 3rd execution form Explanatory drawing which shows the transmission condition of the message in the pedestrian terminal 1 which concerns on 4th Embodiment, and the vehicle-mounted terminal 3.
  • Flow chart showing the procedure of communication system selection performed by the on-vehicle terminal 3 according to the fourth embodiment Explanatory drawing which shows the transmission condition of the message in the pedestrian terminal 1 which concerns on 5th Embodiment, and the vehicle-mounted terminal 3.
  • a first invention made to solve the above-mentioned problems is a terminal apparatus for transmitting a message including position information of the own apparatus to another terminal apparatus by inter-pedal communication, and it is possible to communicate with the other terminal apparatus.
  • a second communication method via a roadside device installed on the road between the first communication unit performing direct communication by the inter-pedal communication, which is the first communication method, and the other terminal device It is determined whether or not the own device is in the dangerous state based on the second communication unit performing indirect communication and the state information on the state of the own device, and the direct communication and the indirect are determined according to the determination result.
  • a controller configured to select one of communication methods and to transmit the message to the other terminal device according to the selected communication method.
  • control unit determines that the user is in the dangerous state when detecting that the user of the own device has taken a predetermined dangerous action based on the state information.
  • control unit determines that the vehicle is provided with the vehicle according to the dangerous condition when detecting that the vehicle provided with the own device has performed a predetermined danger based on the state information. .
  • control unit is configured to determine the dangerous state when the own device is positioned in a predetermined dangerous area based on the state information.
  • control unit determines that the vehicle is in the dangerous state when the own device is moving at a speed equal to or higher than a predetermined value based on the state information.
  • control unit determines whether or not the own device is located in the specific area based on the position information of the own device and the map information, and the communication is performed according to the determination result. It is assumed that the method is selected.
  • control unit determines, as the specific area, whether or not the own device is located in any of an area around an intersection under a predetermined condition, an area around a level crossing, and an area around a stop of a specific vehicle. To determine whether the
  • the risk decreases. Therefore, even if terminal devices located in a specific area where such a risk is low are used as indirect communication, it is possible to avoid a drop in security.
  • the control unit when the control unit is located in the peripheral area of the crossing as the specific area, the control unit shuts off based on the operation information of the circuit breaker acquired from the control device of the circuit breaker. It is determined whether or not the aircraft is in a no-traffic state, and the communication method is selected according to the determination result.
  • the circuit breaker when the circuit breaker is in the traffic prohibited state, the area around the level crossing is low in risk because the vehicle is temporarily stopped because it is temporarily stopped, so the terminal devices located in the area around the level crossing are indirectly As for communication, it is possible to avoid the decrease in safety.
  • control unit in the case where the control unit is located in an area around the stop of the specific vehicle as the specific area, the control unit is configured to receive the other vehicle from the message received from the other terminal Based on the attribute information, the position information, and the map information, it is determined whether or not the specific vehicle is approaching within a predetermined distance from the stop, and a communication scheme is selected according to the determination result.
  • control unit is configured such that another terminal device already performing the direct communication around the own device based on communication method information included in the message received from the other terminal device. It is determined whether or not it exists, and the communication scheme is selected according to the determination result.
  • the eleventh invention whether the specific vehicle exists within a predetermined distance of the own device based on the position information and the attribute information included in the message received from the other terminal device.
  • the communication system is selected according to the determination result.
  • priority is given to direct communication of a terminal device provided in a specific vehicle such as an emergency vehicle, and direct communication of another terminal device is restricted, thereby suppressing congestion of inter-pedal communication (direct communication).
  • a specific vehicle such as an emergency vehicle
  • direct communication of another terminal device is restricted, thereby suppressing congestion of inter-pedal communication (direct communication).
  • the presence of a specific vehicle can be notified to surrounding pedestrians and drivers of vehicles quickly and reliably.
  • control unit determines the type of the other terminal device existing in the periphery of the own device based on attribute information included in the message received from the other terminal device, The communication scheme is selected based on the priority according to the type.
  • priority is given to direct communication of a terminal device with high priority, and direct communication of another terminal device is restricted, thereby suppressing congestion of inter-pedal communication (direct communication), and a terminal device with high priority. It is possible to notify nearby pedestrians and drivers of vehicles of the presence of the vehicle quickly and reliably.
  • a thirteenth invention is a roadside apparatus installed on a road to communicate with a terminal device, the communication unit relaying transmission and reception of a message including position information performed between the terminal devices, and the terminal device Status information related to the status of the terminal is collected from the terminal device, and it is determined whether the terminal device is in a dangerous status based on the status information, and direct communication between the terminal devices is performed according to the determination result
  • a control unit configured to select one of the communication method and the indirect communication via the own device and transmit a message including information on the selected communication method from the communication unit to the terminal device Configure
  • the pedestrian or the vehicle according to the state of the pedestrian or the vehicle, appropriately switching between the walk-to-car communication (direct communication) between the terminal devices and the indirect communication via the roadside device
  • the pedestrian or vehicle driver in the vicinity is promptly and surely notified of the presence of the pedestrian or the vehicle.
  • a fourteenth invention is a roadside apparatus installed on a road to communicate with a terminal device, and transmitting and receiving a message including position information performed between the terminal devices is a first communication method between road vehicles A first communication unit relaying by communication, and a second communication unit relaying transmission and reception of a message including position information performed between the terminal devices by a second communication method different from the first communication method; When a message including position information of the terminal device is received from the terminal device, either the first communication unit or the second communication unit is selected according to the type of the terminal device, And a controller configured to relay a message including position information of the terminal device to another terminal device.
  • the roadside apparatus can notify the pedestrians and the drivers of the surrounding vehicles of the existence of the pedestrians and vehicles to the terminal equipment quickly and reliably by a plurality of communication methods.
  • a terminal device for transmitting a message including position information of the own device to another terminal device by walk-to-vehicle communication, and a roadside device installed on a road and communicating with the terminal device
  • the communication system wherein the terminal device is a first communication unit that performs direct communication with the other terminal device by the inter-pedal communication that is a first communication method, and the other terminal device Based on the second communication unit performing indirect communication according to the second communication method via the roadside apparatus installed on the road, and the own apparatus in a dangerous state based on the state information on the state of the own apparatus It is determined whether or not it is determined, and a control unit configured to select one of the direct communication and the indirect communication according to the determination result.
  • the pedestrian or the vehicle according to the state of the pedestrian or the vehicle, appropriately switching between the walk-to-car communication (direct communication) between the terminal devices and the indirect communication via the roadside device
  • the pedestrian or vehicle driver in the vicinity is promptly and surely notified of the presence of the pedestrian or the vehicle.
  • the sixteenth invention is a communication method in which a terminal device transmits a message including position information of the own device to another terminal device by means of inter-pedal communication, and based on the state information on the own device state, It is determined whether or not the device is in a dangerous state, and according to the determination result, the first communication method, the direct communication by the inter-pedal communication, and the second communication via the roadside device installed on the road.
  • the communication system is selected to be any communication system with the indirect communication according to the system, and the message is transmitted to the other terminal apparatus by the selected communication system.
  • the pedestrian or the vehicle according to the state of the pedestrian or the vehicle, appropriately switching between the walk-to-car communication (direct communication) between the terminal devices and the indirect communication via the roadside device
  • the pedestrian or vehicle driver in the vicinity is promptly and surely notified of the presence of the pedestrian or the vehicle.
  • a seventeenth invention is a communication method of a roadside apparatus installed on a road to communicate with a terminal device, relaying transmission and reception of a message including position information performed between the terminal devices, the terminal device Whether the terminal device is in a dangerous state or not is determined based on the state information on the state of the terminal device collected from the device, and direct communication between the terminal devices and the own device are performed according to the determination result.
  • the communication system according to any one of the above-described indirect communication is selected, and a message including information on the selected communication system is transmitted to the terminal device.
  • the pedestrian or the vehicle according to the state of the pedestrian or the vehicle, appropriately switching between the walk-to-car communication (direct communication) between the terminal devices and the indirect communication via the roadside device
  • the pedestrian or vehicle driver in the vicinity is promptly and surely notified of the presence of the pedestrian or the vehicle.
  • the eighteenth invention is a communication method of a roadside apparatus installed on a road and relaying transmission and reception of a message including position information performed between the terminal apparatuses, the message including the position information of the terminal apparatus According to the type of the terminal device, when receiving from the terminal device, either the first communication method road-vehicle communication or the second communication method different from the first communication method is selected, A message including position information of the terminal device is relayed to another terminal device.
  • the pedestrian or the vehicle according to the state of the pedestrian or the vehicle, appropriately switching between the walk-to-car communication (direct communication) between the terminal devices and the indirect communication via the roadside device
  • the pedestrian or vehicle driver in the vicinity is promptly and surely notified of the presence of the pedestrian or the vehicle.
  • FIG. 1 is an overall configuration diagram of a communication system according to the first embodiment.
  • This communication system includes a pedestrian terminal 1 (terminal device) and a portable information terminal 2 carried by a pedestrian, an on-vehicle terminal 3 (terminal device) and a car navigation device 4 mounted on a vehicle, and a roadside device 5 (roadside device Between the pedestrian terminal 1 and the in-vehicle terminal 3, and WiFi (registration between the pedestrian terminal 1 and the in-vehicle terminal 3 via the roadside device 5).
  • Wireless LAN communication such as trademark is performed.
  • inter-pedal communication a message including required information such as position information is transmitted and received between the pedestrian terminal 1 and the on-vehicle terminal 3.
  • a frequency band for example, 700 MHz band or 5.8 GHz band
  • ITS wireless communication that is, a safe driving support wireless system using ITS (Intelligent Transport System: Intelligent Transport System).
  • ITS Intelligent Transport System
  • the roadside device 5 becomes a master (access point), the pedestrian terminal 1 and the on-vehicle terminal 3 become slaves, and the roadside device 5 transmits and receives messages between the pedestrian terminal 1 and the on-vehicle terminal 3 Will relay.
  • the format and content of the message are common to the inter-vehicle communication and the wireless LAN communication.
  • the pedestrian terminal 1 is connected to the portable information terminal 2.
  • the portable information terminal 2 is a smartphone, a mobile phone, a tablet terminal, a wearable terminal, or the like.
  • the pedestrian terminal 1 transmits and receives a message to and from the in-vehicle terminal 3, and when it is determined that the alerting is necessary, outputs an instruction for alerting to the portable information terminal 2, and in the portable information terminal 2, the pedestrian terminal In response to an instruction from 1, an output operation (for example, voice output, vibration, etc.) of alerting the occupant is performed.
  • an output operation for example, voice output, vibration, etc.
  • the in-vehicle terminal 3 is connected to the car navigation device 4.
  • the car navigation device 4 provides route guidance to the driver.
  • the on-vehicle terminal 3 transmits and receives a message to and from the pedestrian terminal 1 to output a warning instruction to the car navigation device 4 when it is determined that the warning is necessary.
  • an output operation for example, voice output, screen display, etc. of the driver alert is performed.
  • the pedestrian terminal 1 may be built in the portable information terminal 2, and the on-vehicle terminal 3 may be built in the car navigation device 4.
  • the pedestrian terminal 1 itself may perform an alerting output operation.
  • the on-vehicle terminal 3 may perform the alerting output operation.
  • the on-vehicle terminal 3 may communicate with the portable information terminal 2 possessed by the driver to cause the portable information terminal 2 to perform an alerting operation for the driver.
  • the roadside device 5 is installed at a point where there are many pedestrians and vehicles, such as the vicinity of a traffic light at an intersection, and congestion between the pedestrian terminal 1 and the on-vehicle terminal 3 tends to occur.
  • FIG. 2 is an explanatory view showing a transmission state of a message in the pedestrian terminal 1 and the on-vehicle terminal 3.
  • direct communication in which messages are directly transmitted and received between the pedestrian terminal 1 and the on-vehicle terminal 3 by the inter-pedal communication as a communication method for transmitting a message in the pedestrian terminal 1 and the on-vehicle terminal 3; It is possible to select any of indirect communication for transmitting and receiving messages between the pedestrian terminal 1 and the on-vehicle terminal 3 by wireless LAN communication via the roadside device 5.
  • a message is periodically transmitted at a predetermined interval (for example, 100 ms), and the transmission timing of the message is the same in both the direct communication and the indirect communication.
  • the pedestrian terminal 1 selects a communication method (direct communication or indirect communication) according to the state of the pedestrian. In the present embodiment, in particular, it is determined whether the pedestrian is in a dangerous state, and the communication method is selected according to the determination result.
  • FIG. 2 (A-1) when the pedestrian is not in the dangerous state, indirect communication is selected, and a message is sent from the pedestrian terminal 1 to the on-vehicle terminal 3 via the roadside device 5 by wireless LAN communication. Is sent.
  • FIG. 2 (A-2) when the pedestrian is in a dangerous state, the indirect communication is switched to direct communication, and a message is directly transmitted from the pedestrian terminal 1 to the on-vehicle terminal 3 by walk-to-vehicle communication. .
  • the pedestrian when a pedestrian's dangerous behavior such as jumping out or falling is detected, the pedestrian is determined to be in a dangerous state.
  • the pedestrian when the pedestrian enters the danger area, the pedestrian is determined to be in the danger state.
  • the dangerous area is, for example, an area near the driveway on a sidewalk without a protective structure separating the sidewalk and the driveway, or an area with high risk such as an area around a dangerous intersection where accidents frequently occur. It is assumed that the map information is set in advance.
  • the owner of the pedestrian terminal 1 rides on a bicycle or a motorcycle, and the pedestrian is moving at a speed equal to or higher than a predetermined value (the upper limit value of the speed regarded as normal walking). In this case, it is determined that the pedestrian is in danger.
  • a predetermined value the upper limit value of the speed regarded as normal walking
  • the pedestrian when the pedestrian is a person having a high possibility of taking a risk action, such as a child, an elderly person, or a patient with dementia, the pedestrian is determined to be in the risk state.
  • the communication method (direct communication or indirect communication) is selected in the on-vehicle terminal 3 in accordance with the state of the vehicle. In particular, in the present embodiment, it is determined whether the vehicle is in a dangerous state, and the communication method is selected according to the determination result.
  • FIG. 2 (B-2) when the vehicle is not in a dangerous state, indirect communication is selected, and a message is transmitted from the on-board terminal 3 to the pedestrian terminal 1 via the roadside device 5 by wireless LAN communication. Will be sent.
  • FIG. 2 (B-1) when the vehicle is in a dangerous state, the indirect communication is switched to direct communication, and a message is directly transmitted from the on-vehicle terminal 3 to the pedestrian terminal 1 by walk-to-vehicle communication.
  • the vehicle when the vehicle is moving at a speed equal to or higher than a predetermined value (upper limit value of the speed regarded as normal traveling), the vehicle is determined to be in the dangerous state.
  • a predetermined value upper limit value of the speed regarded as normal traveling
  • the vehicle when the vehicle travels dangerously such as sudden acceleration or sudden change of direction or meandering, the vehicle is determined to be in the dangerous state.
  • FIG. 3 is a block diagram showing a schematic configuration of the pedestrian terminal 1.
  • the pedestrian terminal 1 includes a positioning unit 11, a state detection unit 12, a walk-to-car communication unit 13 (first communication unit), a wireless LAN communication unit 14 (second communication unit), and an input / output unit 15 , Control unit 16 and storage unit 17.
  • the positioning unit 11 measures the position of its own device by a satellite positioning system such as GPS (Global Positioning System), QZSS (Quasi-Zenith Satellite System) or the like, and acquires location information of its own device.
  • the position information of the own device may be acquired using the positioning function of the portable information terminal 2.
  • the state detection unit 12 detects the state of the own device (a pedestrian who owns the own device), and includes an acceleration sensor 25 and a direction sensor 26.
  • the inter-pedestrian communication unit 13 broadcasts a message to the on-vehicle terminal 3 by inter-pedal communication, and receives a message transmitted from the on-vehicle terminal 3.
  • inter-pedal communication wireless communication using a frequency band employed in a safe driving support wireless system using ITS is performed.
  • the wireless LAN communication unit 14 transmits a message to the on-vehicle terminal 3 via the roadside device 5 by wireless LAN communication such as WiFi (registered trademark), and a message transmitted from the on-vehicle terminal 3 via the roadside device 5 Receive
  • the input / output unit 15 performs input and output of information with the portable information terminal 2. Based on the information output from the input / output unit 15, the portable information terminal 2 performs an operation of alerting a pedestrian.
  • the storage unit 17 stores map information, a program executed by a processor configuring the control unit 16, and the like.
  • the map information may be acquired from the portable information terminal 2.
  • the control unit 16 includes a message control unit 21, a communication scheme selection unit 22, a collision determination unit 23, and a warning control unit 24.
  • the control unit 16 is configured by a processor, and each unit of the control unit 16 is realized by executing a program stored in the storage unit 17 by the processor.
  • the message control unit 21 controls transmission of a message including pedestrian information such as a terminal ID and position information. At this time, according to the selection result of the communication system selection unit 22, a message is transmitted from the inter-walking vehicle communication unit 13 or the wireless LAN communication unit 14.
  • the communication method selection unit 22 selects a communication method (direct communication or indirect communication) when transmitting a message to the on-vehicle terminal 3.
  • the communication system selection unit 22 first determines whether or not the own device is within the communication range of the roadside device 5, that is, whether or not indirect communication is possible. If the own device is not within the communication range of the roadside device 5, direct communication is selected.
  • state information indicating whether the own device (self-pedestrian) is in a dangerous state such as the detection result of the state detection unit 12, is acquired, Based on the state information, it is determined whether or not the pedestrian is in the dangerous state, and the communication method is selected according to the determination result. That is, when the pedestrian is in a dangerous state, direct communication is selected, and when the pedestrian is not in a dangerous state, indirect communication is selected.
  • the pedestrian is determined to be in the dangerous state. Specifically, from the detection result of the acceleration sensor 25, it is detected that the self-pedestrian has suddenly started running (sudden acceleration), and from the detection result of the direction sensor 26, the self-pedestrian has suddenly changed its direction When it is detected that a sudden turn is detected, it is determined that it is a pop out. Also, when a sudden downward movement is detected from the detection result of the acceleration sensor 25, it is determined that a fall has occurred.
  • the pedestrian is located in the predetermined danger area based on the current position information of the pedestrian acquired by the positioning unit 11 and the map information stored in the storage unit 17 The pedestrian is determined to be in danger.
  • the moving speed of the pedestrian is acquired from the transition situation of the position information of the self-walker acquired by the positioning unit 11, and the self-walker takes a predetermined value (upper limit of the speed regarded as normal walking The pedestrian is judged to be in a dangerous state when moving at the above speed.
  • the pedestrian is dangerous. Determined as a state.
  • the pedestrian is a person having a high possibility of taking a dangerous action, such as a child, an elderly person, a patient with dementia or the like.
  • the pedestrian is dangerous. Determined as a state.
  • it is necessary is just to memorize
  • the collision determination unit 23 has a risk that the vehicle collides with the pedestrian based on the position information of the own pedestrian acquired by the positioning unit 11 and the position information of the vehicle included in the message received from the on-vehicle terminal 3. Determine if there is.
  • the alerting control unit 24 implements alerting to the pedestrian according to the determination result of the collision determination unit 23.
  • an instruction for calling attention is output to the portable information terminal 2 through the input / output unit 15, and in response to this instruction, in the portable information terminal 2, an output operation for calling attention to a pedestrian (for example, voice output) And vibration).
  • FIG. 4 is a block diagram showing a schematic configuration of the on-vehicle terminal 3.
  • the on-vehicle terminal 3 includes a positioning unit 31, a state detection unit 32, a walk-to-car communication unit 33 (first communication unit), a wireless LAN communication unit 34 (second communication unit), and an input / output unit 35.
  • a control unit 36 and a storage unit 37 are provided.
  • the positioning unit 31 measures the position of the own device by a satellite positioning system such as GPS or QZSS, and acquires the position information of the own device.
  • the position information of the own device may be acquired using the positioning function of the car navigation device 4.
  • the state detection unit 32 detects the state of the own device (vehicle on which the own device is mounted), and includes an acceleration sensor 45 and a direction sensor 46.
  • the inter-pedestrian communication unit 33 broadcasts a message to the pedestrian terminal 1 by means of inter-pedal communication, and receives a message transmitted from the pedestrian terminal 1.
  • inter-pedal communication wireless communication using a frequency band employed in a safe driving support wireless system using ITS is performed.
  • the wireless LAN communication unit 34 transmits a message to the pedestrian terminal 1 via the roadside device 5 by wireless LAN communication such as WiFi (registered trademark), and is also transmitted from the pedestrian terminal 1 via the roadside device 5 Receive a message.
  • wireless LAN communication such as WiFi (registered trademark)
  • the input / output unit 35 inputs / outputs information to / from the car navigation device 4. Based on the information output from the input / output unit 35, the car navigation device 4 performs an operation of alerting the driver.
  • the storage unit 37 stores map information and a program executed by a processor that configures the control unit 36.
  • the map information may be acquired from the car navigation device 4.
  • the control unit 36 includes a message control unit 41, a communication scheme selection unit 42, a collision determination unit 43, and a warning control unit 44.
  • the control unit 36 is configured by a processor, and each unit of the control unit 36 is realized by causing the processor to execute the program stored in the storage unit 37.
  • the message control unit 41 controls transmission of a message including vehicle information such as a terminal ID and position information. At this time, according to the selection result of the communication system selection unit 42, a message is transmitted from the inter-walking vehicle communication unit 33 or the wireless LAN communication unit 34.
  • the communication scheme selection unit 42 selects a communication scheme (direct communication or indirect communication) when transmitting a message to the pedestrian terminal 1.
  • the communication method selection unit 42 first determines whether or not the own device is within the communication range of the roadside device 5, that is, whether or not indirect communication is possible, based on the beacon signal transmitted by broadcast from the roadside device 5. If the own device is not within the communication range of the roadside device 5, direct communication is selected.
  • state information indicating whether the own device (own vehicle) is in a dangerous state such as the detection result of the state detection unit 32, is acquired. Based on the state information, it is determined whether or not the host vehicle is in a dangerous state, and a communication scheme is selected according to the determination result. That is, when the host vehicle is in a dangerous state, direct communication is selected, and when the host vehicle is not in a dangerous state, indirect communication is selected.
  • the moving speed of the own vehicle is acquired from the transition state of the position information of the own vehicle acquired by the positioning unit 31, and the own vehicle is a predetermined value (upper limit of the speed considered to be normal traveling) When moving at the above speed, it is determined that the host vehicle is in the dangerous state.
  • the host vehicle when it is detected based on the detection result of the state detection unit 32 that the host vehicle has run dangerously, such as a sudden acceleration or a sudden turn (a sudden change of direction) or meandering, Is determined to be a dangerous state.
  • the rapid acceleration of the vehicle is detected from the detection result of the acceleration sensor 45, and the rapid turn and the meander of the vehicle are detected from the detection result of the direction sensor 46.
  • the collision determination unit 43 has a risk that the vehicle collides with the pedestrian based on the position information of the vehicle acquired by the positioning unit 31 and the position information of the pedestrian included in the message received from the pedestrian terminal 1 Determine if there is.
  • the alerting control unit 44 alerts the driver of the host vehicle according to the determination result of the collision determination unit 43.
  • an instruction to call attention is output to the car navigation device 4 through the input / output unit 35, and in response to this instruction, the car navigation device 4 outputs a call to call attention to the driver (for example, voice output) And screen display etc.).
  • FIG. 5 is a block diagram showing a schematic configuration of the roadside device 5.
  • the roadside device 5 includes a wireless LAN communication unit 51, a control unit 52, and a storage unit 53.
  • the wireless LAN communication unit 51 receives a message transmitted from the pedestrian terminal 1 or the on-vehicle terminal 3 by wireless LAN communication such as WiFi (registered trademark), and broadcasts the received message to the pedestrian terminal 1 or on-vehicle Send to terminal 3
  • wireless LAN communication such as WiFi (registered trademark)
  • the storage unit 53 stores, for example, a program executed by a processor that configures the control unit 52.
  • the control unit 52 includes a message control unit 61.
  • the control unit 52 is configured by a processor, and the message control unit 61 is realized by causing the processor to execute a program stored in the storage unit 53.
  • the message control unit 61 transmits the message from the wireless LAN communication unit 51 to the pedestrian terminal 1 or the in-vehicle terminal 3.
  • the roadside device 5 may transmit the received message each time, but a plurality of received messages are collectively transmitted. May be That is, pedestrian information and vehicle information included in each of a plurality of received messages are stored in one message and transmitted.
  • the messages may be sent in an order different from the received order. For example, based on the position information included in the received message, the distance from the transmission source (pedestrian terminal 1 or in-vehicle terminal 3) to the roadside device 5 is calculated, and the message of the transmission source closer to the roadside device 5 is prioritized
  • the transmission side messages are transmitted in order from the transmission source message closer to the roadside device 5.
  • priority is set to the terminal type of the transmission source (the pedestrian terminal 1 and the in-vehicle terminal 3), and the message of the transmission source with high priority is transmitted first. Also, based on the position information included in the received message, when the position of the transmission source has not changed, the received message is not transmitted.
  • FIG. 6 is a flowchart showing the operation procedure of the pedestrian terminal 1, the on-vehicle terminal 3 and the roadside device 5.
  • the positioning unit 11 acquires position information of the own device (self-pedestrian) (ST101). Then, the message control unit 21 determines whether or not the pedestrian information is transmitted, specifically, whether or not the own pedestrian is in a safe zone such as indoor, based on the position information of the self-pedestrian ( ST 102).
  • the communication system selection unit 22 selects a communication system (direct communication or indirect communication) when transmitting a message (ST103) .
  • the inter-pedestrian communication unit 13 transmits a message including pedestrian information to the on-vehicle terminal 3 To do (ST105).
  • the communication method selected by the communication method selection unit 22 is indirect communication (No in ST104)
  • a message including pedestrian information is transmitted from the wireless LAN communication unit 14 to the roadside device 5 (ST106).
  • the message transmitted from the pedestrian terminal 1 is received by the wireless LAN communication unit 51 in the message control unit 61 (ST201), the message is transmitted from the wireless LAN communication unit 51 to the on-vehicle terminal 3 (ST202) ).
  • the collision determination unit At 43, a collision determination is made as to whether or not the pedestrian has a risk of collision with the host vehicle based on the position information of the pedestrian included in the message, etc. (ST 302).
  • the attention control unit 44 determines whether it is necessary to warn the driver (ST303).
  • alerting the driver is performed (ST 304).
  • FIG. 7 is a flowchart showing the operation procedure of the pedestrian terminal 1, the on-vehicle terminal 3 and the roadside device 5.
  • the communication scheme selection unit 42 selects a communication scheme (direct communication or indirect communication) at the time of transmitting a message (ST401).
  • the message control unit 41 transmits a message including vehicle information from the inter-walking vehicle communication unit 33 to the pedestrian terminal 1 To do (ST403).
  • the communication method selected by the communication method selection unit 42 is indirect communication (No in ST402), a message including vehicle information is transmitted from the wireless LAN communication unit 34 to the roadside device 5 (ST404).
  • the message transmitted from the on-vehicle terminal 3 is received by the wireless LAN communication unit 51 in the message control unit 61 (ST501), the message is transmitted from the wireless LAN communication unit 51 to the pedestrian terminal 1 (ST502) ).
  • the collision determination is made. Based on the position information of the vehicle included in the message, etc., the unit 23 makes a collision determination as to whether or not there is a risk of the vehicle colliding with the pedestrian (ST 602).
  • the alert control unit 44 determines whether it is necessary to alert the pedestrian based on the determination result of the collision determination unit 23 (ST 603).
  • alerting the pedestrian is implemented (ST604).
  • FIG. 8 is a flowchart showing a procedure of communication system selection (ST103 in FIG. 6) performed by the pedestrian terminal 1 and communication system selection (ST403 in FIG. 7) performed by the on-vehicle terminal 3.
  • the communication system selection unit 22 of the pedestrian terminal 1 first determines whether the beacon signal transmitted from the roadside device 5 has been received by the wireless LAN communication unit 14 or not. It is determined whether the device is within the communication range of the roadside device 5 (ST 701). Here, when the own device is not within the communication range of the roadside device 5 (No in ST 701), direct communication is selected (ST 704).
  • the state information of the own device is acquired from the state detection unit 12 (ST 702). Then, based on the state information of the self pedestrian, it is determined whether the self pedestrian is in the dangerous state (ST 703).
  • the self-pedestrian running suddenly (rapid acceleration), or from the detection result of the direction sensor 26, that the self-pedestrian suddenly changed direction When (disruption) is detected it is determined as a dangerous state.
  • a sudden downward movement is detected from the detection result of the acceleration sensor 25, it is determined that the vehicle is in the dangerous state. If the pedestrian is in danger (Yes in ST703), direct communication is selected (ST704). On the other hand, when the pedestrian is not in a dangerous state (No in ST703), the indirect communication is selected (ST705).
  • the communication method selection unit 42 of the on-vehicle terminal 3 first determines whether the beacon signal transmitted from the roadside device 5 has been received by the wireless LAN communication unit 34 or not. It is determined whether it is within the communication range of the roadside device 5 (ST801). Here, when the own device is not within the communication range of the roadside device 5 (No in ST801), direct communication is selected (ST804).
  • the state information of the own device is acquired from the state detection unit 32 (ST802). Then, based on the state information of the host vehicle, it is determined whether the host vehicle is in a dangerous state (ST 803).
  • FIGS. 9 and 10 are explanatory diagrams showing the transmission status of messages in the pedestrian terminal 1 and the on-vehicle terminal 3 according to the second embodiment.
  • the communication method direct communication or indirect communication
  • the communication method is selected according to the determination result.
  • direct communication is selected when the pedestrian or vehicle is not in the specific area where the risk is low, and if it enters the specific area, it switches from direct communication to indirect communication if the own device is not in danger state from the state information.
  • an area with a relatively low risk is taken as the specific area.
  • the risk is low even at an intersection. Therefore, in the present embodiment, the area around the intersection where the predetermined conditions are satisfied and the risk is low is taken as a specific area, and when pedestrians or vehicles enter the area around such an intersection, direct communication to indirect communication is performed. Switch to
  • the peripheral area of crossing is made into a specific area, and when a pedestrian and a vehicle enter in the peripheral area of crossing, it switches from direct communication to indirect communication.
  • the person who wants to get on the bus transmits information indicating that to the roadside device 5 installed around the bus stop, and the roadside device 5 installed around the bus stop is a person who is going to get on the bus It identifies the person who is not or who is not, and sends only the pedestrian information of the person who is going out or crossing the road except for the person who is going to get on the bus to the surrounding vehicles.
  • the peripheral area of a bus stop is made into a specific area, and if it enters in the peripheral area of a bus stop, a pedestrian or vehicles will switch from direct communication to indirect communication.
  • the vehicle which stops near a bus stop exists, it becomes possible to also avoid the problem that a bus
  • FIG. 11 is a flowchart showing the procedure of communication system selection performed by the pedestrian terminal 1.
  • the own device is within the communication range of the roadside device 5 It is determined (ST 701).
  • direct communication is selected (ST 704).
  • the position information of the own pedestrian is acquired from the positioning unit 11 (ST 711). Then, based on the position information of the pedestrian and the map information stored in the storage unit 17, it is determined whether the pedestrian is located in the specific area (ST712). Here, when the pedestrian is not located in the specific area (No in ST 712), direct communication is selected (ST 704).
  • the state information of the self-walker is acquired from the state detection unit 12 (ST 702). Then, based on the state information of the self pedestrian, it is determined whether the self pedestrian is in the dangerous state (ST 703).
  • FIG. 12 is an explanatory view showing a transmission state of a message in the pedestrian terminal 1 and the in-vehicle terminal 3 according to the third embodiment.
  • the indirect communication is selected when the pedestrian or the vehicle is located in the specific area, but in the present embodiment, the pedestrian or the vehicle is located in the specific area, and the walking is performed.
  • indirect communication is selected by the pedestrian terminal 1 and the on-vehicle terminal 3 located in the specific area.
  • the specific area is set as the peripheral area of the level crossing, and the communication system is selected as the specific condition according to whether or not the circuit breaker is permitted to pass.
  • FIG. 12 (A) even if a pedestrian or a vehicle is located in a specific area, if the circuit breaker is in the pass-permitted state (the circuit breaker is in the raised state), The pedestrian terminal 1 and the on-vehicle terminal 3 select direct communication.
  • FIG. 12 (B) when the barrier is in the no traffic condition (the barrier is down), the pedestrian terminal 1 and the on-vehicle terminal 3 located in the peripheral area of the level crossing Switch to indirect communication.
  • the roadside device 5 acquires the operation information of the circuit breaker from the level crossing control device 7 that controls the circuit breaker, adds the operation information of the circuit breaker to the message, and the pedestrian from the roadside device 5 By transmitting to terminal 1 and in-vehicle terminal 3, pedestrian terminal 1 and in-vehicle terminal 3 acquire operation information of a circuit breaker.
  • FIG. 13 is a flowchart showing the procedure of communication system selection performed by the pedestrian terminal 1.
  • the own device is within the communication range of the roadside device 5 It is determined (ST 701).
  • direct communication is selected (ST 704).
  • the position information of the own pedestrian is acquired from the positioning unit 11 (ST 711). Then, based on the position information of the pedestrian and the map information stored in the storage unit 17, it is determined whether the pedestrian is located in the area around the level crossing (ST721). Here, when the pedestrian is not located in the peripheral area of the level crossing (No in ST721), direct communication is selected (ST704).
  • the self pedestrian's state information is acquired from the state detection unit 32 (ST702). Then, based on the state information of the self pedestrian, it is determined whether the self pedestrian is in the dangerous state (ST 703).
  • FIG. 13 shows the procedure of the process performed by the communication system selection unit 22 of the pedestrian terminal 1
  • the communication system selection unit 42 of the on-vehicle terminal 3 also performs the communication system selection process in the same procedure as this. Is done.
  • FIG. 14 is an explanatory view showing a transmission state of a message in the pedestrian terminal 1 and the in-vehicle terminal 3 according to the fourth embodiment.
  • the pedestrian terminal 1 and the vehicle located in the area around the crossing Although indirect communication is selected by the terminal 3, in the present embodiment, when the specific vehicle approaches the stop, indirect communication is performed by the pedestrian terminal 1 and the on-vehicle terminal 3 located in the specific area around the stop. select.
  • the specific vehicle is a bus (route bus), and the stop is a bus stop.
  • the vehicle-mounted terminal 3 of a bus always transmits a message by direct communication.
  • direct communication of the on-board terminal 3 of the bus is prioritized and direct communication of the pedestrian terminal 1 and the on-board terminal 3 located in the peripheral area of the bus stop is restricted to suppress congestion of direct communication. It is possible to notify pedestrians and drivers of vehicles in the vicinity of a bus stop quickly and reliably. In particular, by notifying the driver of the vehicle stopping in the peripheral area of the bus stop that the bus is approaching, it is possible to guide the vehicle to move quickly from the peripheral area of the bus stop.
  • information indicating that the host vehicle is a bus is added to the message as attribute information and transmitted. This makes it possible to recognize whether the vehicle approaching the bus stop is a bus.
  • FIG. 15 is a flowchart showing the procedure of communication system selection performed by the on-vehicle terminal 3.
  • the communication method selection unit 42 of the on-vehicle terminal 3 first, whether or not the own device is in the communication range of the roadside device 5 depending on whether the beacon signal transmitted from the roadside device 5 is received by the wireless LAN communication unit 34. Is determined (ST801). Here, when the own device is not within the communication range of the roadside device 5 (No in ST801), direct communication is selected (ST804).
  • the state information of the own vehicle is acquired from the state detection unit 32 (ST 802) . Then, based on the state information of the host vehicle, it is determined whether the host vehicle is in a dangerous state (ST 803).
  • FIG. 15 shows the procedure of the process performed by the communication system selection unit 42 of the on-vehicle terminal 3, the communication system selection unit 22 of the pedestrian terminal 1 also performs the communication system selection process in the same procedure. Is done.
  • the bus (route bus) is used as the specific vehicle, but another passenger car, for example, a taxi may be used as the specific vehicle.
  • a taxi stand becomes a stop (a landing) of a specific vehicle.
  • whether or not the bus is approaching within a predetermined distance from the bus stop is determined based on the bus position information and the map information including the position information of the bus stop.
  • the bus enters the communication area of the walk-to-car communication and can receive the message transmitted from the in-vehicle terminal 3 of the bus, so the bus approaches within a predetermined distance from the bus stop It may be determined that the
  • FIG. 16 is an explanatory view showing a transmission state of a message in the pedestrian terminal 1 and the in-vehicle terminal 3 according to the fifth embodiment.
  • the communication method direct communication or indirect communication
  • the communication method is selected according to the determination result.
  • the communication system is selected according to the determination result Do. That is, when the other pedestrian terminal 1 is already performing direct communication, the indirect communication is selected, and when there is no other pedestrian terminal 1 already performing direct communication, the direct communication is selected. .
  • the congestion of direct communication can be suppressed by limiting direct communication of another pedestrian terminal 1 by giving priority to the pedestrian terminal 1 that has started direct communication earlier.
  • the other pedestrian terminal 1 based on the message transmitted from the other pedestrian terminal 1, it is determined whether the other pedestrian terminal 1 has already performed direct communication.
  • the message is transmitted by broadcast, so that other pedestrian terminals 1 present in the vicinity can receive the message.
  • the other pedestrian terminal 1 is a message transmitted by direct communication by adding communication method information indicating direct communication to the message from the pedestrian terminal 1 performing direct communication and transmitting the message. You can recognize that.
  • FIG. 17 is a flowchart showing the procedure of communication system selection performed by the pedestrian terminal 1.
  • the own device is within the communication range of the roadside device 5 It is determined (ST 701).
  • direct communication is selected (ST 704).
  • the self pedestrian's state information is acquired from the state detection unit 32 (ST702). Then, based on the state information of the self pedestrian, it is determined whether the self pedestrian is in the dangerous state (ST 703).
  • the indirect communication is selected when the pedestrian terminal 1 receives a message from another pedestrian terminal 1 performing direct communication within a predetermined time, but direct communication is performed. Indirect communication may be continued until a predetermined time has elapsed since the other pedestrian terminal 1 was found, and when the predetermined time has elapsed, the state in which direct communication is restricted may be released and returned to direct communication.
  • the pedestrian terminal 1 performing direct communication adds communication method instruction information instructing that direct communication should not be performed for a predetermined period of time and transmits the message, and the other pedestrian terminal transmits the message including the communication method instruction information When 1 is received, the pedestrian terminal 1 may not perform direct communication for a predetermined time.
  • FIG. 17 shows the procedure of the process performed by the communication system selection unit 22 of the pedestrian terminal 1, but the communication system selection unit 42 of the on-vehicle terminal 3 also performs the communication system selection process in the same procedure. Is done.
  • FIG. 18 is an explanatory view showing a transmission state of a message in the pedestrian terminal 1 and the in-vehicle terminal 3 according to the sixth embodiment.
  • the communication method direct communication or indirect communication
  • the communication method is selected according to the determination result.
  • the communication method is selected according to the determination result. That is, when a specific vehicle is found within the predetermined distance of the own device, the direct communication is switched to the indirect communication, and when the specific vehicle within the predetermined distance of the own device is not present, the direct communication is returned.
  • a specific vehicle always transmits a message by direct communication.
  • the direct communication of the on-vehicle terminal 3 mounted on the specific vehicle is prioritized, and the direct communication of the pedestrian terminal 1 and the on-vehicle terminal 3 existing around the specific vehicle is restricted to suppress the congestion of the direct communication.
  • the presence of a specific vehicle can be notified to surrounding pedestrians and drivers of vehicles quickly and reliably.
  • an emergency vehicle such as an ambulance or a fire engine is a specific vehicle.
  • the vehicle-mounted terminal 3 of an emergency vehicle always transmits a message by direct communication.
  • the on-vehicle terminal 3 of the emergency vehicle adds attribute information indicating that it is an emergency vehicle to the message and transmits it.
  • pedestrian terminal 1 is an emergency vehicle.
  • the distance between the emergency vehicle and the own device is calculated based on the position information of the emergency vehicle included in the message received from the on-vehicle terminal 3 of the emergency vehicle and the position information of the own pedestrian. It is determined whether a specific vehicle exists within a predetermined distance of the own device.
  • the predetermined distance may be different depending on the pedestrian.
  • FIG. 19 is a flowchart showing the procedure of communication system selection performed by the pedestrian terminal 1.
  • the own device is within the communication range of the roadside device 5 It is determined (ST 701).
  • direct communication is selected (ST 704).
  • the state information of the self-pedestrian is acquired from the state detection unit 12 (ST702). Then, based on the state information of the self pedestrian, it is determined whether the self pedestrian is in the dangerous state (ST 703).
  • FIG. 19 shows the procedure of the process performed by the communication system selection unit 22 of the pedestrian terminal 1
  • the communication system selection unit 42 of the on-vehicle terminal 3 also performs the communication system selection process in the same procedure. Is done.
  • the emergency vehicle it is determined whether or not the emergency vehicle exists within a predetermined distance of the own device based on the position information of the emergency vehicle and the position information of the own device. Or in the on-vehicle terminal 3, the emergency vehicle enters the communication range of the walk-to-vehicle communication, and it can be determined that the emergency vehicle exists within the predetermined distance of the own device because it can receive the message transmitted from the on-vehicle terminal 3 of the emergency vehicle You may do it.
  • the indirect communication is selected when the specific vehicle exists within the predetermined distance of the own device, and when the specific vehicle within the predetermined distance of the own device disappears, the direct communication is restored. Indirect communication may be continued until a predetermined time has elapsed since the vehicle was discovered, and when the predetermined time has elapsed, the state in which the direct communication is restricted may be released and returned to the direct communication.
  • the on-vehicle terminal 3 of the emergency vehicle adds communication method instruction information to instruct that the direct communication is not performed for a predetermined period of time, and transmits the message, and transmits the message including the communication method instruction information
  • the pedestrian terminal 1 or the other on-vehicle terminal 3 may not perform direct communication for a predetermined time.
  • indirect communication may be selected when the emergency vehicle approaches within a predetermined distance of the own device, and direct communication may be returned when the emergency vehicle passes by the vicinity of the own device.
  • FIG. 20 is an explanatory view showing a transmission state of a message in the pedestrian terminal 1 and the in-vehicle terminal 3 according to the seventh embodiment.
  • FIG. 21 is an explanatory view of the registration content of the priority table.
  • the communication method direct communication or indirect communication
  • the communication method is selected according to the determination result.
  • the communication method is based on the type of mobile object (pedestrian, bicycle, senior car, car, motorcycle, etc.) existing around the own apparatus. select. That is, the communication system is relatively selected according to whether there is a pedestrian around the own apparatus and what type of vehicle exists around the own apparatus.
  • the priority of direct communication is set in advance for each type of mobile object, and the priority of the host vehicle and the priority of pedestrians and other vehicles existing around the host vehicle in the on-vehicle terminal 3
  • the communication method of the own device is selected by comparing the degrees. Specifically, if there is a terminal with higher priority than you, select indirect communication, and if there is a terminal with lower priority than you, select direct communication.
  • the priority is set to be higher as the moving speed is higher, direct communication is selected for a terminal having a high moving speed, and indirect communication is selected for a terminal having a low moving speed.
  • the communication system selection unit 42 of the on-vehicle terminal 3 performs the communication method. Choose The priority table is stored in the storage unit 37. Further, by transmitting attribute information to the message, the on-vehicle terminal 3 determines whether a pedestrian is present in the vicinity of the own apparatus or what type of vehicle exists in the vicinity of the own apparatus. It can be determined.
  • the priority according to the terminal attribute (pedestrian, bicycle, senior car, car, motorcycle) is registered in the priority table, and based on the priority table, the terminal attribute of the own device is used to determine the priority of the own device.
  • the priorities of the pedestrian terminal 1 and the on-vehicle terminal 3 are acquired from the terminal attributes of the pedestrian terminal 1 and the on-vehicle terminal 3 existing in the vicinity.
  • the communication system of the own device is selected by comparing the priority of the own vehicle and the priorities of other vehicles existing in the vicinity of the own vehicle.
  • high-speed vehicles such as cars and motorcycles have the highest priority. Therefore, direct communication is always selected at the on-vehicle terminal 3 of the high-speed vehicle.
  • low-speed vehicles such as senior cars and bicycles have higher priority than pedestrians and lower priority than high-speed vehicles. Therefore, in the on-vehicle terminal 3 of the low speed vehicle, when there is a pedestrian around, direct communication is performed. In addition, when there is no pedestrian in the vicinity and there is a high-speed vehicle such as a car or a motorcycle in the vicinity, the indirect communication is selected, and the direct communication is selected when the danger state is reached.
  • the pedestrian terminal 1 always performs indirect communication in the normal state, and selects direct communication when it is in the dangerous state.
  • the indirect communication is selected in the pedestrian terminal 1, and the direct communication is selected in the on-vehicle terminal 3 of a bicycle, a senior car, a motorcycle or a car.
  • the direct communication is selected in the on-vehicle terminal 3 of a bicycle, a senior car, a motorcycle or a car.
  • FIG. 20 (B) when there is no pedestrian, indirect communication is selected by the vehicle-mounted terminal 3 of a bicycle or a senior car, and direct communication is selected by the vehicle-mounted terminal 3 of a motorbike or a motor vehicle.
  • priority is given to direct communication of the on-vehicle terminal 3 of a vehicle having high moving speed and high danger, and direct communication is restricted by restricting direct communication of the other on-vehicle terminals 3 and the pedestrian terminal 1.
  • direct communication is restricted by restricting direct communication of the other on-vehicle terminals 3 and the pedestrian terminal 1.
  • the holder of pedestrian terminal 1 may get on a bicycle or a senior car.
  • information indicating that you are riding a bicycle or a senior car may be added to the message as attribute information and transmitted.
  • pedestrian terminal 1 when a pedestrian exists in the outskirts, direct communication is performed, and when there is no pedestrian in the outskirts and a high-speed vehicle such as a motorbike or a car exists, indirect communication is performed. .
  • FIG. 22 is a flowchart showing the procedure of communication system selection performed by the on-vehicle terminal 3.
  • the communication method selection unit 42 of the on-vehicle terminal 3 first, whether or not the own device is in the communication range of the roadside device 5 depending on whether the beacon signal transmitted from the roadside device 5 is received by the wireless LAN communication unit 34. Is determined (ST801). Here, when the own device is not within the communication range of the roadside device 5 (No in ST801), direct communication is selected (ST804).
  • the vehicle attribute information of the own vehicle stored in the storage unit 37 is acquired (ST821). Then, based on the vehicle attribute information of the own vehicle, it is determined whether the own vehicle is a high-speed vehicle such as a car or a motorcycle (ST 822). Here, when the host vehicle is a high-speed vehicle (Yes in ST822), direct communication is selected (ST804).
  • the host vehicle is not a high-speed vehicle, that is, a low-speed vehicle such as a senior car or a bicycle (No in ST822)
  • the message is included in the message received from pedestrian terminal 1 or other on-vehicle terminal 3 Attribute information is acquired (ST 823).
  • direct communication is selected (ST 804).
  • the state information of the own vehicle is acquired from the state detection unit 32 (ST 802). Then, based on the state information of the host vehicle, it is determined whether the host vehicle is in a dangerous state (ST 803).
  • direct communication is selected in the dangerous state
  • indirect communication is selected in the non-hazard state.
  • the pedestrian terminal 1 and the on-vehicle terminal 3 individually select the communication method (direct communication or indirect communication) of the own device, but in the present embodiment, the roadside device 5 It manages the communication system of existing pedestrian terminal 1 and in-vehicle terminal 3. That is, the roadside device 5 collects the information necessary for selecting the communication method from the pedestrian terminal 1 and the in-vehicle terminal 3, determines the communication method of the pedestrian terminal 1 and the in-vehicle terminal 3, and determines the determined communication method. The pedestrian terminal 1 and the on-vehicle terminal 3 are notified, and the pedestrian terminal 1 and the on-vehicle terminal 3 transmit a message by the communication method determined by the roadside device 5.
  • FIG. 23 is a block diagram showing a schematic configuration of the roadside device 5.
  • the roadside device 5 includes a wireless LAN communication unit 51, a control unit 52, and a storage unit 53, as in the first embodiment (see FIG. 5).
  • the wireless LAN communication unit 51 receives a message transmitted from the pedestrian terminal 1 or the on-vehicle terminal 3 by wireless LAN communication such as WiFi (registered trademark), and broadcasts the received message to the pedestrian terminal 1 or on-vehicle Send to terminal 3
  • the pedestrian terminal 1 and the in-vehicle terminal 3 transmit a state information necessary for selecting a communication method, that is, a message including detection results of the state detection units 12 and 32, position information, and attribute information.
  • the storage unit 53 stores, for example, a program executed by a processor that configures the control unit 52. In addition, the storage unit 53 stores state information included in a message received from the pedestrian terminal 1 or the in-vehicle terminal 3.
  • the control unit 52 includes a message control unit 61 and a communication scheme selection unit 62.
  • the communication method selection unit 62 acquires the state information of the pedestrians and vehicles in the vicinity from the storage unit 53, and based on the state information and the map information stored in the storage unit 53, the pedestrians and vehicles in the vicinity It is determined whether or not there is a danger state, and the communication method is selected according to the determination result.
  • the message control unit 61 transmits the message from the wireless LAN communication unit 51 to the pedestrian terminal 1 or the in-vehicle terminal 3. Further, the message control unit 61 transmits a message including communication system instruction information instructing transmission of a message by the communication system selected by the communication system selection unit 62 to the pedestrian terminal 1 or the on-vehicle terminal 3.
  • the pedestrian terminal 1 and the on-vehicle terminal 3 When the pedestrian terminal 1 and the on-vehicle terminal 3 receive the message including the communication method instruction information from the roadside device 5, the pedestrian terminal 1 and the on-vehicle terminal 3 transmit the message by the instructed communication method based on the communication method instruction information.
  • the roadside device 5 performs the communication system selection processing based on the state information that is performed by the pedestrian terminal 1 and the in-vehicle terminal 3 in the first embodiment, but other embodiments
  • the roadside device 5 may perform the communication system selection process performed by the pedestrian terminal 1 or the on-vehicle terminal 3.
  • the configuration in which the communication system selection process is performed by the roadside device 5 is a pedestrian terminal existing in a specific area (a peripheral area of a railroad crossing or a peripheral area of a bus stop) as in the second, third, and fourth embodiments. It is suitable for managing the communication method of the terminal 1 or the on-vehicle terminal 3.
  • a part of the process of selecting the communication method may be performed by the pedestrian terminal 1 or the on-vehicle terminal 3.
  • the determination based on the position information may be performed by the roadside device 5 and the determination based on the detection results of the state detection units 12 and 32 may be performed by the pedestrian terminal 1 or the on-vehicle terminal 3.
  • the embodiment has been described as an example of the technology disclosed in the present application.
  • the technology in the present disclosure is not limited to this, and can be applied to embodiments in which changes, replacements, additions, omissions, and the like have been made.
  • the communication method of the wireless LAN is adopted for the indirect communication via the roadside device, but the communication method adopted for this indirect communication is not limited to the wireless LAN.
  • the indirect communication may be performed by a communication method using a high frequency band such as a high SHF band or an EHF band, which is adopted in the 5th generation mobile communication system).
  • the terminal device has voluntarily selected whether to perform direct communication or indirect communication according to the state of the pedestrian or the vehicle, the terminal device with which the roadside machine directly communicates is selected You may do it. In this case, the terminal device notifies the roadside device of position information and status information of the device itself or a request for direct communication, etc., and the roadside device decides a terminal device to permit the direct communication to be permitted or not. The permission may be notified to the terminal device.
  • the terminal device, the roadside device, the communication system, and the communication method according to the present invention include step-to-vehicle communication (direct communication) between the terminal devices and indirect communication via the roadside device according to the state of a pedestrian or a vehicle.
  • step-to-vehicle communication direct communication
  • indirect communication via the roadside device according to the state of a pedestrian or a vehicle.
  • a terminal device that has an effect of being able to reliably notify, and transmits a message including position information of the own device to another terminal device by inter-pedal communication, a roadside device installed on the road and communicating with the terminal device,
  • the present invention is useful as a communication system including a terminal device and a roadside device, and a communication method for transmitting a message from the terminal device to another terminal device by means of inter-pedal communication.

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Abstract

[Problem] To be capable of appropriately switching between direct communications between terminal devices and indirect communications via a roadside device, in accordance with the state of pedestrians and vehicles. [Solution] The present invention comprises: a pedestrian–vehicle communications unit (13) that directly communicates with a vehicle-mounted terminal (3), using pedestrian–vehicle communications being a first communications method; a wireless LAN communications unit (14) that indirectly communicates with the vehicle-mounted terminal (3), using a second communications method via a roadside device (5) arranged on a road; and a control unit (16) that, on the basis of state information pertaining to the state of the device itself, determines whether or not the device itself is in a dangerous situation, and selects either direct communications or indirect communications as the communications method, in accordance with the determination results.

Description

端末装置、路側装置、通信システム、および通信方法Terminal apparatus, roadside apparatus, communication system, and communication method
　本発明は、自装置の位置情報を含むメッセージを歩車間通信で他の端末装置に送信する端末装置、道路に設置されて端末装置と通信を行う路側装置、端末装置と路側装置とを備える通信システム、および端末装置からメッセージを歩車間通信で他の端末装置に送信する通信方法に関するものである。 The present invention is a terminal device that transmits a message including position information of the own device to another terminal device by walk-to-vehicle communication, a roadside device installed on a road to communicate with the terminal device, a communication including a terminal device and a roadside device The present invention relates to a system and a communication method for transmitting a message from a terminal device to another terminal device by means of inter-vehicle communication.
　近年、ＩＴＳ（Intelligent Transport System：高度道路交通システム）を利用した安全運転支援無線システムの実用化および普及に向けた検討が進められている。この安全運転支援無線システムでは、車両に搭載された車載端末同士で通信を行う車車間通信や、道路上に設置された路側機と車載端末との間で通信を行う路車間通信により、車両の位置情報などを含むメッセージをやり取りして、車両の運転者に事故回避のための注意喚起を行うようにしている。 In recent years, studies for practical use and spread of a safe driving support wireless system using ITS (Intelligent Transport System: Intelligent Transport System) have been advanced. In this safe driving support wireless system, the vehicle-to-vehicle communication is performed by vehicle-to-vehicle communication in which vehicle-mounted terminals mounted in the vehicle communicate with each other, or road-to-vehicle communication in which communication is performed between a roadside machine installed on the road and the vehicle-mounted terminal. By exchanging messages including position information and the like, the driver of the vehicle is alerted to avoid an accident.
　また、近年、歩行者の事故を防止するため、歩行者に所持させた歩行者端末と車載端末との間で通信を行う歩車間通信が提案されている。この歩車間通信では、歩行者端末と車載端末とが、位置情報などを含むメッセージを直接やり取りして、歩行者の存在を車載端末に通知するとともに車両の存在を歩行者端末に通知することで、歩行者と車両の運転者との双方に対して適切なタイミングで注意喚起を行うことができることから、歩行者の事故を防止する上で大きな効果が期待される。 Moreover, in order to prevent a pedestrian's accident in recent years, inter-pedal communication that communicates between a pedestrian terminal carried by a pedestrian and an on-vehicle terminal has been proposed. In this inter-pedal communication, the pedestrian terminal and the in-vehicle terminal directly exchange messages including position information etc. to notify the in-vehicle terminal of the presence of the pedestrian and notify the pedestrian terminal of the presence of the vehicle. Since it is possible to alert the pedestrian and the driver of the vehicle at an appropriate timing, a great effect is expected in preventing a pedestrian's accident.
　このような歩車間通信では、繁華街の交差点のように歩行者や車両が多くなる状況では、歩行者端末や車載端末が増えることで、歩車間通信のトラフィックが増大して、歩車間通信の輻輳が発生するおそれがあり、この歩車間通信の輻輳は可能な限り回避する必要があるため、歩車間通信のトラフィックを低減することが望まれる。 In such an inter-pedal communication, when the number of pedestrians and vehicles increases, such as at an intersection in a downtown area, the number of pedestrian terminals and in-vehicle terminals increases, so that the traffic of inter-pedestrian communication increases and the inter-pedal communication Since congestion may occur, and it is necessary to avoid the congestion of this inter-pedal communication as much as possible, it is desirable to reduce the inter-pedal communication traffic.
　このような歩車間通信のトラフィックの低減に関する技術として、従来、車載端末が路側機および歩行者端末との間で第１の通信（Ｖ２Ｘ通信：路車間通信および歩車間通信）が可能な通信システムにおいて、路側機が、歩行者端末との間で無線ＬＡＮなどの第２の通信を行い、車載端末との間で第１の通信（路車間通信）を行う技術が知られている（特許文献１参照）。 As a technique related to the reduction of the traffic of such inter-pedal communication, a communication system in which an on-board terminal can perform first communication (V2X communication: road-to-vehicle communication and inter-pedal communication) with a roadside machine and a pedestrian terminal There is known a technology in which a roadside device performs a second communication such as a wireless LAN with a pedestrian terminal and performs a first communication (road-to-vehicle communication) with an on-vehicle terminal. 1).
特開２０１７－６８３３５号公報JP, 2017-68335, A
　さて、歩車間通信システムにおいて、前記従来の技術と同様に、歩車間通信とは異なる第２の通信を行うようにすると、端末数が増えても、歩車間通信の輻輳を抑えることができる。しかしながら、歩行者端末と車載端末とが路側機を介して間接通信を行う構成とすると、歩行者端末と車載端末との間でのメッセージの送受信に時間がかかる。このため、歩行者や車両が危険状態である場合には、その歩行者や車両の存在を、周辺の歩行者や車両の運転者に迅速にかつ確実に通知するために、直接通信（歩車間通信）でメッセージを送信することが望ましい。 If the second communication different from the inter-vehicle communication is performed in the inter-pedal communication system as in the above-mentioned prior art, the congestion of the inter-pedicular communication can be suppressed even if the number of terminals increases. However, when the pedestrian terminal and the in-vehicle terminal are configured to perform indirect communication via the roadside device, it takes time to transmit and receive messages between the pedestrian terminal and the in-vehicle terminal. For this reason, when the pedestrian or vehicle is in a dangerous state, direct communication (between pedestrians or the like) is performed to notify the pedestrian or vehicle driver in the vicinity of the presence of the pedestrian or vehicle quickly and reliably. Communication) is desirable.
　そこで、本発明は、歩行者や車両の状態に応じて、端末装置間での歩車間通信（直接通信）と、路側装置を介した間接通信とを、適宜に切り替えることで、歩車間通信の輻輳を抑えつつ、歩行者や車両が危険状態である場合に、その歩行者や車両の存在を、周辺の歩行者や車両の運転者に迅速にかつ確実に通知することができる端末装置、路側装置、通信システム、および通信方法を提供することを主な目的とする。 Therefore, according to the present invention, according to the state of a pedestrian or a vehicle, by appropriately switching between walk-to-go communication (direct communication) between the terminal devices and indirect communication via the roadside device, the walk-to-go communication can be performed. A terminal device capable of quickly and reliably notifying the pedestrians and drivers of vehicles of the presence of pedestrians and vehicles when pedestrians and vehicles are in a dangerous state while suppressing congestion. An object is to provide an apparatus, a communication system, and a communication method.
　本発明の端末装置は、自装置の位置情報を含むメッセージを歩車間通信で他の端末装置に送信する端末装置であって、前記他の端末装置との間で、第１の通信方式である前記歩車間通信による直接通信を行う第１の通信部と、前記他の端末装置との間で、道路に設置された路側装置を介した第２の通信方式による間接通信を行う第２の通信部と、自装置の状態に関する状態情報に基づいて、自装置が危険状態であるか否かを判定して、その判定結果に応じて、前記直接通信と前記間接通信とのいずかの通信方式を選択し、選択した通信方式で前記メッセージを前記他の端末装置に送信する制御部と、を備える構成とする。 The terminal device according to the present invention is a terminal device that transmits a message including position information of the own device to another terminal device through inter-walking communication, and is a first communication method with the other terminal device. Second communication for performing indirect communication according to a second communication method via a roadside device installed on a road between the first communication unit for performing direct communication by the inter-pedestrian communication and the other terminal device Whether or not the own device is in a dangerous state is determined based on state information on the state of the device and the own device, and either communication of the direct communication and the indirect communication is performed according to the determination result. And a controller configured to select a system and transmit the message to the other terminal device in the selected communication system.
　また、本発明の路側装置は、道路に設置されて、端末装置と通信を行う路側装置であって、前記端末装置間で行われる位置情報を含むメッセージの送受信を中継する通信部と、前記端末装置の状態に関する状態情報を前記端末装置から収集して、その状態情報に基づいて、前記端末装置が危険状態であるか否かを判定して、その判定結果に応じて、前記端末装置間による直接通信と、自装置を介した間接通信とのいずかの通信方式を選択して、選択した通信方式に関する情報を含むメッセージを、前記通信部から前記端末装置に送信する制御部と、を備える構成とする。 Further, a roadside apparatus according to the present invention is a roadside apparatus installed on a road and performing communication with a terminal device, the communication unit relaying transmission and reception of a message including position information performed between the terminal devices, and the terminal The status information on the status of the device is collected from the terminal device, and it is determined based on the status information whether or not the terminal device is in the dangerous status, and according to the determination result, the inter-terminal devices A control unit that selects one of the direct communication and the indirect communication via the own device, and transmits a message including information on the selected communication method from the communication unit to the terminal device; It has composition.
　また、本発明の通信システムは、自装置の位置情報を含むメッセージを歩車間通信で他の端末装置に送信する端末装置と、道路に設置されて、前記端末装置と通信を行う路側装置と、を備える通信システムであって、前記端末装置は、前記他の端末装置との間で、第１の通信方式である前記歩車間通信による直接通信を行う第１の通信部と、前記他の端末装置との間で、道路に設置された路側装置を介した第２の通信方式による間接通信を行う第２の通信部と、自装置の状態に関する状態情報に基づいて、自装置が危険状態であるか否かを判定して、その判定結果に応じて、前記直接通信と前記間接通信とのいずかの通信方式を選択する制御部と、を備える構成とする。 Further, the communication system of the present invention includes a terminal device for transmitting a message including position information of the own device to another terminal device by inter-walking communication, and a roadside device which is installed on a road and communicates with the terminal device. The terminal device is a communication system including: a first communication unit that performs direct communication with the other terminal device by the inter-pedal communication that is a first communication method; and the other terminal Based on the second communication unit that performs indirect communication with the device by the second communication method via the roadside device installed on the road, and the own device in a dangerous state based on the state information on the state of the own device It is determined whether or not there is any, and in accordance with the determination result, there is provided a control unit which selects one of the direct communication and the indirect communication.
　また、本発明の通信方法は、端末装置から、自装置の位置情報を含むメッセージを歩車間通信で他の端末装置に送信する通信方法であって、自装置の状態に関する状態情報に基づいて、自装置が危険状態であるか否かを判定し、その判定結果に応じて、第１の通信方式である前記歩車間通信による直接通信と、道路に設置された路側装置を介した第２の通信方式による間接通信とのいずかの通信方式を選択し、選択した通信方式で前記メッセージを前記他の端末装置に送信する構成とする。 Further, the communication method according to the present invention is a communication method in which a terminal device transmits a message including position information of the own device to another terminal device by means of inter-pedal communication, and based on state information regarding the state of the own device. It is determined whether or not the own device is in a dangerous state, and according to the determination result, direct communication by the inter-pedal communication as the first communication method and a second communication method via the roadside device installed on the road A configuration is adopted in which any communication method with indirect communication by communication method is selected, and the message is transmitted to the other terminal device by the selected communication method.
　本発明によれば、歩行者や車両の状態に応じて、端末装置間での歩車間通信（直接通信）と、路側装置を介した間接通信とを、適宜に切り替えることができるため、歩車間通信の輻輳を抑えつつ、危険状態である端末装置（歩行者や車両）の存在を、周辺の歩行者や車両の運転者に迅速にかつ確実に通知することができる。 According to the present invention, it is possible to appropriately switch between walk-to-car communication (direct communication) between the terminal devices and indirect communication via the roadside device according to the state of the pedestrian or the vehicle. It is possible to quickly and reliably notify the pedestrians and drivers of vehicles of the presence of the terminal devices (pedestrians and vehicles) in a dangerous state while suppressing congestion of communication.
第１実施形態に係る通信システムの全体構成図The whole block diagram of the communication system concerning a 1st embodiment 第１実施形態に係る歩行者端末１および車載端末３でのメッセージの送信状況を示す説明図Explanatory drawing which shows the transmission condition of the message in the pedestrian terminal 1 which concerns on 1st Embodiment, and the vehicle-mounted terminal 3. 第１実施形態に係る歩行者端末１の概略構成を示すブロック図Block diagram showing a schematic configuration of the pedestrian terminal 1 according to the first embodiment 第１実施形態に係る車載端末３の概略構成を示すブロック図Block diagram showing a schematic configuration of the on-vehicle terminal 3 according to the first embodiment 第１実施形態に係る路側機５の概略構成を示すブロック図Block diagram showing a schematic configuration of the roadside device 5 according to the first embodiment 第１実施形態に係る歩行者端末１がメッセージを送信する場合の歩行者端末１、車載端末３および路側機５の動作手順を示すフロー図Flow chart showing an operation procedure of the pedestrian terminal 1, the in-vehicle terminal 3 and the roadside device 5 when the pedestrian terminal 1 according to the first embodiment transmits a message 第１実施形態に係る車載端末３がメッセージを送信する場合の歩行者端末１、車載端末３および路側機５の動作手順を示すフロー図Flow chart showing an operation procedure of the pedestrian terminal 1, the in-vehicle terminal 3 and the roadside device 5 when the in-vehicle terminal 3 according to the first embodiment transmits a message 第１実施形態に係る歩行者端末１および車載端末３で行われる通信方式選択の手順を示すフロー図Flow chart showing the procedure of communication system selection performed by the pedestrian terminal 1 and the on-vehicle terminal 3 according to the first embodiment 第２実施形態に係る歩行者端末１および車載端末３におけるメッセージの送信状況を示す説明図Explanatory drawing which shows the transmission condition of the message in the pedestrian terminal 1 which concerns on 2nd Embodiment, and the vehicle-mounted terminal 3 第２実施形態に係る歩行者端末１および車載端末３におけるメッセージの送信状況を示す説明図Explanatory drawing which shows the transmission condition of the message in the pedestrian terminal 1 which concerns on 2nd Embodiment, and the vehicle-mounted terminal 3 第２実施形態に係る歩行者端末１で行われる通信方式選択の手順を示すフロー図Flow chart showing a procedure of communication method selection performed by the pedestrian terminal 1 according to the second embodiment 第３実施形態に係る歩行者端末１および車載端末３におけるメッセージの送信状況を示す説明図Explanatory drawing which shows the transmission condition of the message in the pedestrian terminal 1 which concerns on 3rd Embodiment, and the vehicle-mounted terminal 3. 第３実施形態に係る歩行者端末１で行われる通信方式選択の手順を示すフロー図The flowchart which shows the procedure of communication system selection which is done with pedestrian terminal 1 which relates to 3rd execution form 第４実施形態に係る歩行者端末１および車載端末３におけるメッセージの送信状況を示す説明図Explanatory drawing which shows the transmission condition of the message in the pedestrian terminal 1 which concerns on 4th Embodiment, and the vehicle-mounted terminal 3. 第４実施形態に係る車載端末３で行われる通信方式選択の手順を示すフロー図Flow chart showing the procedure of communication system selection performed by the on-vehicle terminal 3 according to the fourth embodiment 第５実施形態に係る歩行者端末１および車載端末３におけるメッセージの送信状況を示す説明図Explanatory drawing which shows the transmission condition of the message in the pedestrian terminal 1 which concerns on 5th Embodiment, and the vehicle-mounted terminal 3. 第５実施形態に係る歩行者端末１で行われる通信方式選択の手順を示すフロー図Flow chart showing a procedure of communication method selection performed by the pedestrian terminal 1 according to the fifth embodiment 第６実施形態に係る歩行者端末１および車載端末３におけるメッセージの送信状況を示す説明図Explanatory drawing which shows the transmission condition of the message in the pedestrian terminal 1 which concerns on 6th Embodiment, and the vehicle-mounted terminal 3. 第６実施形態に係る歩行者端末１で行われる通信方式選択の手順を示すフロー図The flowchart showing the procedure of the communication system selection performed in the pedestrian terminal 1 according to the sixth embodiment 第７実施形態に係る歩行者端末１および車載端末３におけるメッセージの送信状況を示す説明図Explanatory drawing which shows the transmission condition of the message in the pedestrian terminal 1 which concerns on 7th Embodiment, and the vehicle-mounted terminal 3 第７実施形態に係る優先度テーブルの登録内容を示す説明図Explanatory drawing which shows the registration content of the priority table which concerns on 7th Embodiment. 第７実施形態に係る車載端末３で行われる通信方式選択の手順を示すフロー図7 is a flowchart showing the procedure of communication system selection performed by the on-vehicle terminal 3 according to the seventh embodiment 第８実施形態に係る路側機５の概略構成を示すブロック図Block diagram showing a schematic configuration of the roadside device 5 according to the eighth embodiment
　前記課題を解決するためになされた第１の発明は、自装置の位置情報を含むメッセージを歩車間通信で他の端末装置に送信する端末装置であって、前記他の端末装置との間で、第１の通信方式である前記歩車間通信による直接通信を行う第１の通信部と、前記他の端末装置との間で、道路に設置された路側装置を介した第２の通信方式による間接通信を行う第２の通信部と、自装置の状態に関する状態情報に基づいて、自装置が危険状態であるか否かを判定して、その判定結果に応じて、前記直接通信と前記間接通信とのいずかの通信方式を選択し、選択した通信方式で前記メッセージを前記他の端末装置に送信する制御部と、を備える構成とする。 A first invention made to solve the above-mentioned problems is a terminal apparatus for transmitting a message including position information of the own apparatus to another terminal apparatus by inter-pedal communication, and it is possible to communicate with the other terminal apparatus. A second communication method via a roadside device installed on the road between the first communication unit performing direct communication by the inter-pedal communication, which is the first communication method, and the other terminal device It is determined whether or not the own device is in the dangerous state based on the second communication unit performing indirect communication and the state information on the state of the own device, and the direct communication and the indirect are determined according to the determination result. And a controller configured to select one of communication methods and to transmit the message to the other terminal device according to the selected communication method.
　これによると、歩行者や車両の状態に応じて、端末装置間での歩車間通信（直接通信）と、路側装置を介した間接通信とを、適宜に切り替えることができるため、歩車間通信の輻輳を抑えつつ、危険状態である端末装置（歩行者や車両）の存在を、周辺の歩行者や車両の運転者に迅速にかつ確実に通知することができる。 According to this, according to the state of the pedestrian or the vehicle, since it is possible to appropriately switch between the walk-to-car communication (direct communication) between the terminal devices and the indirect communication via the roadside device, It is possible to quickly and surely notify the pedestrians and drivers of vehicles of the presence of the terminal devices (pedestrians and vehicles) in a dangerous state while suppressing the congestion.
　また、第２の発明は、前記制御部は、前記状態情報に基づいて、自装置のユーザが所定の危険行動をとったことを検知した場合に、危険状態と判定する構成とする。 Further, in the second invention, the control unit determines that the user is in the dangerous state when detecting that the user of the own device has taken a predetermined dangerous action based on the state information.
　これによると、危険行動をとる歩行者の存在を、周辺の歩行者や車両の運転者に迅速にかつ確実に通知することができる。 According to this, it is possible to promptly and surely notify the pedestrians in the vicinity and the driver of the vehicle of the presence of the pedestrian taking the dangerous action.
　また、第３の発明は、前記制御部は、前記状態情報に基づいて、自装置が設けられた車両が所定の危険走行を行ったことを検知した場合に、危険状態と判定する構成とする。 Further, according to the third invention, the control unit determines that the vehicle is provided with the vehicle according to the dangerous condition when detecting that the vehicle provided with the own device has performed a predetermined danger based on the state information. .
　これによると、危険走行を行う車両の存在を、周辺の歩行者や車両の運転者に迅速にかつ確実に通知することができる。 According to this, it is possible to promptly and surely notify the pedestrians in the vicinity and the driver of the vehicle of the presence of the vehicle which is driving in danger.
　また、第４の発明は、前記制御部は、前記状態情報に基づいて、自装置が所定の危険エリア内に位置する場合に、危険状態と判定する構成とする。 Further, according to a fourth aspect of the invention, the control unit is configured to determine the dangerous state when the own device is positioned in a predetermined dangerous area based on the state information.
　これによると、危険エリア内に位置する歩行者の存在を、周辺の歩行者や車両の運転者に迅速にかつ確実に通知することができる。 According to this, it is possible to promptly and surely notify the pedestrians in the vicinity and the driver of the vehicle of the presence of the pedestrians located in the danger area.
　また、第５の発明は、前記制御部は、前記状態情報に基づいて、自装置が所定値以上の速度で移動している場合に、危険状態と判定する構成とする。 Further, according to a fifth aspect of the present invention, the control unit determines that the vehicle is in the dangerous state when the own device is moving at a speed equal to or higher than a predetermined value based on the state information.
　これによると、高速で移動する端末装置（歩行者や車両）の存在を、周辺の歩行者や車両の運転者に迅速にかつ確実に通知することができる。 According to this, it is possible to promptly and surely notify the pedestrians and drivers of the vehicles of the presence of the terminal device (pedestrian or vehicle) moving at high speed.
　また、第６の発明は、前記制御部は、自装置の位置情報と地図情報とに基づいて、自装置が特定エリア内に位置するか否かを判定して、その判定結果に応じて通信方式を選択する構成とする。 Further, in the sixth invention, the control unit determines whether or not the own device is located in the specific area based on the position information of the own device and the map information, and the communication is performed according to the determination result. It is assumed that the method is selected.
　これによると、特定エリア内に端末装置が多数存在する場合でも、歩車間通信（直接通信）の輻輳を抑えることができる。 According to this, even when there are a large number of terminal devices in the specific area, it is possible to suppress the congestion of the inter-pedal communication (direct communication).
　また、第７の発明は、前記制御部は、前記特定エリアとして、所定条件の交差点の周辺エリア、踏切の周辺エリア、および特定車両の停車場の周辺エリアのいずれかに自装置が位置するか否かを判定する構成とする。 In the seventh aspect of the present invention, the control unit determines, as the specific area, whether or not the own device is located in any of an area around an intersection under a predetermined condition, an area around a level crossing, and an area around a stop of a specific vehicle. To determine whether the
　これによると、構造物で歩道と車道とが分離されているなどの所定条件を満たす交差点の周辺エリア、踏切での一旦停止のため車両が徐行運転する踏切の周辺エリアは、危険性が低くなるため、このような危険性が低い特定エリア内に位置する端末装置を間接通信としても、安全性の低下を避けることができる。また、特定車両の停車場の周辺エリアは間接通信として、路側装置が、歩行者の端末装置から受信した情報により、バスに乗車しようとしている人か否かを識別することができるため、バスに乗車しようとしている人が飛び出しや道路横断をしようとしている危険性の高い人と誤認識されることを避けることができる。 According to this, the area around the intersection that meets the predetermined conditions such as the sidewalk and the driveway being separated by the structure, and the area around the level crossing where the vehicle runs slowly due to a temporary stop at the level crossing, the risk decreases. Therefore, even if terminal devices located in a specific area where such a risk is low are used as indirect communication, it is possible to avoid a drop in security. In addition, it is possible to identify whether the roadside device is a person who is about to get on the bus or not by indirect communication as indirect communication, and it is possible to get on the bus as indirect communication in the area around the stop of the specific vehicle. It can be avoided that a person who is trying to jump out or is mistakenly recognized as a person at high risk who is going to cross the road.
　また、第８の発明は、前記制御部は、自装置が前記特定エリアとしての踏切の周辺エリア内に位置する場合に、遮断機の制御装置から取得した遮断機の動作情報に基づいて、遮断機が通行禁止状態であるか否かを判定して、その判定結果に応じて通信方式を選択する構成とする。 Further, in the eighth invention, when the control unit is located in the peripheral area of the crossing as the specific area, the control unit shuts off based on the operation information of the circuit breaker acquired from the control device of the circuit breaker. It is determined whether or not the aircraft is in a no-traffic state, and the communication method is selected according to the determination result.
　これによると、遮断機が通行禁止状態である場合には、踏切の周辺エリアは、車両が一旦停止のため徐行するので危険性が低くなるため、踏切の周辺エリア内に位置する端末装置を間接通信としても、安全性の低下を避けることができる。 According to this, when the circuit breaker is in the traffic prohibited state, the area around the level crossing is low in risk because the vehicle is temporarily stopped because it is temporarily stopped, so the terminal devices located in the area around the level crossing are indirectly As for communication, it is possible to avoid the decrease in safety.
　また、第９の発明は、前記制御部は、自装置が前記特定エリアとしての特定車両の停車場の周辺エリア内に位置する場合に、前記他の端末装置から受信したメッセージに含まれる他車両の属性情報および位置情報と地図情報とに基づいて、前記特定車両が前記停車場から所定距離以内まで近づいているか否かを判定して、その判定結果に応じて通信方式を選択する構成とする。 Further, according to a ninth aspect of the invention, in the case where the control unit is located in an area around the stop of the specific vehicle as the specific area, the control unit is configured to receive the other vehicle from the message received from the other terminal Based on the attribute information, the position information, and the map information, it is determined whether or not the specific vehicle is approaching within a predetermined distance from the stop, and a communication scheme is selected according to the determination result.
　これによると、直接通信を選択することで、特定車両が停車場に接近していることを、停車場の周辺にいる歩行者や車両の運転者に迅速にかつ確実に通知することができる。 According to this, by selecting the direct communication, it is possible to notify the pedestrian and the driver of the vehicle in the vicinity of the stop quickly and surely that the specific vehicle is approaching the stop.
　また、第１０の発明は、前記制御部は、前記他の端末装置から受信したメッセージに含まれる通信方式情報に基づいて、自装置の周辺に既に前記直接通信を行っている他の端末装置が存在するか否かを判定して、その判定結果に応じて通信方式を選択する構成とする。 In a tenth aspect of the present invention, the control unit is configured such that another terminal device already performing the direct communication around the own device based on communication method information included in the message received from the other terminal device. It is determined whether or not it exists, and the communication scheme is selected according to the determination result.
　これによると、先に直接通信を開始した端末装置の直接通信を優先して、他の端末装置の直接通信を制限することで、歩車間通信（直接通信）の輻輳を抑えることができる。 According to this, it is possible to suppress the congestion of the inter-pedestrian communication (direct communication) by restricting direct communication of the other terminal device by prioritizing direct communication of the terminal device that has started direct communication first.
　また、第１１の発明は、前記制御部は、前記他の端末装置からから受信したメッセージに含まれる位置情報および属性情報に基づいて、自装置の所定距離以内に特定車両が存在するか否かを判定して、その判定結果に応じて通信方式を選択する構成とする。 Further, in the eleventh invention, whether the specific vehicle exists within a predetermined distance of the own device based on the position information and the attribute information included in the message received from the other terminal device. The communication system is selected according to the determination result.
　これによると、緊急車両などの特定車両に設けられた端末装置の直接通信を優先して、他の端末装置の直接通信を制限することで、歩車間通信（直接通信）の輻輳を抑えるとともに、特定車両の存在を迅速にかつ確実に周辺の歩行者や車両の運転者に通知することができる。 According to this, priority is given to direct communication of a terminal device provided in a specific vehicle such as an emergency vehicle, and direct communication of another terminal device is restricted, thereby suppressing congestion of inter-pedal communication (direct communication). The presence of a specific vehicle can be notified to surrounding pedestrians and drivers of vehicles quickly and reliably.
　また、第１２の発明は、前記制御部は、前記他の端末装置から受信したメッセージに含まれる属性情報に基づいて、自装置の周辺に存在する前記他の端末装置の種別を判別して、その種別に応じた優先度に基づいて通信方式を選択する構成とする。 In the twelfth invention, the control unit determines the type of the other terminal device existing in the periphery of the own device based on attribute information included in the message received from the other terminal device, The communication scheme is selected based on the priority according to the type.
　これによると、優先度が高い端末装置の直接通信を優先して、他の端末装置の直接通信を制限することで、歩車間通信（直接通信）の輻輳を抑えるとともに、優先度が高い端末装置の存在を迅速にかつ確実に周辺の歩行者や車両の運転者に通知することができる。 According to this, priority is given to direct communication of a terminal device with high priority, and direct communication of another terminal device is restricted, thereby suppressing congestion of inter-pedal communication (direct communication), and a terminal device with high priority. It is possible to notify nearby pedestrians and drivers of vehicles of the presence of the vehicle quickly and reliably.
　また、第１３の発明は、道路に設置されて、端末装置と通信を行う路側装置であって、前記端末装置間で行われる位置情報を含むメッセージの送受信を中継する通信部と、前記端末装置の状態に関する状態情報を前記端末装置から収集して、その状態情報に基づいて、前記端末装置が危険状態であるか否かを判定して、その判定結果に応じて、前記端末装置間による直接通信と、自装置を介した間接通信とのいずかの通信方式を選択して、選択した通信方式に関する情報を含むメッセージを、前記通信部から前記端末装置に送信する制御部と、を備える構成とする。 A thirteenth invention is a roadside apparatus installed on a road to communicate with a terminal device, the communication unit relaying transmission and reception of a message including position information performed between the terminal devices, and the terminal device Status information related to the status of the terminal is collected from the terminal device, and it is determined whether the terminal device is in a dangerous status based on the status information, and direct communication between the terminal devices is performed according to the determination result A control unit configured to select one of the communication method and the indirect communication via the own device and transmit a message including information on the selected communication method from the communication unit to the terminal device Configure
　これによると、第１の発明と同様に、歩行者や車両の状態に応じて、端末装置間での歩車間通信（直接通信）と、路側装置を介した間接通信とを、適宜に切り替えることで、歩車間通信の輻輳を抑えつつ、歩行者や車両が危険状態である場合に、その歩行者や車両の存在を、周辺の歩行者や車両の運転者に迅速にかつ確実に通知することができる。 According to this, as in the first aspect of the invention, according to the state of the pedestrian or the vehicle, appropriately switching between the walk-to-car communication (direct communication) between the terminal devices and the indirect communication via the roadside device In the case where the pedestrian or vehicle is in a dangerous state while suppressing the congestion of the walk-to-car communication, the pedestrian or vehicle driver in the vicinity is promptly and surely notified of the presence of the pedestrian or the vehicle. Can.
　また、第１４の発明は、道路に設置されて、端末装置と通信を行う路側装置であって、前記端末装置間で行われる位置情報を含むメッセージの送受信を第１の通信方式である路車間通信で中継する第１の通信部と、前記端末装置間で行われる位置情報を含むメッセージの送受信を前記第１の通信方式とは異なる第２の通信方式で中継する第２の通信部と、前記端末装置の位置情報を含むメッセージを前記端末装置から受信したとき、前記端末装置の種別に応じて、前記第１の通信部と、前記第２の通信部とのいずれかを選択して、前記端末装置の位置情報を含むメッセージを他の端末装置に中継する制御部と、を備える構成とする。 A fourteenth invention is a roadside apparatus installed on a road to communicate with a terminal device, and transmitting and receiving a message including position information performed between the terminal devices is a first communication method between road vehicles A first communication unit relaying by communication, and a second communication unit relaying transmission and reception of a message including position information performed between the terminal devices by a second communication method different from the first communication method; When a message including position information of the terminal device is received from the terminal device, either the first communication unit or the second communication unit is selected according to the type of the terminal device, And a controller configured to relay a message including position information of the terminal device to another terminal device.
　これによると、端末装置が歩行者端末であるか車載端末であるかの種別に応じて、路側装置から端末装置に送信する通信方式を適宜に切り替えることで、歩車間通信の輻輳を抑えつつ、複数の通信方式で路側装置から端末装置に対して、その歩行者や車両の存在を、周辺の歩行者や車両の運転者に迅速にかつ確実に通知することができる。 According to this, according to the type of whether the terminal device is a pedestrian terminal or an on-vehicle terminal, by switching the communication method to be transmitted from the roadside device to the terminal device appropriately, while suppressing the congestion between the walking vehicle, The roadside apparatus can notify the pedestrians and the drivers of the surrounding vehicles of the existence of the pedestrians and vehicles to the terminal equipment quickly and reliably by a plurality of communication methods.
　また、第１５の発明は、自装置の位置情報を含むメッセージを歩車間通信で他の端末装置に送信する端末装置と、道路に設置されて、前記端末装置と通信を行う路側装置と、を備える通信システムであって、前記端末装置は、前記他の端末装置との間で、第１の通信方式である前記歩車間通信による直接通信を行う第１の通信部と、前記他の端末装置との間で、道路に設置された路側装置を介した第２の通信方式による間接通信を行う第２の通信部と、自装置の状態に関する状態情報に基づいて、自装置が危険状態であるか否かを判定して、その判定結果に応じて、前記直接通信と前記間接通信とのいずかの通信方式を選択する制御部と、を備える構成とする。 In a fifteenth invention, a terminal device for transmitting a message including position information of the own device to another terminal device by walk-to-vehicle communication, and a roadside device installed on a road and communicating with the terminal device The communication system, wherein the terminal device is a first communication unit that performs direct communication with the other terminal device by the inter-pedal communication that is a first communication method, and the other terminal device Based on the second communication unit performing indirect communication according to the second communication method via the roadside apparatus installed on the road, and the own apparatus in a dangerous state based on the state information on the state of the own apparatus It is determined whether or not it is determined, and a control unit configured to select one of the direct communication and the indirect communication according to the determination result.
　これによると、第１の発明と同様に、歩行者や車両の状態に応じて、端末装置間での歩車間通信（直接通信）と、路側装置を介した間接通信とを、適宜に切り替えることで、歩車間通信の輻輳を抑えつつ、歩行者や車両が危険状態である場合に、その歩行者や車両の存在を、周辺の歩行者や車両の運転者に迅速にかつ確実に通知することができる。 According to this, as in the first aspect of the invention, according to the state of the pedestrian or the vehicle, appropriately switching between the walk-to-car communication (direct communication) between the terminal devices and the indirect communication via the roadside device In the case where the pedestrian or vehicle is in a dangerous state while suppressing the congestion of the walk-to-car communication, the pedestrian or vehicle driver in the vicinity is promptly and surely notified of the presence of the pedestrian or the vehicle. Can.
　また、第１６の発明は、端末装置から、自装置の位置情報を含むメッセージを歩車間通信で他の端末装置に送信する通信方法であって、自装置の状態に関する状態情報に基づいて、自装置が危険状態であるか否かを判定し、その判定結果に応じて、第１の通信方式である前記歩車間通信による直接通信と、道路に設置された路側装置を介した第２の通信方式による間接通信とのいずかの通信方式を選択し、選択した通信方式で前記メッセージを前記他の端末装置に送信する構成とする。 The sixteenth invention is a communication method in which a terminal device transmits a message including position information of the own device to another terminal device by means of inter-pedal communication, and based on the state information on the own device state, It is determined whether or not the device is in a dangerous state, and according to the determination result, the first communication method, the direct communication by the inter-pedal communication, and the second communication via the roadside device installed on the road. The communication system is selected to be any communication system with the indirect communication according to the system, and the message is transmitted to the other terminal apparatus by the selected communication system.
　これによると、第１の発明と同様に、歩行者や車両の状態に応じて、端末装置間での歩車間通信（直接通信）と、路側装置を介した間接通信とを、適宜に切り替えることで、歩車間通信の輻輳を抑えつつ、歩行者や車両が危険状態である場合に、その歩行者や車両の存在を、周辺の歩行者や車両の運転者に迅速にかつ確実に通知することができる。 According to this, as in the first aspect of the invention, according to the state of the pedestrian or the vehicle, appropriately switching between the walk-to-car communication (direct communication) between the terminal devices and the indirect communication via the roadside device In the case where the pedestrian or vehicle is in a dangerous state while suppressing the congestion of the walk-to-car communication, the pedestrian or vehicle driver in the vicinity is promptly and surely notified of the presence of the pedestrian or the vehicle. Can.
　また、第１７の発明は、道路に設置されて、端末装置と通信を行う路側装置の通信方法であって、前記端末装置間で行われる位置情報を含むメッセージの送受信を中継し、前記端末装置から収集した前記端末装置の状態に関する状態情報に基づいて、前記端末装置が危険状態であるか否かを判定し、その判定結果に応じて、前記端末装置間による直接通信と、自装置を介した間接通信とのいずかの通信方式を選択し、選択した通信方式に関する情報を含むメッセージを前記端末装置に送信する構成とする。 A seventeenth invention is a communication method of a roadside apparatus installed on a road to communicate with a terminal device, relaying transmission and reception of a message including position information performed between the terminal devices, the terminal device Whether the terminal device is in a dangerous state or not is determined based on the state information on the state of the terminal device collected from the device, and direct communication between the terminal devices and the own device are performed according to the determination result. The communication system according to any one of the above-described indirect communication is selected, and a message including information on the selected communication system is transmitted to the terminal device.
　これによると、第１の発明と同様に、歩行者や車両の状態に応じて、端末装置間での歩車間通信（直接通信）と、路側装置を介した間接通信とを、適宜に切り替えることで、歩車間通信の輻輳を抑えつつ、歩行者や車両が危険状態である場合に、その歩行者や車両の存在を、周辺の歩行者や車両の運転者に迅速にかつ確実に通知することができる。 According to this, as in the first aspect of the invention, according to the state of the pedestrian or the vehicle, appropriately switching between the walk-to-car communication (direct communication) between the terminal devices and the indirect communication via the roadside device In the case where the pedestrian or vehicle is in a dangerous state while suppressing the congestion of the walk-to-car communication, the pedestrian or vehicle driver in the vicinity is promptly and surely notified of the presence of the pedestrian or the vehicle. Can.
　また、第１８の発明は、道路に設置されて、端末装置間で行われる位置情報を含むメッセージの送受信の中継を行う路側装置の通信方法であって、前記端末装置の位置情報を含むメッセージを前記端末装置から受信したとき、前記端末装置の種別に応じて、第１の通信方式である路車間通信または前記第１の通信方式とは異なる第２の通信方式のいずれかを選択して、前記端末装置の位置情報を含むメッセージを他の端末装置に中継する構成とする。 The eighteenth invention is a communication method of a roadside apparatus installed on a road and relaying transmission and reception of a message including position information performed between the terminal apparatuses, the message including the position information of the terminal apparatus According to the type of the terminal device, when receiving from the terminal device, either the first communication method road-vehicle communication or the second communication method different from the first communication method is selected, A message including position information of the terminal device is relayed to another terminal device.
　これによると、第１の発明と同様に、歩行者や車両の状態に応じて、端末装置間での歩車間通信（直接通信）と、路側装置を介した間接通信とを、適宜に切り替えることで、歩車間通信の輻輳を抑えつつ、歩行者や車両が危険状態である場合に、その歩行者や車両の存在を、周辺の歩行者や車両の運転者に迅速にかつ確実に通知することができる。 According to this, as in the first aspect of the invention, according to the state of the pedestrian or the vehicle, appropriately switching between the walk-to-car communication (direct communication) between the terminal devices and the indirect communication via the roadside device In the case where the pedestrian or vehicle is in a dangerous state while suppressing the congestion of the walk-to-car communication, the pedestrian or vehicle driver in the vicinity is promptly and surely notified of the presence of the pedestrian or the vehicle. Can.
　以下、本発明の実施の形態を、図面を参照しながら説明する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
（第１実施形態）
　図１は、第１実施形態に係る通信システムの全体構成図である。 First Embodiment
FIG. 1 is an overall configuration diagram of a communication system according to the first embodiment.
　この通信システムは、歩行者が携帯する歩行者端末１（端末装置）および携帯情報端末２と、車両に搭載される車載端末３（端末装置）およびカーナビゲーション装置４と、路側機５（路側装置）と、を備えており、歩行者端末１と車載端末３との間で歩車間通信が行われ、また、路側機５を介して歩行者端末１と車載端末３との間でＷｉＦｉ（登録商標）などの無線ＬＡＮ通信が行われる。 This communication system includes a pedestrian terminal 1 (terminal device) and a portable information terminal 2 carried by a pedestrian, an on-vehicle terminal 3 (terminal device) and a car navigation device 4 mounted on a vehicle, and a roadside device 5 (roadside device Between the pedestrian terminal 1 and the in-vehicle terminal 3, and WiFi (registration between the pedestrian terminal 1 and the in-vehicle terminal 3 via the roadside device 5). Wireless LAN communication such as trademark is performed.
　歩車間通信では、位置情報などの所要の情報を含むメッセージを、歩行者端末１と車載端末３との間で送受信する。この歩車間通信では、ＩＴＳ無線通信、すなわち、ＩＴＳ（Intelligent Transport System：高度道路交通システム）を利用した安全運転支援無線システムで採用されている周波数帯（例えば７００ＭＨｚ帯や５．８ＧＨｚ帯）を利用した無線通信によりメッセージを送受信する。 In inter-pedal communication, a message including required information such as position information is transmitted and received between the pedestrian terminal 1 and the on-vehicle terminal 3. In this inter-pedestrian communication, use a frequency band (for example, 700 MHz band or 5.8 GHz band) adopted in ITS wireless communication, that is, a safe driving support wireless system using ITS (Intelligent Transport System: Intelligent Transport System). Send and receive messages by wireless communication.
　無線ＬＡＮ通信では、路側機５が親機（アクセスポイント）となり、歩行者端末１および車載端末３が子機となり、歩行者端末１と車載端末３との間でのメッセージの送受信を路側機５が中継する。なお、メッセージの形式および内容は、歩車間通信と無線ＬＡＮ通信とで共通である。 In the wireless LAN communication, the roadside device 5 becomes a master (access point), the pedestrian terminal 1 and the on-vehicle terminal 3 become slaves, and the roadside device 5 transmits and receives messages between the pedestrian terminal 1 and the on-vehicle terminal 3 Will relay. The format and content of the message are common to the inter-vehicle communication and the wireless LAN communication.
　歩行者端末１は、携帯情報端末２と接続されている。この携帯情報端末２は、スマートフォン、携帯電話、タブレット端末、ウェアラブル端末などである。歩行者端末１では、車載端末３との間でメッセージを送受信することで、注意喚起が必要と判定すると、携帯情報端末２に注意喚起の指示を出力し、携帯情報端末２では、歩行者端末１からの指示に応じて、乗員に対する注意喚起の出力動作（例えば音声出力や振動など）を行う。 The pedestrian terminal 1 is connected to the portable information terminal 2. The portable information terminal 2 is a smartphone, a mobile phone, a tablet terminal, a wearable terminal, or the like. The pedestrian terminal 1 transmits and receives a message to and from the in-vehicle terminal 3, and when it is determined that the alerting is necessary, outputs an instruction for alerting to the portable information terminal 2, and in the portable information terminal 2, the pedestrian terminal In response to an instruction from 1, an output operation (for example, voice output, vibration, etc.) of alerting the occupant is performed.
　車載端末３は、カーナビゲーション装置４と接続されている。このカーナビゲーション装置４は、運転者に対して経路案内を行うものである。車載端末３では、歩行者端末１との間でメッセージを送受信することで、注意喚起が必要と判定すると、カーナビゲーション装置４に注意喚起の指示を出力し、カーナビゲーション装置４では、車載端末３からの指示に応じて、運転者注意喚起の出力動作（例えば音声出力や画面表示など）を行う。 The in-vehicle terminal 3 is connected to the car navigation device 4. The car navigation device 4 provides route guidance to the driver. The on-vehicle terminal 3 transmits and receives a message to and from the pedestrian terminal 1 to output a warning instruction to the car navigation device 4 when it is determined that the warning is necessary. In response to an instruction from the driver, an output operation (for example, voice output, screen display, etc.) of the driver alert is performed.
　なお、歩行者端末１は、携帯情報端末２に内蔵されたものとしてもよく、車載端末３は、カーナビゲーション装置４に内蔵されたものとしてもよい。 The pedestrian terminal 1 may be built in the portable information terminal 2, and the on-vehicle terminal 3 may be built in the car navigation device 4.
　また、歩行者端末１自身が注意喚起の出力動作を行うものとしてもよい。また、車載端末３自身が注意喚起の出力動作を行うものとしてもよい。また、車載端末３が、運転者が所持する携帯情報端末２と通信を行い、運転者に対する注意喚起の出力動作を携帯情報端末２に行わせるようにしてもよい。 Further, the pedestrian terminal 1 itself may perform an alerting output operation. In addition, the on-vehicle terminal 3 may perform the alerting output operation. In addition, the on-vehicle terminal 3 may communicate with the portable information terminal 2 possessed by the driver to cause the portable information terminal 2 to perform an alerting operation for the driver.
　路側機５は、交差点の信号機の近傍など、歩行者や車両が多く、歩行者端末１や車載端末３での歩車間通信の輻輳が発生しやすい地点に設置される。 The roadside device 5 is installed at a point where there are many pedestrians and vehicles, such as the vicinity of a traffic light at an intersection, and congestion between the pedestrian terminal 1 and the on-vehicle terminal 3 tends to occur.
　次に、第１実施形態に係る歩行者端末１および車載端末３におけるメッセージの送信状況について説明する。図２は、歩行者端末１および車載端末３におけるメッセージの送信状況を示す説明図である。 Next, the transmission situation of the message in pedestrian terminal 1 and in-vehicle terminal 3 concerning a 1st embodiment is explained. FIG. 2 is an explanatory view showing a transmission state of a message in the pedestrian terminal 1 and the on-vehicle terminal 3.
　本実施形態では、歩行者端末１および車載端末３において、メッセージを送信するための通信方式として、歩車間通信により歩行者端末１と車載端末３との間で直接メッセージを送受信する直接通信と、路側機５を介した無線ＬＡＮ通信により歩行者端末１と車載端末３との間でメッセージを送受信する間接通信とのいずかを選択することができる。 In this embodiment, direct communication in which messages are directly transmitted and received between the pedestrian terminal 1 and the on-vehicle terminal 3 by the inter-pedal communication as a communication method for transmitting a message in the pedestrian terminal 1 and the on-vehicle terminal 3; It is possible to select any of indirect communication for transmitting and receiving messages between the pedestrian terminal 1 and the on-vehicle terminal 3 by wireless LAN communication via the roadside device 5.
　なお、ＩＴＳでは、所定間隔（例えば１００ｍｓ）で定期的にメッセージを送信するようにしており、直接通信および間接通信のいずれの通信方式でも、メッセージの送信タイミングは同一である。 In the ITS, a message is periodically transmitted at a predetermined interval (for example, 100 ms), and the transmission timing of the message is the same in both the direct communication and the indirect communication.
　ここで、歩行者端末１や車載端末３が路側機５の通信圏外に位置する場合には、路側機５を介した間接通信ができないため、直接通信が選択される。一方、歩行者端末１や車載端末３が路側機５の通信圏内に入って間接通信が可能になると、直接通信から間接通信に切り替えられる。 Here, when the pedestrian terminal 1 or the on-vehicle terminal 3 is located outside the communication area of the roadside device 5, direct communication is selected because indirect communication via the roadside device 5 can not be performed. On the other hand, when the pedestrian terminal 1 or the on-vehicle terminal 3 enters the communication range of the roadside device 5 and indirect communication becomes possible, direct communication is switched to indirect communication.
　また、本実施形態では、歩行者端末１において、歩行者の状態に応じて通信方式（直接通信または間接通信）を選択する。特に本実施形態では、歩行者が危険状態であるか否かを判定して、その判定結果に応じて通信方式を選択する。 Further, in the present embodiment, the pedestrian terminal 1 selects a communication method (direct communication or indirect communication) according to the state of the pedestrian. In the present embodiment, in particular, it is determined whether the pedestrian is in a dangerous state, and the communication method is selected according to the determination result.
　すなわち、図２（Ａ－１）に示すように、歩行者が危険状態でない場合には、間接通信が選択され、無線ＬＡＮ通信により路側機５を介して歩行者端末１から車載端末３にメッセージが送信される。一方、図２（Ａ－２）に示すように、歩行者が危険状態となると、間接通信から直接通信に切り替えられ、歩車間通信により歩行者端末１から車載端末３にメッセージが直接送信される。 That is, as shown in FIG. 2 (A-1), when the pedestrian is not in the dangerous state, indirect communication is selected, and a message is sent from the pedestrian terminal 1 to the on-vehicle terminal 3 via the roadside device 5 by wireless LAN communication. Is sent. On the other hand, as shown in FIG. 2 (A-2), when the pedestrian is in a dangerous state, the indirect communication is switched to direct communication, and a message is directly transmitted from the pedestrian terminal 1 to the on-vehicle terminal 3 by walk-to-vehicle communication. .
　ここで、本実施形態では、飛び出しや転倒などの歩行者の危険行動を検知した場合に、歩行者が危険状態と判定する。 Here, in the present embodiment, when a pedestrian's dangerous behavior such as jumping out or falling is detected, the pedestrian is determined to be in a dangerous state.
　また、本実施形態では、歩行者が危険エリアに進入した場合に、歩行者が危険状態と判定する。なお、危険エリアとは、例えば、歩道と車道とを分離する防護構造物がない歩道における車道寄りのエリアや、事故が多発している危険な交差点の周辺エリアなど危険性の高い任意のエリアであり、予め地図情報に設定されているものとする。 Further, in the present embodiment, when the pedestrian enters the danger area, the pedestrian is determined to be in the danger state. The dangerous area is, for example, an area near the driveway on a sidewalk without a protective structure separating the sidewalk and the driveway, or an area with high risk such as an area around a dangerous intersection where accidents frequently occur. It is assumed that the map information is set in advance.
　また、本実施形態では、歩行者端末１の所持者が自転車やバイクに乗車するなどして、歩行者が所定値（通常の歩行とみなされる速度の上限値）以上の速度で移動している場合に、歩行者が危険状態と判定する。 Further, in the present embodiment, the owner of the pedestrian terminal 1 rides on a bicycle or a motorcycle, and the pedestrian is moving at a speed equal to or higher than a predetermined value (the upper limit value of the speed regarded as normal walking). In this case, it is determined that the pedestrian is in danger.
　また、本実施形態では、歩行者が、子供、高齢者、認知症患者など、危険行動をとる可能性が高い人物である場合に、歩行者が危険状態と判定する。 Further, in the present embodiment, when the pedestrian is a person having a high possibility of taking a risk action, such as a child, an elderly person, or a patient with dementia, the pedestrian is determined to be in the risk state.
　また、本実施形態では、車載端末３において、車両の状態に応じて通信方式（直接通信または間接通信）を選択する。特に本実施形態では、車両が危険状態であるか否かを判定して、その判定結果に応じて通信方式を選択する。 Further, in the present embodiment, the communication method (direct communication or indirect communication) is selected in the on-vehicle terminal 3 in accordance with the state of the vehicle. In particular, in the present embodiment, it is determined whether the vehicle is in a dangerous state, and the communication method is selected according to the determination result.
　すなわち、図２（Ｂ－２）に示すように、車両が危険状態でない場合には、間接通信が選択され、無線ＬＡＮ通信により路側機５を介して車載端末３から歩行者端末１にメッセージが送信される。一方、図２（Ｂ－１）に示すように、車両が危険状態となると、間接通信から直接通信に切り替えられ、歩車間通信により車載端末３から歩行者端末１にメッセージが直接送信される。 That is, as shown in FIG. 2 (B-2), when the vehicle is not in a dangerous state, indirect communication is selected, and a message is transmitted from the on-board terminal 3 to the pedestrian terminal 1 via the roadside device 5 by wireless LAN communication. Will be sent. On the other hand, as shown in FIG. 2 (B-1), when the vehicle is in a dangerous state, the indirect communication is switched to direct communication, and a message is directly transmitted from the on-vehicle terminal 3 to the pedestrian terminal 1 by walk-to-vehicle communication.
　ここで、本実施形態では、車両が所定値（通常の走行とみなされる速度の上限値）以上の速度で移動している場合に、車両が危険状態と判定する。 Here, in the present embodiment, when the vehicle is moving at a speed equal to or higher than a predetermined value (upper limit value of the speed regarded as normal traveling), the vehicle is determined to be in the dangerous state.
　また、本実施形態では、車両が急加速や急な方向転換や蛇行などの危険走行を行った場合に、車両が危険状態と判定する。 Further, in the present embodiment, when the vehicle travels dangerously such as sudden acceleration or sudden change of direction or meandering, the vehicle is determined to be in the dangerous state.
　次に、第１実施形態に係る歩行者端末１の概略構成について説明する。図３は、歩行者端末１の概略構成を示すブロック図である。 Next, a schematic configuration of the pedestrian terminal 1 according to the first embodiment will be described. FIG. 3 is a block diagram showing a schematic configuration of the pedestrian terminal 1.
　歩行者端末１は、測位部１１と、状態検出部１２と、歩車間通信部１３（第１の通信部）と、無線ＬＡＮ通信部１４（第２の通信部）と、入出力部１５と、制御部１６と、記憶部１７と、を備えている。 The pedestrian terminal 1 includes a positioning unit 11, a state detection unit 12, a walk-to-car communication unit 13 (first communication unit), a wireless LAN communication unit 14 (second communication unit), and an input / output unit 15 , Control unit 16 and storage unit 17.
　測位部１１は、ＧＰＳ（Global Positioning System）、ＱＺＳＳ（Quasi-Zenith Satellite System）などの衛星測位システムにより自装置の位置を測定して、自装置の位置情報を取得する。なお、携帯情報端末２が有する測位機能を利用して、自装置の位置情報を取得するようにしてもよい。 The positioning unit 11 measures the position of its own device by a satellite positioning system such as GPS (Global Positioning System), QZSS (Quasi-Zenith Satellite System) or the like, and acquires location information of its own device. The position information of the own device may be acquired using the positioning function of the portable information terminal 2.
　状態検出部１２は、自装置（自装置を所持する歩行者）の状態を検出するものであり、加速度センサ２５と、方位センサ２６と、を備えている。 The state detection unit 12 detects the state of the own device (a pedestrian who owns the own device), and includes an acceleration sensor 25 and a direction sensor 26.
　歩車間通信部１３は、歩車間通信により、メッセージをブロードキャストで車載端末３に送信し、また、車載端末３から送信されるメッセージを受信する。この歩車間通信では、ＩＴＳを利用した安全運転支援無線システムで採用されている周波数帯を使用した無線通信が行われる。 The inter-pedestrian communication unit 13 broadcasts a message to the on-vehicle terminal 3 by inter-pedal communication, and receives a message transmitted from the on-vehicle terminal 3. In this inter-pedal communication, wireless communication using a frequency band employed in a safe driving support wireless system using ITS is performed.
　無線ＬＡＮ通信部１４は、ＷｉＦｉ（登録商標）などの無線ＬＡＮ通信により、路側機５を介してメッセージを車載端末３に送信し、また、車載端末３から路側機５を介して送信されるメッセージを受信する。 The wireless LAN communication unit 14 transmits a message to the on-vehicle terminal 3 via the roadside device 5 by wireless LAN communication such as WiFi (registered trademark), and a message transmitted from the on-vehicle terminal 3 via the roadside device 5 Receive
　入出力部１５は、携帯情報端末２との間で情報の入出力を行う。この入出力部１５から出力される情報に基づいて、携帯情報端末２において、歩行者に対する注意喚起の動作が行われる。 The input / output unit 15 performs input and output of information with the portable information terminal 2. Based on the information output from the input / output unit 15, the portable information terminal 2 performs an operation of alerting a pedestrian.
　記憶部１７は、地図情報や、制御部１６を構成するプロセッサで実行されるプログラムなどを記憶する。なお、地図情報は携帯情報端末２から取得するようにしてもよい。 The storage unit 17 stores map information, a program executed by a processor configuring the control unit 16, and the like. The map information may be acquired from the portable information terminal 2.
　制御部１６は、メッセージ制御部２１と、通信方式選択部２２と、衝突判定部２３と、注意喚起制御部２４と、を備えている。この制御部１６は、プロセッサで構成され、制御部１６の各部は、記憶部１７に記憶されたプログラムをプロセッサで実行することで実現される。 The control unit 16 includes a message control unit 21, a communication scheme selection unit 22, a collision determination unit 23, and a warning control unit 24. The control unit 16 is configured by a processor, and each unit of the control unit 16 is realized by executing a program stored in the storage unit 17 by the processor.
　メッセージ制御部２１は、端末ＩＤや位置情報などの歩行者情報を含むメッセージの送信を制御する。このとき、通信方式選択部２２の選択結果に応じて、歩車間通信部１３または無線ＬＡＮ通信部１４からメッセージを送信する。 The message control unit 21 controls transmission of a message including pedestrian information such as a terminal ID and position information. At this time, according to the selection result of the communication system selection unit 22, a message is transmitted from the inter-walking vehicle communication unit 13 or the wireless LAN communication unit 14.
　通信方式選択部２２は、メッセージを車載端末３に送信する際の通信方式（直接通信または間接通信）を選択する。 The communication method selection unit 22 selects a communication method (direct communication or indirect communication) when transmitting a message to the on-vehicle terminal 3.
　この通信方式選択部２２では、まず、路側機５からブロードキャストで送信されるビーコン信号に基づいて、自装置が路側機５の通信圏内か否か、すなわち、間接通信が可能か否かを判定し、自装置が路側機５の通信圏内でない場合には、直接通信を選択する。 Based on the beacon signal transmitted by broadcast from the roadside device 5, the communication system selection unit 22 first determines whether or not the own device is within the communication range of the roadside device 5, that is, whether or not indirect communication is possible. If the own device is not within the communication range of the roadside device 5, direct communication is selected.
　一方、自装置が路側機５の通信圏内である場合には、状態検出部１２の検出結果など、自装置（自歩行者）が危険状態であるか否かを表す状態情報を取得して、その状態情報に基づいて、自歩行者が危険状態であるか否かを判定して、その判定結果に応じて通信方式を選択する。すなわち、自歩行者が危険状態である場合には、直接通信を選択し、自歩行者が危険状態でない場合には、間接通信を選択する。 On the other hand, when the own device is within the communication range of the roadside machine 5, state information indicating whether the own device (self-pedestrian) is in a dangerous state, such as the detection result of the state detection unit 12, is acquired, Based on the state information, it is determined whether or not the pedestrian is in the dangerous state, and the communication method is selected according to the determination result. That is, when the pedestrian is in a dangerous state, direct communication is selected, and when the pedestrian is not in a dangerous state, indirect communication is selected.
　ここで、本実施形態では、状態検出部１２の検出結果に基づいて、自歩行者が飛び出しや転倒などの危険行動をとったことを検知した場合に、自歩行者が危険状態と判定する。具体的には、加速度センサ２５の検出結果から、自歩行者が急に走り出したこと（急加速）を検知し、また、方位センサ２６の検出結果から、自歩行者が急に向きを変更したこと（急転回）を検知した場合に、飛び出しと判定する。また、加速度センサ２５の検出結果から、急な下向きの動きを検知した場合に、転倒と判定する。 Here, in the present embodiment, based on the detection result of the state detection unit 12, when it is detected that the pedestrian has taken a dangerous action such as jumping out or falling, the pedestrian is determined to be in the dangerous state. Specifically, from the detection result of the acceleration sensor 25, it is detected that the self-pedestrian has suddenly started running (sudden acceleration), and from the detection result of the direction sensor 26, the self-pedestrian has suddenly changed its direction When it is detected that a sudden turn is detected, it is determined that it is a pop out. Also, when a sudden downward movement is detected from the detection result of the acceleration sensor 25, it is determined that a fall has occurred.
　また、本実施形態では、測位部１１で取得した自歩行者の現在の位置情報と、記憶部１７に記憶された地図情報とに基づいて、自歩行者が所定の危険エリア内に位置する場合に、歩行者が危険状態と判定する。 Further, in the present embodiment, the case where the pedestrian is located in the predetermined danger area based on the current position information of the pedestrian acquired by the positioning unit 11 and the map information stored in the storage unit 17 The pedestrian is determined to be in danger.
　また、本実施形態では、測位部１１で取得した自歩行者の位置情報の推移状況から歩行者の移動速度を取得して、自歩行者が所定値（通常の歩行とみなされる速度の上限値）以上の速度で移動している場合に、歩行者が危険状態と判定する。 Further, in the present embodiment, the moving speed of the pedestrian is acquired from the transition situation of the position information of the self-walker acquired by the positioning unit 11, and the self-walker takes a predetermined value (upper limit of the speed regarded as normal walking The pedestrian is judged to be in a dangerous state when moving at the above speed.
　また、本実施形態では、自歩行者の属性情報に基づいて、自歩行者が、子供、高齢者、認知症患者など、危険行動をとる可能性が高い人物である場合に、歩行者が危険状態と判定する。なお、危険行動をとる可能性が高い人物であるか否かの情報は、歩行者の属性情報として記憶部１７に予め記憶させておけばよい。 Further, in the present embodiment, based on the attribute information of the pedestrian, when the pedestrian is a person having a high possibility of taking a dangerous action, such as a child, an elderly person, a patient with dementia or the like, the pedestrian is dangerous. Determined as a state. In addition, what is necessary is just to memorize | store beforehand the memory | storage part 17 as attribute information of a pedestrian whether it is a person with high possibility of taking a dangerous action.
　衝突判定部２３は、測位部１１で取得した自歩行者の位置情報と、車載端末３から受信したメッセージに含まれる車両の位置情報とに基づいて、自歩行者に車両が衝突する危険性があるか否かを判定する。 The collision determination unit 23 has a risk that the vehicle collides with the pedestrian based on the position information of the own pedestrian acquired by the positioning unit 11 and the position information of the vehicle included in the message received from the on-vehicle terminal 3. Determine if there is.
　注意喚起制御部２４は、衝突判定部２３の判定結果に応じて、自歩行者に対する注意喚起を実施する。本実施形態では、入出力部１５を介して、注意喚起の指示を携帯情報端末２に出力して、この指示に応じて携帯情報端末２において、歩行者に対する注意喚起の出力動作（例えば音声出力や振動など）が行われる。 The alerting control unit 24 implements alerting to the pedestrian according to the determination result of the collision determination unit 23. In the present embodiment, an instruction for calling attention is output to the portable information terminal 2 through the input / output unit 15, and in response to this instruction, in the portable information terminal 2, an output operation for calling attention to a pedestrian (for example, voice output) And vibration).
　次に、第１実施形態に係る車載端末３の概略構成について説明する。図４は、車載端末３の概略構成を示すブロック図である。 Next, a schematic configuration of the on-vehicle terminal 3 according to the first embodiment will be described. FIG. 4 is a block diagram showing a schematic configuration of the on-vehicle terminal 3.
　車載端末３は、測位部３１と、状態検出部３２と、歩車間通信部３３（第１の通信部）と、無線ＬＡＮ通信部３４（第２の通信部）と、入出力部３５と、制御部３６と、記憶部３７と、を備えている。 The on-vehicle terminal 3 includes a positioning unit 31, a state detection unit 32, a walk-to-car communication unit 33 (first communication unit), a wireless LAN communication unit 34 (second communication unit), and an input / output unit 35. A control unit 36 and a storage unit 37 are provided.
　測位部３１は、ＧＰＳ、ＱＺＳＳなどの衛星測位システムにより自装置の位置を測定して、自装置の位置情報を取得する。なお、カーナビゲーション装置４が有する測位機能を利用して、自装置の位置情報を取得するようにしてもよい。 The positioning unit 31 measures the position of the own device by a satellite positioning system such as GPS or QZSS, and acquires the position information of the own device. The position information of the own device may be acquired using the positioning function of the car navigation device 4.
　状態検出部３２は、自装置（自装置が搭載された車両）の状態を検出するものであり、加速度センサ４５と、方位センサ４６と、を備えている。 The state detection unit 32 detects the state of the own device (vehicle on which the own device is mounted), and includes an acceleration sensor 45 and a direction sensor 46.
　歩車間通信部３３は、歩車間通信により、メッセージをブロードキャストで歩行者端末１に送信し、また、歩行者端末１から送信されるメッセージを受信する。この歩車間通信では、ＩＴＳを利用した安全運転支援無線システムで採用されている周波数帯を使用した無線通信が行われる。 The inter-pedestrian communication unit 33 broadcasts a message to the pedestrian terminal 1 by means of inter-pedal communication, and receives a message transmitted from the pedestrian terminal 1. In this inter-pedal communication, wireless communication using a frequency band employed in a safe driving support wireless system using ITS is performed.
　無線ＬＡＮ通信部３４は、ＷｉＦｉ（登録商標）などの無線ＬＡＮ通信により、メッセージを路側機５を介して歩行者端末１に送信し、また、歩行者端末１から路側機５を介して送信されるメッセージを受信する。 The wireless LAN communication unit 34 transmits a message to the pedestrian terminal 1 via the roadside device 5 by wireless LAN communication such as WiFi (registered trademark), and is also transmitted from the pedestrian terminal 1 via the roadside device 5 Receive a message.
　入出力部３５は、カーナビゲーション装置４との間で情報の入出力を行う。この入出力部３５から出力される情報に基づいて、カーナビゲーション装置４において、運転者に対する注意喚起の動作が行われる。 The input / output unit 35 inputs / outputs information to / from the car navigation device 4. Based on the information output from the input / output unit 35, the car navigation device 4 performs an operation of alerting the driver.
　記憶部３７は、地図情報や、制御部３６を構成するプロセッサで実行されるプログラムを記憶する。なお、地図情報はカーナビゲーション装置４から取得するようにしてもよい。 The storage unit 37 stores map information and a program executed by a processor that configures the control unit 36. The map information may be acquired from the car navigation device 4.
　制御部３６は、メッセージ制御部４１と、通信方式選択部４２と、衝突判定部４３と、注意喚起制御部４４と、を備えている。この制御部３６は、プロセッサで構成され、制御部３６の各部は、記憶部３７に記憶されたプログラムをプロセッサで実行することで実現される。 The control unit 36 includes a message control unit 41, a communication scheme selection unit 42, a collision determination unit 43, and a warning control unit 44. The control unit 36 is configured by a processor, and each unit of the control unit 36 is realized by causing the processor to execute the program stored in the storage unit 37.
　メッセージ制御部４１は、端末ＩＤや位置情報などの車両情報を含むメッセージの送信を制御する。このとき、通信方式選択部４２の選択結果に応じて、歩車間通信部３３または無線ＬＡＮ通信部３４からメッセージを送信する。 The message control unit 41 controls transmission of a message including vehicle information such as a terminal ID and position information. At this time, according to the selection result of the communication system selection unit 42, a message is transmitted from the inter-walking vehicle communication unit 33 or the wireless LAN communication unit 34.
　通信方式選択部４２は、メッセージを歩行者端末１に送信する際の通信方式（直接通信または間接通信）を選択する。 The communication scheme selection unit 42 selects a communication scheme (direct communication or indirect communication) when transmitting a message to the pedestrian terminal 1.
　この通信方式選択部４２では、まず、路側機５からブロードキャストで送信されるビーコン信号に基づいて、自装置が路側機５の通信圏内か否か、すなわち、間接通信が可能か否かを判定し、自装置が路側機５の通信圏内でない場合には、直接通信を選択する。 The communication method selection unit 42 first determines whether or not the own device is within the communication range of the roadside device 5, that is, whether or not indirect communication is possible, based on the beacon signal transmitted by broadcast from the roadside device 5. If the own device is not within the communication range of the roadside device 5, direct communication is selected.
　一方、自装置が路側機５の通信圏内である場合には、状態検出部３２の検出結果など、自装置（自車両）が危険状態であるか否かを表す状態情報を取得して、その状態情報に基づいて、自車両が危険状態であるか否かを判定して、その判定結果に応じて通信方式を選択する。すなわち、自車両が危険状態である場合には、直接通信を選択し、自車両が危険状態でない場合には、間接通信を選択する。 On the other hand, when the own device is within the communication range of the roadside device 5, state information indicating whether the own device (own vehicle) is in a dangerous state, such as the detection result of the state detection unit 32, is acquired. Based on the state information, it is determined whether or not the host vehicle is in a dangerous state, and a communication scheme is selected according to the determination result. That is, when the host vehicle is in a dangerous state, direct communication is selected, and when the host vehicle is not in a dangerous state, indirect communication is selected.
　ここで、本実施形態では、測位部３１で取得した自車両の位置情報の推移状況から自車両の移動速度を取得して、自車両が所定値（通常の走行とみなされる速度の上限値）以上の速度で移動している場合に、自車両が危険状態と判定する。 Here, in the present embodiment, the moving speed of the own vehicle is acquired from the transition state of the position information of the own vehicle acquired by the positioning unit 31, and the own vehicle is a predetermined value (upper limit of the speed considered to be normal traveling) When moving at the above speed, it is determined that the host vehicle is in the dangerous state.
　また、本実施形態では、状態検出部３２の検出結果に基づいて、自車両が急加速や急転回（急な方向転換）や蛇行などの危険走行を行ったことを検知した場合に、自車両が危険状態と判定する。具体的には、加速度センサ４５の検出結果から、自車両の急加速を検知し、また、方位センサ４６の検出結果から、自車両の急転回や蛇行を検知する。 Further, in the present embodiment, when it is detected based on the detection result of the state detection unit 32 that the host vehicle has run dangerously, such as a sudden acceleration or a sudden turn (a sudden change of direction) or meandering, Is determined to be a dangerous state. Specifically, the rapid acceleration of the vehicle is detected from the detection result of the acceleration sensor 45, and the rapid turn and the meander of the vehicle are detected from the detection result of the direction sensor 46.
　衝突判定部４３は、測位部３１で取得した自車両の位置情報と、歩行者端末１から受信したメッセージに含まれる歩行者の位置情報とに基づいて、歩行者に自車両が衝突する危険性があるか否かを判定する。 The collision determination unit 43 has a risk that the vehicle collides with the pedestrian based on the position information of the vehicle acquired by the positioning unit 31 and the position information of the pedestrian included in the message received from the pedestrian terminal 1 Determine if there is.
　注意喚起制御部４４は、衝突判定部４３の判定結果に応じて、自車両の運転者に対する注意喚起を行う。本実施形態では、入出力部３５を介して、注意喚起の指示をカーナビゲーション装置４に出力して、この指示に応じてカーナビゲーション装置４において、運転者に対する注意喚起の出力動作（例えば音声出力や画面表示など）が行われる。 The alerting control unit 44 alerts the driver of the host vehicle according to the determination result of the collision determination unit 43. In the present embodiment, an instruction to call attention is output to the car navigation device 4 through the input / output unit 35, and in response to this instruction, the car navigation device 4 outputs a call to call attention to the driver (for example, voice output) And screen display etc.).
　次に、第１実施形態に係る路側機５の概略構成について説明する。図５は、路側機５の概略構成を示すブロック図である。 Next, a schematic configuration of the roadside device 5 according to the first embodiment will be described. FIG. 5 is a block diagram showing a schematic configuration of the roadside device 5.
　路側機５は、無線ＬＡＮ通信部５１と、制御部５２と、記憶部５３と、を備えている。 The roadside device 5 includes a wireless LAN communication unit 51, a control unit 52, and a storage unit 53.
　無線ＬＡＮ通信部５１は、ＷｉＦｉ（登録商標）などの無線ＬＡＮ通信により、歩行者端末１や車載端末３から送信されるメッセージを受信し、また、受信したメッセージをブロードキャストで歩行者端末１や車載端末３に送信する。 The wireless LAN communication unit 51 receives a message transmitted from the pedestrian terminal 1 or the on-vehicle terminal 3 by wireless LAN communication such as WiFi (registered trademark), and broadcasts the received message to the pedestrian terminal 1 or on-vehicle Send to terminal 3
　記憶部５３は、制御部５２を構成するプロセッサで実行されるプログラムなどを記憶する。 The storage unit 53 stores, for example, a program executed by a processor that configures the control unit 52.
　制御部５２は、メッセージ制御部６１を備えている。この制御部５２は、プロセッサで構成され、メッセージ制御部６１は、記憶部５３に記憶されたプログラムをプロセッサで実行することで実現される。 The control unit 52 includes a message control unit 61. The control unit 52 is configured by a processor, and the message control unit 61 is realized by causing the processor to execute a program stored in the storage unit 53.
　メッセージ制御部６１は、歩行者端末１や車載端末３から送信されるメッセージを無線ＬＡＮ通信部５１で受信すると、そのメッセージを無線ＬＡＮ通信部５１から歩行者端末１や車載端末３に送信する。 When the wireless LAN communication unit 51 receives a message transmitted from the pedestrian terminal 1 or the in-vehicle terminal 3, the message control unit 61 transmits the message from the wireless LAN communication unit 51 to the pedestrian terminal 1 or the in-vehicle terminal 3.
　ところで、路側機５は、歩行者端末１や車載端末３から送信されるメッセージを受信すると、その都度、受信したメッセージを送信すればよいが、受信した複数のメッセージを一括して送信するようにしてもよい。すなわち、受信した複数のメッセージの各々に含まれる歩行者情報や車両情報を１つのメッセージに格納して送信する。 By the way, when the roadside device 5 receives a message transmitted from the pedestrian terminal 1 or the in-vehicle terminal 3, the roadside device 5 may transmit the received message each time, but a plurality of received messages are collectively transmitted. May be That is, pedestrian information and vehicle information included in each of a plurality of received messages are stored in one message and transmitted.
　また、受信したメッセージの内容に応じて、受信した順番と異なる順番でメッセージを送信するようにしてもよい。例えば、受信したメッセージに含まれる位置情報に基づいて、送信元（歩行者端末１や車載端末３）から路側機５までの距離を算出して、路側機５に近い送信元のメッセージを優先して、路側機５に近い送信元のメッセージから順番に送信する。また、送信元の端末種別（歩行者端末１および車載端末３）に優先順位を設定して、優先順位の高い送信元のメッセージを先に送信する。また、受信したメッセージに含まれる位置情報に基づいて、送信元の位置が変化していない場合には、受信したメッセージを送信しないようにする。 Also, according to the content of the received message, the messages may be sent in an order different from the received order. For example, based on the position information included in the received message, the distance from the transmission source (pedestrian terminal 1 or in-vehicle terminal 3) to the roadside device 5 is calculated, and the message of the transmission source closer to the roadside device 5 is prioritized The transmission side messages are transmitted in order from the transmission source message closer to the roadside device 5. In addition, priority is set to the terminal type of the transmission source (the pedestrian terminal 1 and the in-vehicle terminal 3), and the message of the transmission source with high priority is transmitted first. Also, based on the position information included in the received message, when the position of the transmission source has not changed, the received message is not transmitted.
　次に、第１実施形態に係る歩行者端末１がメッセージを送信する場合の動作手順について説明する。図６は、歩行者端末１、車載端末３および路側機５の動作手順を示すフロー図である。 Next, the operation | movement procedure in case the pedestrian terminal 1 which concerns on 1st Embodiment transmits a message is demonstrated. FIG. 6 is a flowchart showing the operation procedure of the pedestrian terminal 1, the on-vehicle terminal 3 and the roadside device 5.
　歩行者端末１では、まず、測位部１１において、自装置（自歩行者）の位置情報を取得する（ＳＴ１０１）。そして、メッセージ制御部２１において、自歩行者の位置情報に基づいて、歩行者情報を送信する状況か否か、具体的には自歩行者が屋内などの安全地帯にいるか否かを判定する（ＳＴ１０２）。 In the pedestrian terminal 1, first, the positioning unit 11 acquires position information of the own device (self-pedestrian) (ST101). Then, the message control unit 21 determines whether or not the pedestrian information is transmitted, specifically, whether or not the own pedestrian is in a safe zone such as indoor, based on the position information of the self-pedestrian ( ST 102).
　ここで、歩行者情報を送信する状況であれば（ＳＴ１０２でＹｅｓ）、次に、通信方式選択部２２において、メッセージを送信する際の通信方式（直接通信または間接通信）を選択する（ＳＴ１０３）。 Here, if it is a condition to transmit pedestrian information (Yes in ST102), next, the communication system selection unit 22 selects a communication system (direct communication or indirect communication) when transmitting a message (ST103) .
　そして、メッセージ制御部２１において、通信方式選択部２２で選択された通信方式が直接通信であれば（ＳＴ１０４でＹｅｓ）、歩行者情報を含むメッセージを、歩車間通信部１３から車載端末３に送信する（ＳＴ１０５）。一方、通信方式選択部２２で選択された通信方式が間接通信であれば（ＳＴ１０４でＮｏ）、歩行者情報を含むメッセージを、無線ＬＡＮ通信部１４から路側機５に送信する（ＳＴ１０６）。 Then, in the message control unit 21, if the communication method selected by the communication method selection unit 22 is direct communication (Yes in ST104), the inter-pedestrian communication unit 13 transmits a message including pedestrian information to the on-vehicle terminal 3 To do (ST105). On the other hand, if the communication method selected by the communication method selection unit 22 is indirect communication (No in ST104), a message including pedestrian information is transmitted from the wireless LAN communication unit 14 to the roadside device 5 (ST106).
　路側機５では、メッセージ制御部６１において、歩行者端末１から送信されるメッセージを無線ＬＡＮ通信部５１で受信すると（ＳＴ２０１）、そのメッセージを無線ＬＡＮ通信部５１から車載端末３に送信する（ＳＴ２０２）。 In the roadside device 5, when the message transmitted from the pedestrian terminal 1 is received by the wireless LAN communication unit 51 in the message control unit 61 (ST201), the message is transmitted from the wireless LAN communication unit 51 to the on-vehicle terminal 3 (ST202) ).
　車載端末３では、歩行者端末１から送信されるメッセージを歩車間通信部３３で受信し、または、路側機５から送信されるメッセージを無線ＬＡＮ通信部３４で受信すると（ＳＴ３０１）、衝突判定部４３において、メッセージに含まれる歩行者の位置情報などに基づいて、歩行者に自車両が衝突する危険性があるか否かの衝突判定を行う（ＳＴ３０２）。 In the on-vehicle terminal 3, when the pedestrian communication unit 33 receives the message transmitted from the pedestrian terminal 1 or the wireless LAN communication unit 34 receives the message transmitted from the roadside unit 5 (ST301), the collision determination unit At 43, a collision determination is made as to whether or not the pedestrian has a risk of collision with the host vehicle based on the position information of the pedestrian included in the message, etc. (ST 302).
　そして、注意喚起制御部４４において、衝突判定部４３の判定結果に基づいて、運転手に対する注意喚起が必要か否かを判定する（ＳＴ３０３）。ここで、運転手に対する注意喚起が必要である場合には（ＳＴ３０３でＹｅｓ）、運転者に対する注意喚起を実施する（ＳＴ３０４）。 Then, based on the determination result of the collision determination unit 43, the attention control unit 44 determines whether it is necessary to warn the driver (ST303). Here, when it is necessary to alert the driver (Yes in ST 303), alerting the driver is performed (ST 304).
　次に、第１実施形態に係る車載端末３がメッセージを送信する場合の動作手順について説明する。図７は、歩行者端末１、車載端末３および路側機５の動作手順を示すフロー図である。 Next, an operation procedure when the on-vehicle terminal 3 according to the first embodiment transmits a message will be described. FIG. 7 is a flowchart showing the operation procedure of the pedestrian terminal 1, the on-vehicle terminal 3 and the roadside device 5.
　車載端末３では、車両のエンジンが起動されたときに、通信方式選択部４２において、メッセージを送信する際の通信方式（直接通信または間接通信）を選択する（ＳＴ４０１）。 In the on-vehicle terminal 3, when the engine of the vehicle is activated, the communication scheme selection unit 42 selects a communication scheme (direct communication or indirect communication) at the time of transmitting a message (ST401).
　そして、メッセージ制御部４１において、通信方式選択部４２で選択された通信方式が直接通信であれば（ＳＴ４０２でＹｅｓ）、車両情報を含むメッセージを、歩車間通信部３３から歩行者端末１に送信する（ＳＴ４０３）。一方、通信方式選択部４２で選択された通信方式が間接通信であれば（ＳＴ４０２でＮｏ）、車両情報を含むメッセージを、無線ＬＡＮ通信部３４から路側機５に送信する（ＳＴ４０４）。 Then, if the communication system selected by the communication system selection unit 42 is direct communication (Yes in ST 402), the message control unit 41 transmits a message including vehicle information from the inter-walking vehicle communication unit 33 to the pedestrian terminal 1 To do (ST403). On the other hand, if the communication method selected by the communication method selection unit 42 is indirect communication (No in ST402), a message including vehicle information is transmitted from the wireless LAN communication unit 34 to the roadside device 5 (ST404).
　路側機５では、メッセージ制御部６１において、車載端末３から送信されるメッセージを無線ＬＡＮ通信部５１で受信すると（ＳＴ５０１）、そのメッセージを無線ＬＡＮ通信部５１から歩行者端末１に送信する（ＳＴ５０２）。 In the roadside device 5, when the message transmitted from the on-vehicle terminal 3 is received by the wireless LAN communication unit 51 in the message control unit 61 (ST501), the message is transmitted from the wireless LAN communication unit 51 to the pedestrian terminal 1 (ST502) ).
　歩行者端末１では、車載端末３から送信されるメッセージを歩車間通信部１３で受信するか、または、路側機５から送信されるメッセージを無線ＬＡＮ通信部１４で受信すると（ＳＴ６０１）、衝突判定部２３において、メッセージに含まれる車両の位置情報などに基づいて、自歩行者に車両が衝突する危険性があるか否かの衝突判定を行う（ＳＴ６０２）。 When the pedestrian terminal 1 receives the message transmitted from the in-vehicle terminal 3 by the inter-walking unit 13 or the message transmitted from the roadside unit 5 by the wireless LAN communication unit 14 (ST601), the collision determination is made. Based on the position information of the vehicle included in the message, etc., the unit 23 makes a collision determination as to whether or not there is a risk of the vehicle colliding with the pedestrian (ST 602).
　そして、注意喚起制御部４４において、衝突判定部２３の判定結果に基づいて、歩行者に対する注意喚起が必要か否かを判定する（ＳＴ６０３）。ここで、歩行者に対する注意喚起が必要である場合には（ＳＴ６０３でＹｅｓ）、歩行者に対する注意喚起を実施する（ＳＴ６０４）。 Then, the alert control unit 44 determines whether it is necessary to alert the pedestrian based on the determination result of the collision determination unit 23 (ST 603). Here, when it is necessary to alert the pedestrian (Yes in ST603), alerting the pedestrian is implemented (ST604).
　次に、第１実施形態に係る歩行者端末１および車載端末３で行われる通信方式選択の処理について説明する。図８は、歩行者端末１で行われる通信方式選択（図６のＳＴ１０３）、および車載端末３で行われる通信方式選択（図７のＳＴ４０３）の手順を示すフロー図である。 Next, processing of communication system selection performed by the pedestrian terminal 1 and the on-vehicle terminal 3 according to the first embodiment will be described. FIG. 8 is a flowchart showing a procedure of communication system selection (ST103 in FIG. 6) performed by the pedestrian terminal 1 and communication system selection (ST403 in FIG. 7) performed by the on-vehicle terminal 3.
　図８（Ａ）に示すように、歩行者端末１の通信方式選択部２２では、まず、路側機５から送信されるビーコン信号を無線ＬＡＮ通信部１４で受信したか否かに応じて、自装置が路側機５の通信圏内か否かを判定する（ＳＴ７０１）。ここで、自装置が路側機５の通信圏内でない場合には（ＳＴ７０１でＮｏ）、直接通信を選択する（ＳＴ７０４）。 As shown in FIG. 8A, the communication system selection unit 22 of the pedestrian terminal 1 first determines whether the beacon signal transmitted from the roadside device 5 has been received by the wireless LAN communication unit 14 or not. It is determined whether the device is within the communication range of the roadside device 5 (ST 701). Here, when the own device is not within the communication range of the roadside device 5 (No in ST 701), direct communication is selected (ST 704).
　一方、自装置が路側機５の通信圏内である場合には（ＳＴ７０１でＹｅｓ）、次に、状態検出部１２などから自装置（自歩行者）の状態情報を取得する（ＳＴ７０２）。そして、自歩行者の状態情報に基づいて、自歩行者が危険状態か否かを判定する（ＳＴ７０３）。 On the other hand, when the own device is within the communication range of the roadside device 5 (Yes in ST 701), next, the state information of the own device (self pedestrian) is acquired from the state detection unit 12 (ST 702). Then, based on the state information of the self pedestrian, it is determined whether the self pedestrian is in the dangerous state (ST 703).
　ここで、歩行者端末１の加速度センサ２５の検出結果から、自歩行者が急に走り出したこと（急加速）や、方位センサ２６の検出結果から、自歩行者が急に向きを変更したこと（急転回）を検知した場合に、危険状態と判定する。また、加速度センサ２５の検出結果から、急な下向きの動きを検知した場合に、危険状態と判定する。自歩行者が危険状態である場合には（ＳＴ７０３でＹｅｓ）、直接通信を選択する（ＳＴ７０４）。一方、歩行者が危険状態でない場合には（ＳＴ７０３でＮｏ）、間接通信を選択する（ＳＴ７０５）。 Here, from the detection result of the acceleration sensor 25 of the pedestrian terminal 1, the self-pedestrian running suddenly (rapid acceleration), or from the detection result of the direction sensor 26, that the self-pedestrian suddenly changed direction When (disruption) is detected, it is determined as a dangerous state. In addition, when a sudden downward movement is detected from the detection result of the acceleration sensor 25, it is determined that the vehicle is in the dangerous state. If the pedestrian is in danger (Yes in ST703), direct communication is selected (ST704). On the other hand, when the pedestrian is not in a dangerous state (No in ST703), the indirect communication is selected (ST705).
　図８（Ｂ）に示すように、車載端末３の通信方式選択部４２では、まず、路側機５から送信されるビーコン信号を無線ＬＡＮ通信部３４で受信したか否かに応じて、自装置が路側機５の通信圏内か否かを判定する（ＳＴ８０１）。ここで、自装置が路側機５の通信圏内でない場合には（ＳＴ８０１でＮｏ）、直接通信を選択する（ＳＴ８０４）。 As shown in FIG. 8B, the communication method selection unit 42 of the on-vehicle terminal 3 first determines whether the beacon signal transmitted from the roadside device 5 has been received by the wireless LAN communication unit 34 or not. It is determined whether it is within the communication range of the roadside device 5 (ST801). Here, when the own device is not within the communication range of the roadside device 5 (No in ST801), direct communication is selected (ST804).
　一方、自装置が路側機５の通信圏内である場合には（ＳＴ８０１でＹｅｓ）、次に、状態検出部３２などから自装置（自車両）の状態情報を取得する（ＳＴ８０２）。そして、自車両の状態情報に基づいて、自車両が危険状態か否かを判定する（ＳＴ８０３）。 On the other hand, when the own device is within the communication range of the roadside device 5 (Yes in ST801), next, the state information of the own device (own vehicle) is acquired from the state detection unit 32 (ST802). Then, based on the state information of the host vehicle, it is determined whether the host vehicle is in a dangerous state (ST 803).
　ここで、車載端末３の加速度センサ４５の検出結果から、自車両の急加速を検知したことや、方位センサ４６の検出結果から、自車両の急転回や蛇行を検知した場合に、危険状態と判定する。自車両が危険状態である場合には（ＳＴ８０３でＹｅｓ）、直接通信を選択する（ＳＴ８０４）。一方、自車両が危険状態でない場合には（ＳＴ８０３でＮｏ）、間接通信を選択する（ＳＴ８０５）。 Here, when a sudden turn of the own vehicle is detected from the detection result of the acceleration sensor 45 of the on-vehicle terminal 3 or a sudden turning or meandering of the own vehicle is detected from the detection result of the direction sensor 46 judge. If the host vehicle is in a dangerous state (Yes in ST 803), direct communication is selected (ST 804). On the other hand, when the host vehicle is not in a dangerous state (No in ST 803), indirect communication is selected (ST 805).
（第２実施形態）
　次に、第２実施形態について説明する。なお、ここで特に言及しない点は前記の実施形態と同様である。図９、図１０は、第２実施形態に係る歩行者端末１および車載端末３におけるメッセージの送信状況を示す説明図である。 Second Embodiment
Next, a second embodiment will be described. The points not particularly mentioned here are the same as the above embodiment. FIGS. 9 and 10 are explanatory diagrams showing the transmission status of messages in the pedestrian terminal 1 and the on-vehicle terminal 3 according to the second embodiment.
　第１実施形態では、歩行者や車両が危険状態であるか否かを判定して、その判定結果に応じて通信方式（直接通信または間接通信）を選択するようにしたが、本実施形態では、歩行者や車両が危険状態であるか否かの判定に加えて、歩行者や車両が特定エリア内に位置するか否かを判定して、その判定結果に応じて通信方式を選択する。すなわち、歩行者や車両が危険性の低い特定エリアにいない場合は直接通信を選択し、特定エリアに入ると、状態情報から自装置が危険状態でなければ、直接通信から間接通信に切り替える。 In the first embodiment, it is determined whether the pedestrian or the vehicle is in the dangerous state, and the communication method (direct communication or indirect communication) is selected according to the determination result. In addition to the determination as to whether the pedestrian or the vehicle is in a dangerous state, it is determined whether the pedestrian or the vehicle is positioned within the specific area, and the communication method is selected according to the determination result. That is, direct communication is selected when the pedestrian or vehicle is not in the specific area where the risk is low, and if it enters the specific area, it switches from direct communication to indirect communication if the own device is not in danger state from the state information.
　これにより、特定エリア内に歩行者端末１および車載端末３が多数存在する場合でも、危険状態にない場合は間接通信を行うので、直接通信（歩車間通信）の輻輳を抑えることができる。 As a result, even when there are a large number of pedestrian terminals 1 and in-vehicle terminals 3 in the specific area, indirect communication is performed when there is no danger state, so that congestion of direct communication (inter-walk communication) can be suppressed.
　本実施形態では、比較的危険性が低いエリアを特定エリアとする。例えば、図９（Ａ）に示すように、ガードレールや植樹帯などの防護構造物で歩道と車道とが分離されている道路では、交差点でも危険性が低い。そこで、本実施形態では、このような所定の条件を満たし危険性が低い交差点の周辺エリアを特定エリアとし、このような交差点の周辺エリア内に歩行者や車両が入ると、直接通信から間接通信に切り替える。 In this embodiment, an area with a relatively low risk is taken as the specific area. For example, as shown in FIG. 9A, in a road in which a sidewalk and a roadway are separated by a protective structure such as a guardrail or a tree planting belt, the risk is low even at an intersection. Therefore, in the present embodiment, the area around the intersection where the predetermined conditions are satisfied and the risk is low is taken as a specific area, and when pedestrians or vehicles enter the area around such an intersection, direct communication to indirect communication is performed. Switch to
　また、踏切の周辺では、車両が踏切で一旦停止することから、車両の移動速度が遅いため、危険性が低い。そこで、本実施形態では、図９（Ｂ）に示すように、踏切の周辺エリアを特定エリアとし、踏切の周辺エリア内に歩行者や車両が入ると、直接通信から間接通信に切り替える。 Further, in the vicinity of the level crossing, since the vehicle temporarily stops at the level crossing, the moving speed of the vehicle is low, so the risk is low. So, in this embodiment, as shown to FIG. 9 (B), the peripheral area of crossing is made into a specific area, and when a pedestrian and a vehicle enter in the peripheral area of crossing, it switches from direct communication to indirect communication.
　また、バス停の周辺では、バスに乗車しようとしている人が、危険性が高い人（飛び出しや道路横断をしようとしている人）と誤認識されることが懸念される。このため、バスに乗車したい人は、そのことを示す情報を、バス停周辺に設置される路側機５に送信するようにし、バス停周辺に設置された路側機５は、バスに乗車しようとしている人かそうでない人かを識別し、バスに乗車しようとしている人を除いた飛び出しや道路横断をしようとしている人の歩行者情報のみを周辺の車両に送信するようにする。このように、バス停の周辺では、路側機５を介した間接通信とすることで、バスに乗車しようとしている人が飛び出しや道路横断をしていると誤認識されることを回避できる。そこで、本実施形態では、図１０に示すように、バス停の周辺エリアを特定エリアとし、バス停の周辺エリア内に入ると、歩行者や車両が直接通信から間接通信に切り替える。なお、バス停付近に停車する車両が存在する場合に、路側機５からこの停車車両に対して警告することにより、バスがバス停に停車できなくなるという問題を回避することも可能となる。 In addition, in the vicinity of a bus stop, there is a concern that a person who is about to get on a bus may be misidentified as a person who is at high risk (a person who is going out or crossing the road). For this reason, the person who wants to get on the bus transmits information indicating that to the roadside device 5 installed around the bus stop, and the roadside device 5 installed around the bus stop is a person who is going to get on the bus It identifies the person who is not or who is not, and sends only the pedestrian information of the person who is going out or crossing the road except for the person who is going to get on the bus to the surrounding vehicles. As described above, by using indirect communication via the roadside device 5 around the bus stop, it is possible to prevent a person who is about to get on the bus from being mistakenly recognized as jumping out or crossing the road. So, in this embodiment, as shown in FIG. 10, the peripheral area of a bus stop is made into a specific area, and if it enters in the peripheral area of a bus stop, a pedestrian or vehicles will switch from direct communication to indirect communication. In addition, when the vehicle which stops near a bus stop exists, it becomes possible to also avoid the problem that a bus | bath can not stop at a bus stop by warning this stopping vehicle from the roadside machine 5.
　次に、第２実施形態に係る歩行者端末１で行われる通信方式選択（図６のＳＴ１０３）の手順について説明する。図１１は、歩行者端末１で行われる通信方式選択の手順を示すフロー図である。 Next, the procedure of communication system selection (ST103 of FIG. 6) performed by the pedestrian terminal 1 according to the second embodiment will be described. FIG. 11 is a flowchart showing the procedure of communication system selection performed by the pedestrian terminal 1.
　歩行者端末１の通信方式選択部２２では、まず、路側機５から送信されるビーコン信号を無線ＬＡＮ通信部１４で受信したか否かに応じて、自装置が路側機５の通信圏内か否かを判定する（ＳＴ７０１）。ここで、自装置が路側機５の通信圏内でない場合には（ＳＴ７０１でＮｏ）、直接通信を選択する（ＳＴ７０４）。 In the communication system selection unit 22 of the pedestrian terminal 1, first, depending on whether or not the beacon signal transmitted from the roadside device 5 is received by the wireless LAN communication unit 14, the own device is within the communication range of the roadside device 5 It is determined (ST 701). Here, when the own device is not within the communication range of the roadside device 5 (No in ST 701), direct communication is selected (ST 704).
　一方、自装置が路側機５の通信圏内である場合には（ＳＴ７０１でＹｅｓ）、次に、測位部１１から自歩行者の位置情報を取得する（ＳＴ７１１）。そして、自歩行者の位置情報と、記憶部１７に記憶された地図情報とに基づいて、自歩行者が特定エリア内に位置するか否かを判定する（ＳＴ７１２）。ここで、自歩行者が、特定エリアに位置しない場合には（ＳＴ７１２でＮｏ）、直接通信を選択する（ＳＴ７０４）。 On the other hand, when the own device is within the communication range of the roadside device 5 (Yes in ST 701), next, the position information of the own pedestrian is acquired from the positioning unit 11 (ST 711). Then, based on the position information of the pedestrian and the map information stored in the storage unit 17, it is determined whether the pedestrian is located in the specific area (ST712). Here, when the pedestrian is not located in the specific area (No in ST 712), direct communication is selected (ST 704).
　一方、自歩行者が特定エリアに位置する場合には（ＳＴ７１２でＹｅｓ）、次に、第１実施形態と同様に、状態検出部１２などから自歩行者の状態情報を取得する（ＳＴ７０２）。そして、自歩行者の状態情報に基づいて、自歩行者が危険状態か否かを判定する（ＳＴ７０３）。 On the other hand, when the self-pedestrian is located in the specific area (Yes in ST 712), next, as in the first embodiment, the state information of the self-walker is acquired from the state detection unit 12 (ST 702). Then, based on the state information of the self pedestrian, it is determined whether the self pedestrian is in the dangerous state (ST 703).
　ここで、自歩行者が危険状態である場合には（ＳＴ７０３でＹｅｓ）、直接通信を選択する（ＳＴ７０４）。一方、歩行者が危険状態でない場合には（ＳＴ７０３でＮｏ）、間接通信を選択する（ＳＴ７０５）。 Here, when the pedestrian is in a dangerous state (Yes in ST703), direct communication is selected (ST704). On the other hand, when the pedestrian is not in a dangerous state (No in ST703), the indirect communication is selected (ST705).
　なお、図１１には、歩行者端末１の通信方式選択部２２で行われる処理の手順を示したが、車載端末３の通信方式選択部４２でも、これと同様の手順で通信方式選択の処理が行われる。 In addition, although the procedure of the process performed by the communication system selection part 22 of the pedestrian terminal 1 was shown in FIG. 11, also in the communication system selection part 42 of the vehicle-mounted terminal 3, the process of communication system selection in the procedure similar to this. Is done.
（第３実施形態）
　次に、第３実施形態について説明する。なお、ここで特に言及しない点は前記の実施形態と同様である。図１２は、第３実施形態に係る歩行者端末１および車載端末３におけるメッセージの送信状況を示す説明図である。 Third Embodiment
Next, a third embodiment will be described. The points not particularly mentioned here are the same as the above embodiment. FIG. 12 is an explanatory view showing a transmission state of a message in the pedestrian terminal 1 and the in-vehicle terminal 3 according to the third embodiment.
　第２実施形態では、歩行者や車両が特定エリア内に位置する場合に、間接通信を選択するようにしたが、本実施形態では、歩行者や車両が特定エリア内に位置し、かつ、歩行者や車両の危険性が低下する特定条件が成立する場合に、特定エリア内に位置する歩行者端末１および車載端末３で間接通信を選択するようにする。特に本実施形態では、特定エリアを踏切の周辺エリアとし、特定条件として遮断機が通行許可状態であるか否かに応じて通信方式を選択する。 In the second embodiment, the indirect communication is selected when the pedestrian or the vehicle is located in the specific area, but in the present embodiment, the pedestrian or the vehicle is located in the specific area, and the walking is performed. In the case where a specific condition in which the risk of a person or a vehicle decreases is satisfied, indirect communication is selected by the pedestrian terminal 1 and the on-vehicle terminal 3 located in the specific area. In the present embodiment, in particular, the specific area is set as the peripheral area of the level crossing, and the communication system is selected as the specific condition according to whether or not the circuit breaker is permitted to pass.
　具体的には、図１２（Ａ）に示すように、歩行者や車両が特定エリア内に位置していても、遮断機が通行許可状態（遮断機が上がった状態）である場合には、歩行者端末１および車載端末３は、直接通信を選択する。一方、図１２（Ｂ）に示すように、遮断機が通行禁止状態（遮断機が降りた状態）となると、踏切の周辺エリア内に位置する歩行者端末１および車載端末３は、直接通信から間接通信に切り替える。 Specifically, as shown in FIG. 12 (A), even if a pedestrian or a vehicle is located in a specific area, if the circuit breaker is in the pass-permitted state (the circuit breaker is in the raised state), The pedestrian terminal 1 and the on-vehicle terminal 3 select direct communication. On the other hand, as shown in FIG. 12 (B), when the barrier is in the no traffic condition (the barrier is down), the pedestrian terminal 1 and the on-vehicle terminal 3 located in the peripheral area of the level crossing Switch to indirect communication.
　これにより、遮断機が通行禁止状態である場合には、車両が踏切で一旦停止することから、車両の移動速度が遅く、踏切の周辺エリアは危険性が低くなるため、踏切の周辺エリア内に位置する端末装置を間接通信としても、安全性の低下を避けることができる。 As a result, when the circuit breaker is in a traffic prohibited state, the vehicle is temporarily stopped at the level crossing, so the moving speed of the vehicle is low, and the area around the level crossing has a low risk. Even if the located terminal device is used as indirect communication, it is possible to avoid the reduction in security.
　また、本実施形態では、路側機５が、遮断機を制御する踏切制御装置７から遮断機の動作情報を取得して、その遮断機の動作情報をメッセージに付加して路側機５から歩行者端末１や車載端末３に送信することで、歩行者端末１や車載端末３が遮断機の動作情報を取得する。 Further, in the present embodiment, the roadside device 5 acquires the operation information of the circuit breaker from the level crossing control device 7 that controls the circuit breaker, adds the operation information of the circuit breaker to the message, and the pedestrian from the roadside device 5 By transmitting to terminal 1 and in-vehicle terminal 3, pedestrian terminal 1 and in-vehicle terminal 3 acquire operation information of a circuit breaker.
　次に、第３実施形態に係る歩行者端末１で行われる通信方式選択（図６のＳＴ１０３）の手順について説明する。図１３は、歩行者端末１で行われる通信方式選択の手順を示すフロー図である。 Next, the procedure of communication system selection (ST103 in FIG. 6) performed by the pedestrian terminal 1 according to the third embodiment will be described. FIG. 13 is a flowchart showing the procedure of communication system selection performed by the pedestrian terminal 1.
　歩行者端末１の通信方式選択部２２では、まず、路側機５から送信されるビーコン信号を無線ＬＡＮ通信部１４で受信したか否かに応じて、自装置が路側機５の通信圏内か否かを判定する（ＳＴ７０１）。ここで、自装置が路側機５の通信圏内でない場合には（ＳＴ７０１でＮｏ）、直接通信を選択する（ＳＴ７０４）。 In the communication system selection unit 22 of the pedestrian terminal 1, first, depending on whether or not the beacon signal transmitted from the roadside device 5 is received by the wireless LAN communication unit 14, the own device is within the communication range of the roadside device 5 It is determined (ST 701). Here, when the own device is not within the communication range of the roadside device 5 (No in ST 701), direct communication is selected (ST 704).
　一方、自装置が路側機５の通信圏内である場合には（ＳＴ７０１でＹｅｓ）、次に、測位部１１から自歩行者の位置情報を取得する（ＳＴ７１１）。そして、自歩行者の位置情報と、記憶部１７に記憶された地図情報とに基づいて、自歩行者が踏切の周辺エリア内に位置するか否かを判定する（ＳＴ７２１）。ここで、自歩行者が踏切の周辺エリア内に位置しない場合には（ＳＴ７２１でＮｏ）、直接通信を選択する（ＳＴ７０４）。 On the other hand, when the own device is within the communication range of the roadside device 5 (Yes in ST 701), next, the position information of the own pedestrian is acquired from the positioning unit 11 (ST 711). Then, based on the position information of the pedestrian and the map information stored in the storage unit 17, it is determined whether the pedestrian is located in the area around the level crossing (ST721). Here, when the pedestrian is not located in the peripheral area of the level crossing (No in ST721), direct communication is selected (ST704).
　一方、自装置が踏切の周辺エリア内に位置する場合には（ＳＴ７２１でＹｅｓ）、次に、踏切制御装置７から遮断機の動作情報を取得する（ＳＴ７２２）。 On the other hand, when the own device is located in the peripheral area of the crossing (Yes in ST721), next, the operation information of the circuit breaker is acquired from the crossing control device 7 (ST722).
　次に、遮断機の動作情報に基づいて、遮断機が通行禁止状態であるか否かを判定する（ＳＴ７２３）。ここで、遮断機が通行禁止状態でない、すなわち、遮断機が通行許可状態である場合には（ＳＴ７２３でＮｏ）、直接通信を選択する（ＳＴ７０４）。 Next, based on the operation information of the circuit breaker, it is determined whether or not the circuit breaker is in a traffic prohibited state (ST723). Here, when the circuit breaker is not in the traffic prohibited state, that is, when the circuit barrier is in the traffic permitted state (No in ST723), direct communication is selected (ST704).
　一方、遮断機が通行禁止状態である場合には（ＳＴ７２３でＹｅｓ）、次に、第１実施形態と同様に、状態検出部３２などから自歩行者の状態情報を取得する（ＳＴ７０２）。そして、自歩行者の状態情報に基づいて、自歩行者が危険状態か否かを判定する（ＳＴ７０３）。 On the other hand, when the barrier is in the no traffic condition (Yes in ST723), next, as in the first embodiment, the self pedestrian's state information is acquired from the state detection unit 32 (ST702). Then, based on the state information of the self pedestrian, it is determined whether the self pedestrian is in the dangerous state (ST 703).
　ここで、自歩行者が危険状態である場合には（ＳＴ７０３でＹｅｓ）、直接通信を選択する（ＳＴ７０４）。一方、自歩行者が危険状態でない場合には（ＳＴ７０３でＮｏ）、間接通信を選択する（ＳＴ７０５）。 Here, when the pedestrian is in a dangerous state (Yes in ST703), direct communication is selected (ST704). On the other hand, when the pedestrian is not in the dangerous state (No in ST703), the indirect communication is selected (ST705).
　なお、図１３には、歩行者端末１の通信方式選択部２２で行われる処理の手順を示したが、車載端末３の通信方式選択部４２でも、これと同様の手順で通信方式選択の処理が行われる。 Although FIG. 13 shows the procedure of the process performed by the communication system selection unit 22 of the pedestrian terminal 1, the communication system selection unit 42 of the on-vehicle terminal 3 also performs the communication system selection process in the same procedure as this. Is done.
（第４実施形態）
　次に、第４実施形態について説明する。なお、ここで特に言及しない点は前記の実施形態と同様である。図１４は、第４実施形態に係る歩行者端末１および車載端末３におけるメッセージの送信状況を示す説明図である。 Fourth Embodiment
Next, a fourth embodiment will be described. The points not particularly mentioned here are the same as the above embodiment. FIG. 14 is an explanatory view showing a transmission state of a message in the pedestrian terminal 1 and the in-vehicle terminal 3 according to the fourth embodiment.
　第３実施形態では、歩行者や車両が危険性の低い踏切の周辺エリアに位置し、かつ、遮断機が通行禁止状態である場合に、踏切の周辺エリア内に位置する歩行者端末１および車載端末３で間接通信を選択するようにしたが、本実施形態では、特定車両が停車場に接近した場合に、停車場の周辺の特定エリア内に位置する歩行者端末１および車載端末３で間接通信を選択する。特に本実施形態では、特定車両をバス（路線バス）とし、停車場をバス停として説明する。 In the third embodiment, when the pedestrian or vehicle is located in the area near the low risk crossing, and the barrier is in the no-pass state, the pedestrian terminal 1 and the vehicle located in the area around the crossing Although indirect communication is selected by the terminal 3, in the present embodiment, when the specific vehicle approaches the stop, indirect communication is performed by the pedestrian terminal 1 and the on-vehicle terminal 3 located in the specific area around the stop. select. In particular, in the present embodiment, the specific vehicle is a bus (route bus), and the stop is a bus stop.
　具体的には、図１４（Ａ）に示すように、バスがバス停から所定距離以内にいない場合には、バス停の周辺エリア内に位置する歩行者端末１および車載端末３では、直接通信を選択する。一方、図１４（Ｂ）に示すように、バスがバス停から所定距離以内まで近づくと、バス停の周辺エリア内に位置する歩行者端末１および車載端末３では、直接通信から間接通信に切り替える。なお、バスがバス停から発車してバス停から所定距離以上遠ざかると、直接通信に戻す。 Specifically, as shown in FIG. 14A, when the bus is not within a predetermined distance from the bus stop, direct communication is selected in pedestrian terminal 1 and in-vehicle terminal 3 located in the area around the bus stop. Do. On the other hand, as shown in FIG. 14B, when the bus approaches within a predetermined distance from the bus stop, the pedestrian terminal 1 and the on-vehicle terminal 3 located in the peripheral area of the bus stop switch from direct communication to indirect communication. When the bus leaves the bus stop and goes away from the bus stop for a predetermined distance or more, it returns to direct communication.
　なお、バスの車載端末３は、常時、直接通信でメッセージを送信する。 In addition, the vehicle-mounted terminal 3 of a bus always transmits a message by direct communication.
　これにより、バスの車載端末３の直接通信を優先して、バス停の周辺エリア内に位置する歩行者端末１および車載端末３の直接通信を制限することで、直接通信の輻輳を抑えるとともに、バスの接近を迅速にかつ確実にバス停の周辺の歩行者や車両の運転者に通知することができる。特に、バス停の周辺エリアに停車する車両の運転者にバスの接近を通知することで、車両をバス停の周辺エリアから速やかに移動させるように案内することができる。 In this way, direct communication of the on-board terminal 3 of the bus is prioritized and direct communication of the pedestrian terminal 1 and the on-board terminal 3 located in the peripheral area of the bus stop is restricted to suppress congestion of direct communication. It is possible to notify pedestrians and drivers of vehicles in the vicinity of a bus stop quickly and reliably. In particular, by notifying the driver of the vehicle stopping in the peripheral area of the bus stop that the bus is approaching, it is possible to guide the vehicle to move quickly from the peripheral area of the bus stop.
　また、本実施形態では、自車両がバスであることを表す情報を属性情報としてメッセージに付加して送信する。これにより、バス停に近づく車両がバスであるか否かを認識することができる。 Further, in the present embodiment, information indicating that the host vehicle is a bus is added to the message as attribute information and transmitted. This makes it possible to recognize whether the vehicle approaching the bus stop is a bus.
　次に、第４実施形態に係る車載端末３で行われる通信方式選択（図７のＳＴ４０３）の手順について説明する。図１５は、車載端末３で行われる通信方式選択の手順を示すフロー図である。 Next, the procedure of communication system selection (ST 403 in FIG. 7) performed by the on-vehicle terminal 3 according to the fourth embodiment will be described. FIG. 15 is a flowchart showing the procedure of communication system selection performed by the on-vehicle terminal 3.
　車載端末３の通信方式選択部４２では、まず、路側機５から送信されるビーコン信号を無線ＬＡＮ通信部３４で受信したか否かに応じて、自装置が路側機５の通信圏内か否かを判定する（ＳＴ８０１）。ここで、自装置が路側機５の通信圏内でない場合には（ＳＴ８０１でＮｏ）、直接通信を選択する（ＳＴ８０４）。 In the communication method selection unit 42 of the on-vehicle terminal 3, first, whether or not the own device is in the communication range of the roadside device 5 depending on whether the beacon signal transmitted from the roadside device 5 is received by the wireless LAN communication unit 34. Is determined (ST801). Here, when the own device is not within the communication range of the roadside device 5 (No in ST801), direct communication is selected (ST804).
　一方、自装置が路側機５の通信圏内である場合には（ＳＴ８０１でＹｅｓ）、次に、測位部３１から自車両の位置情報を取得する（ＳＴ８１１）。そして、自車両の位置情報と、記憶部３７に記憶された地図情報とに基づいて、自車両がバス停の周辺エリア内に位置するか否かを判定する（ＳＴ８１２）。ここで、自車両がバス停の周辺エリア内に位置しない場合には（ＳＴ８１２でＮｏ）、直接通信を選択する（ＳＴ８０４）。 On the other hand, when the own device is within the communication range of the roadside device 5 (Yes in ST801), next, position information of the own vehicle is acquired from the positioning unit 31 (ST811). Then, based on the position information of the host vehicle and the map information stored in the storage unit 37, it is determined whether the host vehicle is located in the area around the bus stop (ST812). Here, when the host vehicle is not located in the area around the bus stop (No in ST812), direct communication is selected (ST804).
　一方、自車両がバス停の周辺エリア内に位置する場合には（ＳＴ８１２でＹｅｓ）、次に、受信したメッセージに含まれる他車両の属性情報および位置情報を取得する（ＳＴ８１３）。そして、属性情報および位置情報と、記憶部３７に記憶された地図情報とに基づいて、バスがバス停から所定距離以内まで近づいているか否かを判定する（ＳＴ８１４）。ここで、バスがバス停から所定距離以内まで近づいていない場合には（ＳＴ８１４でＮｏ）、直接通信を選択する（ＳＴ８０４）。 On the other hand, when the own vehicle is located in the area around the bus stop (Yes in ST812), next, attribute information and position information of the other vehicle included in the received message are acquired (ST813). Then, based on the attribute information and the position information and the map information stored in the storage unit 37, it is determined whether the bus is approaching within a predetermined distance from the bus stop (ST 814). Here, when the bus does not approach within a predetermined distance from the bus stop (No in ST 814), direct communication is selected (ST 804).
　一方、バスがバス停から所定距離以内まで近づいている場合には（ＳＴ８１４でＹｅｓ）、次に、第１実施形態と同様に、状態検出部３２などから自車両の状態情報を取得する（ＳＴ８０２）。そして、自車両の状態情報に基づいて、自車両が危険状態か否かを判定する（ＳＴ８０３）。 On the other hand, when the bus is approaching within a predetermined distance from the bus stop (Yes in ST 814), next, as in the first embodiment, the state information of the own vehicle is acquired from the state detection unit 32 (ST 802) . Then, based on the state information of the host vehicle, it is determined whether the host vehicle is in a dangerous state (ST 803).
　ここで、自車両が危険状態である場合には（ＳＴ８０３でＹｅｓ）、直接通信を選択する（ＳＴ８０４）。一方、自車両が危険状態でない場合には（ＳＴ８０３でＮｏ）、間接通信を選択する（ＳＴ８０５）。 Here, when the host vehicle is in a dangerous state (Yes in ST 803), direct communication is selected (ST 804). On the other hand, when the host vehicle is not in a dangerous state (No in ST 803), indirect communication is selected (ST 805).
　なお、図１５には、車載端末３の通信方式選択部４２で行われる処理の手順を示したが、歩行者端末１の通信方式選択部２２でも、これと同様の手順で通信方式選択の処理が行われる。 Although FIG. 15 shows the procedure of the process performed by the communication system selection unit 42 of the on-vehicle terminal 3, the communication system selection unit 22 of the pedestrian terminal 1 also performs the communication system selection process in the same procedure. Is done.
　また、本実施形態では、バス（路線バス）を特定車両としたが、その他の乗合自動車、例えばタクシーを特定車両としてもよい。この場合、タクシー乗り場が特定車両の停車場（乗降場）となる。 Further, in the present embodiment, the bus (route bus) is used as the specific vehicle, but another passenger car, for example, a taxi may be used as the specific vehicle. In this case, a taxi stand becomes a stop (a landing) of a specific vehicle.
　また、本実施形態では、バスの位置情報と、バス停の位置情報を含む地図情報とに基づいて、バスがバス停から所定距離以内まで近づいているか否かを判定するようにしたが、バス停の周辺エリアに位置する歩行者端末１や車載端末３において、歩車間通信の通信圏内にバスが入って、バスの車載端末３から送信されるメッセージを受信できることで、バスがバス停から所定距離以内まで近づいているものと判定するようにしてもよい。 Further, in the present embodiment, whether or not the bus is approaching within a predetermined distance from the bus stop is determined based on the bus position information and the map information including the position information of the bus stop. In the pedestrian terminal 1 and the in-vehicle terminal 3 located in the area, the bus enters the communication area of the walk-to-car communication and can receive the message transmitted from the in-vehicle terminal 3 of the bus, so the bus approaches within a predetermined distance from the bus stop It may be determined that the
（第５実施形態）
　次に、第５実施形態について説明する。なお、ここで特に言及しない点は前記の実施形態と同様である。図１６は、第５実施形態に係る歩行者端末１および車載端末３におけるメッセージの送信状況を示す説明図である。 Fifth Embodiment
Next, a fifth embodiment will be described. The points not particularly mentioned here are the same as the above embodiment. FIG. 16 is an explanatory view showing a transmission state of a message in the pedestrian terminal 1 and the in-vehicle terminal 3 according to the fifth embodiment.
　第１実施形態では、歩行者が危険状態であるか否かを判定して、その判定結果に応じて通信方式（直接通信または間接通信）を選択するようにしたが、本実施形態では、歩行者が危険状態であるか否かの判定に加えて、周辺に存在する他の歩行者端末１が既に直接通信を行っているか否かを判定して、その判定結果に応じて通信方式を選択する。すなわち、他の歩行者端末１が既に直接通信を行っている場合には、間接通信を選択し、既に直接通信を行っている他の歩行者端末１がいない場合には、直接通信を選択する。 In the first embodiment, it is determined whether or not the pedestrian is in a dangerous state, and the communication method (direct communication or indirect communication) is selected according to the determination result. In addition to the determination of whether or not a person is in a dangerous state, it is determined whether or not other pedestrian terminals 1 existing in the vicinity are already performing direct communication, and the communication system is selected according to the determination result Do. That is, when the other pedestrian terminal 1 is already performing direct communication, the indirect communication is selected, and when there is no other pedestrian terminal 1 already performing direct communication, the direct communication is selected. .
　これにより、先に直接通信を開始した歩行者端末１を優先して、他の歩行者端末１の直接通信を制限することで、直接通信の輻輳を抑えることができる。 Thereby, the congestion of direct communication can be suppressed by limiting direct communication of another pedestrian terminal 1 by giving priority to the pedestrian terminal 1 that has started direct communication earlier.
　また、本実施形態では、他の歩行者端末１から送信されるメッセージに基づいて、他の歩行者端末１が既に直接通信を行っているか否かを判定する。歩行者端末１から直接通信で車載端末３にメッセージを送信する際には、メッセージがブロードキャストで送信されるため、周辺に存在する他の歩行者端末１はメッセージを受信することができる。 Moreover, in this embodiment, based on the message transmitted from the other pedestrian terminal 1, it is determined whether the other pedestrian terminal 1 has already performed direct communication. When transmitting a message from the pedestrian terminal 1 to the in-vehicle terminal 3 by direct communication, the message is transmitted by broadcast, so that other pedestrian terminals 1 present in the vicinity can receive the message.
　また、直接通信を行う歩行者端末１から、直接通信であることを表す通信方式情報をメッセージに付加して送信することで、他の歩行者端末１は、直接通信で送信されたメッセージであることを認識することができる。 Moreover, the other pedestrian terminal 1 is a message transmitted by direct communication by adding communication method information indicating direct communication to the message from the pedestrian terminal 1 performing direct communication and transmitting the message. You can recognize that.
　次に、第５実施形態に係る歩行者端末１で行われる通信方式選択（図６のＳＴ１０３）の手順について説明する。図１７は、歩行者端末１で行われる通信方式選択の手順を示すフロー図である。 Next, the procedure of communication system selection (ST103 in FIG. 6) performed by the pedestrian terminal 1 according to the fifth embodiment will be described. FIG. 17 is a flowchart showing the procedure of communication system selection performed by the pedestrian terminal 1.
　歩行者端末１の通信方式選択部２２では、まず、路側機５から送信されるビーコン信号を無線ＬＡＮ通信部３４で受信したか否かに応じて、自装置が路側機５の通信圏内か否かを判定する（ＳＴ７０１）。ここで、自装置が路側機５の通信圏内でない場合には（ＳＴ７０１でＮｏ）、直接通信を選択する（ＳＴ７０４）。 In the communication system selection unit 22 of the pedestrian terminal 1, first, depending on whether the beacon signal transmitted from the roadside device 5 is received by the wireless LAN communication unit 34 or not, the own device is within the communication range of the roadside device 5 It is determined (ST 701). Here, when the own device is not within the communication range of the roadside device 5 (No in ST 701), direct communication is selected (ST 704).
　一方、自装置が路側機５の通信圏内である場合には（ＳＴ７０１でＹｅｓ）、次に、所定時間内に受信したメッセージに含まれる通信方式情報を取得する（ＳＴ７３１）。そして、通信方式情報に基づいて、他の歩行者端末１から直接通信で送信されたメッセージを所定時間内に受信したか否かを判定する（ＳＴ７３２）。ここで、直接通信で送信されたメッセージを所定時間内に受信していない場合には（ＳＴ７３２でＮｏ）、直接通信を選択する（ＳＴ７０４）。 On the other hand, when the own device is within the communication range of the roadside device 5 (Yes in ST 701), next, communication method information included in the message received within the predetermined time is acquired (ST 731). And based on communication system information, it is determined whether the message transmitted by direct communication from the other pedestrian terminal 1 was received within predetermined time (ST732). Here, when the message transmitted by direct communication is not received within a predetermined time (No in ST732), direct communication is selected (ST704).
　一方、直接通信で送信されたメッセージを所定時間内に受信している場合には（ＳＴ７３２でＹｅｓ）、次に、状態検出部３２などから自歩行者の状態情報を取得する（ＳＴ７０２）。そして、自歩行者の状態情報に基づいて、自歩行者が危険状態か否かを判定する（ＳＴ７０３）。 On the other hand, when the message transmitted by direct communication is received within the predetermined time (Yes in ST732), next, the self pedestrian's state information is acquired from the state detection unit 32 (ST702). Then, based on the state information of the self pedestrian, it is determined whether the self pedestrian is in the dangerous state (ST 703).
　ここで、自歩行者が危険状態である場合には（ＳＴ７０３でＹｅｓ）、直接通信を選択する（ＳＴ７０４）。一方、自歩行者が危険状態でない場合には（ＳＴ７０３でＮｏ）、間接通信を選択する（ＳＴ７０５）。 Here, when the pedestrian is in a dangerous state (Yes in ST703), direct communication is selected (ST704). On the other hand, when the pedestrian is not in the dangerous state (No in ST703), the indirect communication is selected (ST705).
　なお、本実施形態では、歩行者端末１が、直接通信を行う他の歩行者端末１からのメッセージを所定時間内に受信した場合に、間接通信を選択するようにしたが、直接通信を行う他の歩行者端末１を発見してから所定時間が経過するまで間接通信を継続し、所定時間が経過すると、直接通信を制限する状態を解除して直接通信に戻すようにしてもよい。 In the present embodiment, the indirect communication is selected when the pedestrian terminal 1 receives a message from another pedestrian terminal 1 performing direct communication within a predetermined time, but direct communication is performed. Indirect communication may be continued until a predetermined time has elapsed since the other pedestrian terminal 1 was found, and when the predetermined time has elapsed, the state in which direct communication is restricted may be released and returned to direct communication.
　また、直接通信を行う歩行者端末１が、直接通信を所定時間行わないように指示する通信方式指示情報をメッセージに付加して送信し、その通信方式指示情報を含むメッセージを他の歩行者端末１が受信すると、その歩行者端末１が、直接通信を所定時間行わないようにしてもよい。 In addition, the pedestrian terminal 1 performing direct communication adds communication method instruction information instructing that direct communication should not be performed for a predetermined period of time and transmits the message, and the other pedestrian terminal transmits the message including the communication method instruction information When 1 is received, the pedestrian terminal 1 may not perform direct communication for a predetermined time.
　また、図１７には、歩行者端末１の通信方式選択部２２で行われる処理の手順を示したが、車載端末３の通信方式選択部４２でも、これと同様の手順で通信方式選択の処理が行われる。 Further, FIG. 17 shows the procedure of the process performed by the communication system selection unit 22 of the pedestrian terminal 1, but the communication system selection unit 42 of the on-vehicle terminal 3 also performs the communication system selection process in the same procedure. Is done.
（第６実施形態）
　次に、第６実施形態について説明する。なお、ここで特に言及しない点は前記の実施形態と同様である。図１８は、第６実施形態に係る歩行者端末１および車載端末３におけるメッセージの送信状況を示す説明図である。 Sixth Embodiment
Next, a sixth embodiment will be described. The points not particularly mentioned here are the same as the above embodiment. FIG. 18 is an explanatory view showing a transmission state of a message in the pedestrian terminal 1 and the in-vehicle terminal 3 according to the sixth embodiment.
　第１実施形態では、歩行者や車両が危険状態であるか否かを判定して、その判定結果に応じて通信方式（直接通信または間接通信）を選択するようにしたが、本実施形態では、歩行者や車両が危険状態であるか否かの判定に加えて、自装置の所定距離以内に特定車両が存在するか否かを判定して、その判定結果に応じて通信方式を選択する。すなわち、自装置の所定距離以内に特定車両を発見すると、直接通信から間接通信に切り替え、自装置の所定距離以内の特定車両がいなくなると、直接通信に戻す。 In the first embodiment, it is determined whether the pedestrian or the vehicle is in the dangerous state, and the communication method (direct communication or indirect communication) is selected according to the determination result. In addition to the determination of whether the pedestrian or the vehicle is in a dangerous state, it is determined whether or not the specific vehicle exists within a predetermined distance of the own device, and the communication method is selected according to the determination result. . That is, when a specific vehicle is found within the predetermined distance of the own device, the direct communication is switched to the indirect communication, and when the specific vehicle within the predetermined distance of the own device is not present, the direct communication is returned.
　なお、特定車両は、常時、直接通信でメッセージを送信する。 In addition, a specific vehicle always transmits a message by direct communication.
　これにより、特定車両に搭載された車載端末３の直接通信を優先して、特定車両の周辺に存在する歩行者端末１や車載端末３の直接通信を制限することで、直接通信の輻輳を抑えるとともに、特定車両の存在を迅速にかつ確実に周辺の歩行者や車両の運転者に通知することができる。 Thereby, the direct communication of the on-vehicle terminal 3 mounted on the specific vehicle is prioritized, and the direct communication of the pedestrian terminal 1 and the on-vehicle terminal 3 existing around the specific vehicle is restricted to suppress the congestion of the direct communication. In addition, the presence of a specific vehicle can be notified to surrounding pedestrians and drivers of vehicles quickly and reliably.
　特に、本実施形態では、救急車や消防車などの緊急車両を特定車両とする。また、本実施形態では、緊急車両の車載端末３は、常時、直接通信でメッセージを送信する。また、緊急車両の車載端末３は、緊急車両であることを表す属性情報をメッセージに付加して送信する。これにより、歩行者端末１が、緊急車両であることを識別することができる。また、本実施形態では、緊急車両の車載端末３から受信したメッセージに含まれる緊急車両の位置情報と、自歩行者の位置情報とに基づいて、緊急車両と自装置との距離を算出して、自装置の所定距離以内に特定車両が存在するか否かを判定する。なお、歩行者端末１は、自歩行者が危険行動の多い人物である場合には、事前に飛び出し等を行わないように警告するようにするとよい。また、所定距離は歩行者によって異なるようにしてもよい。 In particular, in the present embodiment, an emergency vehicle such as an ambulance or a fire engine is a specific vehicle. Moreover, in this embodiment, the vehicle-mounted terminal 3 of an emergency vehicle always transmits a message by direct communication. In addition, the on-vehicle terminal 3 of the emergency vehicle adds attribute information indicating that it is an emergency vehicle to the message and transmits it. Thereby, it can be identified that pedestrian terminal 1 is an emergency vehicle. Further, in the present embodiment, the distance between the emergency vehicle and the own device is calculated based on the position information of the emergency vehicle included in the message received from the on-vehicle terminal 3 of the emergency vehicle and the position information of the own pedestrian. It is determined whether a specific vehicle exists within a predetermined distance of the own device. In addition, it is good for the pedestrian terminal 1 to warn so that pop-out etc. are not performed beforehand, when a self-pedestrian is a person with many dangerous actions. Also, the predetermined distance may be different depending on the pedestrian.
　次に、第６実施形態に係る歩行者端末１で行われる通信方式選択（図６のＳＴ１０３）の手順について説明する。図１９は、歩行者端末１で行われる通信方式選択の手順を示すフロー図である。 Next, the procedure of communication system selection (ST103 in FIG. 6) performed by the pedestrian terminal 1 according to the sixth embodiment will be described. FIG. 19 is a flowchart showing the procedure of communication system selection performed by the pedestrian terminal 1.
　歩行者端末１の通信方式選択部２２では、まず、路側機５から送信されるビーコン信号を無線ＬＡＮ通信部１４で受信したか否かに応じて、自装置が路側機５の通信圏内か否かを判定する（ＳＴ７０１）。ここで、自装置が路側機５の通信圏内でない場合には（ＳＴ７０１でＮｏ）、直接通信を選択する（ＳＴ７０４）。 In the communication system selection unit 22 of the pedestrian terminal 1, first, depending on whether or not the beacon signal transmitted from the roadside device 5 is received by the wireless LAN communication unit 14, the own device is within the communication range of the roadside device 5 It is determined (ST 701). Here, when the own device is not within the communication range of the roadside device 5 (No in ST 701), direct communication is selected (ST 704).
　一方、自装置が路側機５の通信圏内である場合には（ＳＴ７０１でＹｅｓ）、次に、車載端末３から受信したメッセージに含まれる位置情報および属性情報を取得する（ＳＴ７４１）。そして、車載端末３の位置情報および属性情報に基づいて、自歩行者の所定距離以内に緊急車両が存在するか否かを判定する（ＳＴ７４２）。ここで、自歩行者の所定距離以内に緊急車両が存在しない場合には（ＳＴ７４２でＮｏ）、直接通信を選択する（ＳＴ７０４）。 On the other hand, when the own device is within the communication range of the roadside device 5 (Yes in ST 701), next, position information and attribute information included in the message received from the on-vehicle terminal 3 are acquired (ST 741). Then, based on the position information and the attribute information of the on-vehicle terminal 3, it is determined whether or not there is an emergency vehicle within a predetermined distance of the pedestrian (ST742). Here, if there is no emergency vehicle within the predetermined distance of the self-pedestrian (NO in ST742), direct communication is selected (ST704).
　一方、自歩行者の所定距離以内に緊急車両が存在する場合には（ＳＴ７４２でＹｅｓ）、次に、状態検出部１２などから自歩行者の状態情報を取得する（ＳＴ７０２）。そして、自歩行者の状態情報に基づいて、自歩行者が危険状態か否かを判定する（ＳＴ７０３）。 On the other hand, when the emergency vehicle exists within the predetermined distance of the self-pedestrian (Yes in ST742), next, the state information of the self-pedestrian is acquired from the state detection unit 12 (ST702). Then, based on the state information of the self pedestrian, it is determined whether the self pedestrian is in the dangerous state (ST 703).
　ここで、自歩行者が危険状態である場合には（ＳＴ７０３でＹｅｓ）、直接通信を選択する（ＳＴ７０４）。一方、歩行者が危険状態でない場合には（ＳＴ７０３でＮｏ）、間接通信を選択する（ＳＴ７０５）。 Here, when the pedestrian is in a dangerous state (Yes in ST703), direct communication is selected (ST704). On the other hand, when the pedestrian is not in a dangerous state (No in ST703), the indirect communication is selected (ST705).
　なお、図１９には、歩行者端末１の通信方式選択部２２で行われる処理の手順を示したが、車載端末３の通信方式選択部４２でも、これと同様の手順で通信方式選択の処理が行われる。 Although FIG. 19 shows the procedure of the process performed by the communication system selection unit 22 of the pedestrian terminal 1, the communication system selection unit 42 of the on-vehicle terminal 3 also performs the communication system selection process in the same procedure. Is done.
　また、本実施形態では、緊急車両の位置情報と自装置の位置情報とに基づいて、自装置の所定距離以内に緊急車両が存在するか否かを判定するようにしたが、歩行者端末１や車載端末３において、歩車間通信の通信圏内に緊急車両が入って、緊急車両の車載端末３から送信されるメッセージを受信できることで、自装置の所定距離以内に緊急車両が存在するものと判定するようにしてもよい。 Further, in the present embodiment, it is determined whether or not the emergency vehicle exists within a predetermined distance of the own device based on the position information of the emergency vehicle and the position information of the own device. Or in the on-vehicle terminal 3, the emergency vehicle enters the communication range of the walk-to-vehicle communication, and it can be determined that the emergency vehicle exists within the predetermined distance of the own device because it can receive the message transmitted from the on-vehicle terminal 3 of the emergency vehicle You may do it.
　また、本実施形態では、自装置の所定距離以内に特定車両が存在する場合に間接通信を選択し、自装置の所定距離以内の特定車両がいなくなると、直接通信に戻すようにしたが、緊急車両を発見してから所定時間が経過するまで間接通信を継続し、所定時間が経過すると、直接通信を制限する状態を解除して直接通信に戻すようにしてもよい。 Further, in the present embodiment, the indirect communication is selected when the specific vehicle exists within the predetermined distance of the own device, and when the specific vehicle within the predetermined distance of the own device disappears, the direct communication is restored. Indirect communication may be continued until a predetermined time has elapsed since the vehicle was discovered, and when the predetermined time has elapsed, the state in which the direct communication is restricted may be released and returned to the direct communication.
　また、緊急車両の車載端末３が、直接通信を所定時間行わないように指示する通信方式指示情報をメッセージに付加して送信し、その通信方式指示情報を含むメッセージを歩行者端末１や他の車載端末３が受信すると、その歩行者端末１や他の車載端末３が、直接通信を所定時間行わないようにしてもよい。 Further, the on-vehicle terminal 3 of the emergency vehicle adds communication method instruction information to instruct that the direct communication is not performed for a predetermined period of time, and transmits the message, and transmits the message including the communication method instruction information When the on-vehicle terminal 3 receives, the pedestrian terminal 1 or the other on-vehicle terminal 3 may not perform direct communication for a predetermined time.
　また、緊急車両が自装置の所定距離以内まで近づいている場合に間接通信を選択し、自装置の近傍を緊急車両が通り過ぎると直接通信に戻すようにしてもよい。 In addition, indirect communication may be selected when the emergency vehicle approaches within a predetermined distance of the own device, and direct communication may be returned when the emergency vehicle passes by the vicinity of the own device.
（第７実施形態）
　次に、第７実施形態について説明する。なお、ここで特に言及しない点は前記の実施形態と同様である。図２０は、第７実施形態に係る歩行者端末１および車載端末３におけるメッセージの送信状況を示す説明図である。図２１は、優先度テーブルの登録内容を示す説明図である。 Seventh Embodiment
Next, a seventh embodiment will be described. The points not particularly mentioned here are the same as the above embodiment. FIG. 20 is an explanatory view showing a transmission state of a message in the pedestrian terminal 1 and the in-vehicle terminal 3 according to the seventh embodiment. FIG. 21 is an explanatory view of the registration content of the priority table.
　前記の実施形態では、歩行者や車両が危険状態であるか否かを判定して、その判定結果に応じて通信方式（直接通信または間接通信）を選択するようにしたが、本実施形態では、歩行者や車両が危険状態であるか否かの判定に加えて、自装置の周辺に存在する移動体の種別（歩行者、自転車、シニアカー、自動車、バイクなど）に基づいて、通信方式を選択する。すなわち、自装置の周辺に歩行者が存在するか、また、自装置の周辺にどのような種別の車両が存在するかに応じて、相対的に通信方式を選択する。 In the above-described embodiment, it is determined whether the pedestrian or the vehicle is in the dangerous state, and the communication method (direct communication or indirect communication) is selected according to the determination result. In addition to the determination of whether the pedestrian or the vehicle is in a dangerous state, the communication method is based on the type of mobile object (pedestrian, bicycle, senior car, car, motorcycle, etc.) existing around the own apparatus. select. That is, the communication system is relatively selected according to whether there is a pedestrian around the own apparatus and what type of vehicle exists around the own apparatus.
　特に本実施形態では、予め直接通信の優先度を移動体の種別ごとに設定しておき、車載端末３において、自車両の優先度と、自車両の周辺に存在する歩行者および他車両の優先度とを比較して、自装置の通信方式を選択する。具体的には、自分より優先度の高い端末があると、間接通信を選択し、自分より優先度の低い端末があると、直接通信を選択する。 Particularly, in the present embodiment, the priority of direct communication is set in advance for each type of mobile object, and the priority of the host vehicle and the priority of pedestrians and other vehicles existing around the host vehicle in the on-vehicle terminal 3 The communication method of the own device is selected by comparing the degrees. Specifically, if there is a terminal with higher priority than you, select indirect communication, and if there is a terminal with lower priority than you, select direct communication.
　ここで、移動速度が速いと、危険性が高い。また、移動速度が速いと、路側機５の通信エリアを短時間で通過するため、間接通信でメッセージを送信する機会が少なく、間接通信に切り替える利点があまりない。そこで、本実施形態では、移動速度が速いほど優先度を高く設定して、移動速度が速い端末では直接通信を選択し、移動速度が遅い端末では間接通信を選択するようにする。 Here, if the moving speed is high, the risk is high. Further, if the moving speed is high, the roadside unit 5 passes through the communication area in a short time, so there are few opportunities to transmit a message by indirect communication, and there is not much advantage to switch to indirect communication. Therefore, in the present embodiment, the priority is set to be higher as the moving speed is higher, direct communication is selected for a terminal having a high moving speed, and indirect communication is selected for a terminal having a low moving speed.
　具体的には、車載端末３の通信方式選択部４２において、図２１に示す優先度テーブルと、自装置および周辺に存在する歩行者端末１および車載端末３の属性情報とに基づいて、通信方式を選択する。なお、優先度テーブルは記憶部３７に記憶されている。また、属性情報をメッセージに付加して送信することにより、車載端末３では、自装置の周辺に歩行者が存在するか、また、自装置の周辺にどのような種別の車両が存在するかを判別することができる。 Specifically, based on the priority table shown in FIG. 21 and the attribute information of the pedestrian terminal 1 and the on-vehicle terminal 3 present in the own apparatus and the surroundings, the communication system selection unit 42 of the on-vehicle terminal 3 performs the communication method. Choose The priority table is stored in the storage unit 37. Further, by transmitting attribute information to the message, the on-vehicle terminal 3 determines whether a pedestrian is present in the vicinity of the own apparatus or what type of vehicle exists in the vicinity of the own apparatus. It can be determined.
　優先度テーブルには、端末属性（歩行者、自転車、シニアカー、自動車、バイク）に応じた優先度が登録されており、優先度テーブルに基づいて、自装置の端末属性から、自装置の優先度を取得し、周辺に存在する歩行者端末１および車載端末３の端末属性から、歩行者端末１および車載端末３の優先度を取得する。自車両の優先度と、自車両の周辺に存在する他車両の優先度とを比較して、自装置の通信方式を選択する。 The priority according to the terminal attribute (pedestrian, bicycle, senior car, car, motorcycle) is registered in the priority table, and based on the priority table, the terminal attribute of the own device is used to determine the priority of the own device. Are obtained, and the priorities of the pedestrian terminal 1 and the on-vehicle terminal 3 are acquired from the terminal attributes of the pedestrian terminal 1 and the on-vehicle terminal 3 existing in the vicinity. The communication system of the own device is selected by comparing the priority of the own vehicle and the priorities of other vehicles existing in the vicinity of the own vehicle.
　ここで、自動車やバイクなどの高速車両は、優先度が最も高い。したがって、高速車両の車載端末３では、常時、直接通信を選択する。 Here, high-speed vehicles such as cars and motorcycles have the highest priority. Therefore, direct communication is always selected at the on-vehicle terminal 3 of the high-speed vehicle.
　一方、シニアカーや自転車などの低速車両は、優先度が歩行者より高く、高速車両より低い。したがって、低速車両の車載端末３では、周辺に歩行者が存在する場合には、直接通信とする。また、周辺に歩行者が存在せず、かつ、周辺に自動車やバイクなどの高速車両が存在する場合には、間接通信を選択し、危険状態になると、直接通信を選択する。 On the other hand, low-speed vehicles such as senior cars and bicycles have higher priority than pedestrians and lower priority than high-speed vehicles. Therefore, in the on-vehicle terminal 3 of the low speed vehicle, when there is a pedestrian around, direct communication is performed. In addition, when there is no pedestrian in the vicinity and there is a high-speed vehicle such as a car or a motorcycle in the vicinity, the indirect communication is selected, and the direct communication is selected when the danger state is reached.
　なお、歩行者は、優先度が最も低い。したがって、歩行者端末１では、通常状態では常時、間接通信とし、危険状態になると、直接通信を選択する。 Pedestrians have the lowest priority. Therefore, the pedestrian terminal 1 always performs indirect communication in the normal state, and selects direct communication when it is in the dangerous state.
　例えば、図２０（Ａ）に示すように、歩行者がいる場合には、歩行者端末１では間接通信が選択され、自転車やシニアカーやバイクや自動車の車載端末３では直接通信が選択される。一方、図２０（Ｂ）に示すように、歩行者がいない場合には、自転車やシニアカーの車載端末３では間接通信が選択され、バイクや自動車の車載端末３では直接通信が選択される。 For example, as shown in FIG. 20A, when there is a pedestrian, the indirect communication is selected in the pedestrian terminal 1, and the direct communication is selected in the on-vehicle terminal 3 of a bicycle, a senior car, a motorcycle or a car. On the other hand, as shown to FIG. 20 (B), when there is no pedestrian, indirect communication is selected by the vehicle-mounted terminal 3 of a bicycle or a senior car, and direct communication is selected by the vehicle-mounted terminal 3 of a motorbike or a motor vehicle.
　このように本実施形態では、移動速度が速く危険性が高い車両の車載端末３の直接通信を優先して、他の車載端末３や歩行者端末１の直接通信を制限することで、直接通信の輻輳を抑えるとともに、移動速度が速く危険性が高い車両の存在を迅速にかつ確実に周辺の歩行者や車両の運転者に通知することができる。 As described above, in the present embodiment, priority is given to direct communication of the on-vehicle terminal 3 of a vehicle having high moving speed and high danger, and direct communication is restricted by restricting direct communication of the other on-vehicle terminals 3 and the pedestrian terminal 1. As a result, it is possible to quickly and reliably notify pedestrians and drivers of vehicles of the presence of vehicles having high moving speed and high risk.
　なお、歩行者端末１の所持者が自転車やシニアカーに乗車する場合がある。この場合、自転車やシニアカーに乗車していることを表す情報を属性情報としてメッセージに付加して送信すればよい。そして、歩行者端末１では、周辺に歩行者が存在する場合には、直接通信とし、周辺に歩行者が存在せず、バイクや自動車などの高速車両が存在する場合には、間接通信とする。 In addition, the holder of pedestrian terminal 1 may get on a bicycle or a senior car. In this case, information indicating that you are riding a bicycle or a senior car may be added to the message as attribute information and transmitted. And in pedestrian terminal 1, when a pedestrian exists in the outskirts, direct communication is performed, and when there is no pedestrian in the outskirts and a high-speed vehicle such as a motorbike or a car exists, indirect communication is performed. .
　次に、第７実施形態に係る車載端末３で行われる通信方式選択（図７のＳＴ４０３）の手順について説明する。図２２は、車載端末３で行われる通信方式選択の手順を示すフロー図である。 Next, the procedure of communication system selection (ST 403 in FIG. 7) performed by the on-vehicle terminal 3 according to the seventh embodiment will be described. FIG. 22 is a flowchart showing the procedure of communication system selection performed by the on-vehicle terminal 3.
　車載端末３の通信方式選択部４２では、まず、路側機５から送信されるビーコン信号を無線ＬＡＮ通信部３４で受信したか否かに応じて、自装置が路側機５の通信圏内か否かを判定する（ＳＴ８０１）。ここで、自装置が路側機５の通信圏内でない場合には（ＳＴ８０１でＮｏ）、直接通信を選択する（ＳＴ８０４）。 In the communication method selection unit 42 of the on-vehicle terminal 3, first, whether or not the own device is in the communication range of the roadside device 5 depending on whether the beacon signal transmitted from the roadside device 5 is received by the wireless LAN communication unit 34. Is determined (ST801). Here, when the own device is not within the communication range of the roadside device 5 (No in ST801), direct communication is selected (ST804).
　一方、自装置が路側機５の通信圏内である場合には（ＳＴ８０１でＹｅｓ）、次に、記憶部３７に記憶された自車両の車両属性情報を取得する（ＳＴ８２１）。そして、自車両の車両属性情報に基づいて、自車両が、自動車やバイクなどの高速車両であるか否かを判定する（ＳＴ８２２）。ここで、自車両が高速車両である場合には（ＳＴ８２２でＹｅｓ）、直接通信を選択する（ＳＴ８０４）。 On the other hand, when the own device is within the communication range of the roadside device 5 (Yes in ST801), next, the vehicle attribute information of the own vehicle stored in the storage unit 37 is acquired (ST821). Then, based on the vehicle attribute information of the own vehicle, it is determined whether the own vehicle is a high-speed vehicle such as a car or a motorcycle (ST 822). Here, when the host vehicle is a high-speed vehicle (Yes in ST822), direct communication is selected (ST804).
　一方、自車両が、高速車両でない、すなわち、シニアカーや自転車などの低速車両である場合には（ＳＴ８２２でＮｏ）、次に、歩行者端末１や他の車載端末３から受信したメッセージに含まれる属性情報を取得する（ＳＴ８２３）。そして、自車両の周辺に歩行者が存在するか否かを判定する（ＳＴ８２４）。ここで、自車両の周辺に歩行者が存在する場合には（ＳＴ８２４でＹｅｓ）、直接通信を選択する（ＳＴ８０４）。 On the other hand, if the host vehicle is not a high-speed vehicle, that is, a low-speed vehicle such as a senior car or a bicycle (No in ST822), then the message is included in the message received from pedestrian terminal 1 or other on-vehicle terminal 3 Attribute information is acquired (ST 823). Then, it is determined whether a pedestrian is present around the host vehicle (ST 824). Here, when there is a pedestrian around the host vehicle (Yes in ST 824), direct communication is selected (ST 804).
　一方、自車両の周辺に歩行者が存在しない場合には（ＳＴ８２４でＮｏ）、次に、状態検出部３２などから自車両の状態情報を取得する（ＳＴ８０２）。そして、自車両の状態情報に基づいて、自車両が危険状態か否かを判定する（ＳＴ８０３）。 On the other hand, when a pedestrian does not exist around the own vehicle (No in ST 824), next, the state information of the own vehicle is acquired from the state detection unit 32 (ST 802). Then, based on the state information of the host vehicle, it is determined whether the host vehicle is in a dangerous state (ST 803).
　ここで、自車両が危険状態である場合には（ＳＴ８０３でＹｅｓ）、直接通信を選択する（ＳＴ８０４）。一方、自車両が危険状態でない場合には（ＳＴ８０３でＮｏ）、間接通信を選択する（ＳＴ８０５）。 Here, when the host vehicle is in a dangerous state (Yes in ST 803), direct communication is selected (ST 804). On the other hand, when the host vehicle is not in a dangerous state (No in ST 803), indirect communication is selected (ST 805).
　なお、歩行者端末１では、図８（Ａ）に示す例と同様に、通信方式選択部２２において、危険状態であれば直接通信を選択し、危険状態でなければ間接通信を選択する。 In the pedestrian terminal 1, as in the example shown in FIG. 8A, in the communication system selection unit 22, direct communication is selected in the dangerous state, and indirect communication is selected in the non-hazard state.
（第８実施形態）
　次に、第８実施形態について説明する。なお、ここで特に言及しない点は前記の実施形態と同様である。 Eighth Embodiment
An eighth embodiment will now be described. The points not particularly mentioned here are the same as the above embodiment.
　前記の実施形態では、歩行者端末１や車載端末３が個別に、自装置の通信方式（直接通信または間接通信）を選択するようにしたが、本実施形態では、路側機５が、周辺に存在する歩行者端末１や車載端末３の通信方式を管理する。すなわち、路側機５が、通信方式の選択に必要な情報を歩行者端末１や車載端末３から収集して、歩行者端末１や車載端末３の通信方式を決定して、決定した通信方式を歩行者端末１や車載端末３に通知して、歩行者端末１や車載端末３において、路側機５が決定した通信方式でメッセージを送信させる。 In the embodiment described above, the pedestrian terminal 1 and the on-vehicle terminal 3 individually select the communication method (direct communication or indirect communication) of the own device, but in the present embodiment, the roadside device 5 It manages the communication system of existing pedestrian terminal 1 and in-vehicle terminal 3. That is, the roadside device 5 collects the information necessary for selecting the communication method from the pedestrian terminal 1 and the in-vehicle terminal 3, determines the communication method of the pedestrian terminal 1 and the in-vehicle terminal 3, and determines the determined communication method. The pedestrian terminal 1 and the on-vehicle terminal 3 are notified, and the pedestrian terminal 1 and the on-vehicle terminal 3 transmit a message by the communication method determined by the roadside device 5.
　次に、第８実施形態に係る路側機５の概略構成について説明する。図２３は、路側機５の概略構成を示すブロック図である。 Next, a schematic configuration of the roadside device 5 according to the eighth embodiment will be described. FIG. 23 is a block diagram showing a schematic configuration of the roadside device 5.
　路側機５は、第１実施形態（図５参照）と同様に、無線ＬＡＮ通信部５１と、制御部５２と、記憶部５３と、を備えている。 The roadside device 5 includes a wireless LAN communication unit 51, a control unit 52, and a storage unit 53, as in the first embodiment (see FIG. 5).
　無線ＬＡＮ通信部５１は、ＷｉＦｉ（登録商標）などの無線ＬＡＮ通信により、歩行者端末１や車載端末３から送信されるメッセージを受信し、また、受信したメッセージをブロードキャストで歩行者端末１や車載端末３に送信する。なお、歩行者端末１や車載端末３は、通信方式の選択に必要な状態情報、すなわち、状態検出部１２，３２の検出結果、位置情報および属性情報を含むメッセージを送信する。 The wireless LAN communication unit 51 receives a message transmitted from the pedestrian terminal 1 or the on-vehicle terminal 3 by wireless LAN communication such as WiFi (registered trademark), and broadcasts the received message to the pedestrian terminal 1 or on-vehicle Send to terminal 3 The pedestrian terminal 1 and the in-vehicle terminal 3 transmit a state information necessary for selecting a communication method, that is, a message including detection results of the state detection units 12 and 32, position information, and attribute information.
　記憶部５３は、制御部５２を構成するプロセッサで実行されるプログラムなどを記憶する。また、記憶部５３は、歩行者端末１や車載端末３から受信したメッセージに含まれる状態情報を記憶する。 The storage unit 53 stores, for example, a program executed by a processor that configures the control unit 52. In addition, the storage unit 53 stores state information included in a message received from the pedestrian terminal 1 or the in-vehicle terminal 3.
　制御部５２は、メッセージ制御部６１と、通信方式選択部６２と、を備えている。 The control unit 52 includes a message control unit 61 and a communication scheme selection unit 62.
　通信方式選択部６２は、周辺の歩行者および車両の状態情報を記憶部５３から取得して、その状態情報と、記憶部５３に記憶された地図情報とに基づいて、周辺の歩行者および車両が危険状態であるか否かを判定して、その判定結果に応じて通信方式を選択する。 The communication method selection unit 62 acquires the state information of the pedestrians and vehicles in the vicinity from the storage unit 53, and based on the state information and the map information stored in the storage unit 53, the pedestrians and vehicles in the vicinity It is determined whether or not there is a danger state, and the communication method is selected according to the determination result.
　メッセージ制御部６１は、歩行者端末１や車載端末３から送信されるメッセージを無線ＬＡＮ通信部５１で受信すると、そのメッセージを無線ＬＡＮ通信部５１から歩行者端末１や車載端末３に送信する。また、メッセージ制御部６１は、通信方式選択部６２で選択した通信方式でメッセージを送信するように指示する通信方式指示情報を含むメッセージを、歩行者端末１や車載端末３に送信する。 When the wireless LAN communication unit 51 receives a message transmitted from the pedestrian terminal 1 or the in-vehicle terminal 3, the message control unit 61 transmits the message from the wireless LAN communication unit 51 to the pedestrian terminal 1 or the in-vehicle terminal 3. Further, the message control unit 61 transmits a message including communication system instruction information instructing transmission of a message by the communication system selected by the communication system selection unit 62 to the pedestrian terminal 1 or the on-vehicle terminal 3.
　歩行者端末１および車載端末３では、通信方式指示情報を含むメッセージを路側機５から受信すると、通信方式指示情報に基づいて、指示された通信方式でメッセージを送信する。 When the pedestrian terminal 1 and the on-vehicle terminal 3 receive the message including the communication method instruction information from the roadside device 5, the pedestrian terminal 1 and the on-vehicle terminal 3 transmit the message by the instructed communication method based on the communication method instruction information.
　なお、本実施形態では、第１実施形態において歩行者端末１や車載端末３で行うようにした状態情報に基づく通信方式選択の処理を、路側機５で行うようにしたが、その他の実施形態において歩行者端末１や車載端末３で行うようにした通信方式選択の処理を、路側機５で行うようにしてもよい。特に、通信方式選択の処理を路側機５で行う構成は、第２，第３，第４実施形態のように、特定エリア（踏切の周辺エリアやバス停の周辺エリア）内に存在する歩行者端末１や車載端末３の通信方式を管理する場合に好適である。 In the present embodiment, the roadside device 5 performs the communication system selection processing based on the state information that is performed by the pedestrian terminal 1 and the in-vehicle terminal 3 in the first embodiment, but other embodiments The roadside device 5 may perform the communication system selection process performed by the pedestrian terminal 1 or the on-vehicle terminal 3. In particular, the configuration in which the communication system selection process is performed by the roadside device 5 is a pedestrian terminal existing in a specific area (a peripheral area of a railroad crossing or a peripheral area of a bus stop) as in the second, third, and fourth embodiments. It is suitable for managing the communication method of the terminal 1 or the on-vehicle terminal 3.
　また、このような通信方式選択の処理の一部を歩行者端末１や車載端末３で行うようにしてもよい。例えば、位置情報に基づく判定は路側機５で行い、状態検出部１２，３２の検出結果に基づく判定は歩行者端末１や車載端末３で行うようにしてもよい。 In addition, a part of the process of selecting the communication method may be performed by the pedestrian terminal 1 or the on-vehicle terminal 3. For example, the determination based on the position information may be performed by the roadside device 5 and the determination based on the detection results of the state detection units 12 and 32 may be performed by the pedestrian terminal 1 or the on-vehicle terminal 3.
　以上のように、本出願において開示する技術の例示として、実施形態を説明した。しかしながら、本開示における技術は、これに限定されず、変更、置き換え、付加、省略などを行った実施形態にも適用できる。また、上記の実施形態で説明した各構成要素を組み合わせて、新たな実施形態とすることも可能である。 As described above, the embodiment has been described as an example of the technology disclosed in the present application. However, the technology in the present disclosure is not limited to this, and can be applied to embodiments in which changes, replacements, additions, omissions, and the like have been made. Moreover, it is also possible to combine each component demonstrated by said embodiment, and to set it as a new embodiment.
　例えば、前記の実施形態では、路側機を介した間接通信に無線ＬＡＮの通信方式を採用したが、この間接通信に採用する通信方式は無線ＬＡＮに限定されるものではなく、例えば、５Ｇ（第５世代移動通信システム）で採用される、高ＳＨＦ帯やＥＨＦ帯などの高周波数帯を利用した通信方式で間接通信を行うようにしてもよい。 For example, in the above embodiment, the communication method of the wireless LAN is adopted for the indirect communication via the roadside device, but the communication method adopted for this indirect communication is not limited to the wireless LAN. The indirect communication may be performed by a communication method using a high frequency band such as a high SHF band or an EHF band, which is adopted in the 5th generation mobile communication system).
　また、直接通信を行うか間接通信を行うかの選択は、端末装置が、自歩行者または自車両の状態に応じて自発的に選択するとしたが、路側機が直接通信を行う端末装置を選定するようにしてもよい。この場合、端末装置は、自装置の位置情報や状態情報、あるいは直接通信の要求等を路側機に通知し、路側機は、直接通信を行うことを許可する端末装置を決定し、許可または不許可を端末装置に通知するようにするとよい。 In addition, although the terminal device has voluntarily selected whether to perform direct communication or indirect communication according to the state of the pedestrian or the vehicle, the terminal device with which the roadside machine directly communicates is selected You may do it. In this case, the terminal device notifies the roadside device of position information and status information of the device itself or a request for direct communication, etc., and the roadside device decides a terminal device to permit the direct communication to be permitted or not. The permission may be notified to the terminal device.
　本発明に係る端末装置、路側装置、通信システム、および通信方法は、歩行者や車両の状態に応じて、端末装置間での歩車間通信（直接通信）と、路側機を介した間接通信とを、適宜に切り替えることで、歩車間通信の輻輳を抑えつつ、歩行者や車両が危険状態である場合に、その歩行者や車両の存在を、周辺の歩行者や車両の運転者に迅速にかつ確実に通知することができる効果を有し、自装置の位置情報を含むメッセージを歩車間通信で他の端末装置に送信する端末装置、道路に設置されて端末装置と通信を行う路側装置、端末装置と路側装置とを備える通信システム、および端末装置からメッセージを歩車間通信で他の端末装置に送信する通信方法などとして有用である。 The terminal device, the roadside device, the communication system, and the communication method according to the present invention include step-to-vehicle communication (direct communication) between the terminal devices and indirect communication via the roadside device according to the state of a pedestrian or a vehicle. By appropriately switching, while suppressing the congestion of the walk-to-car communication, when the pedestrian or vehicle is in a dangerous state, the pedestrian or the vehicle is promptly present to the surrounding pedestrian or driver of the vehicle. And a terminal device that has an effect of being able to reliably notify, and transmits a message including position information of the own device to another terminal device by inter-pedal communication, a roadside device installed on the road and communicating with the terminal device, The present invention is useful as a communication system including a terminal device and a roadside device, and a communication method for transmitting a message from the terminal device to another terminal device by means of inter-pedal communication.
１　歩行者端末（端末装置）
３　車載端末（端末装置）
５　路側機（路側装置）
７　踏切制御装置
１１　測位部
１２　状態検出部
１３　歩車間通信部（第１の通信部）
１４　無線ＬＡＮ通信部（第２の通信部）
１６　制御部
３１　測位部
３２　状態検出部
３３　歩車間通信部（第１の通信部）
３４　無線ＬＡＮ通信部（第２の通信部）
３６　制御部
５１　通信部
５２　制御部 1 pedestrian terminal (terminal device)
3 In-vehicle terminal (terminal device)
5 Roadside machine (roadside device)
7 level crossing control device 11 positioning unit 12 state detection unit 13 inter-walking vehicle communication unit (first communication unit)
14 Wireless LAN communication unit (second communication unit)
16 control unit 31 positioning unit 32 state detection unit 33 inter-vehicle communication unit (first communication unit)
34 Wireless LAN communication unit (second communication unit)
36 control unit 51 communication unit 52 control unit

Claims (18)

  1. 　自装置の位置情報を含むメッセージを歩車間通信で他の端末装置に送信する端末装置であって、
    　前記他の端末装置との間で、第１の通信方式である前記歩車間通信による直接通信を行う第１の通信部と、
    　前記他の端末装置との間で、道路に設置された路側装置を介した第２の通信方式による間接通信を行う第２の通信部と、
    　自装置の状態に関する状態情報に基づいて、自装置が危険状態であるか否かを判定して、その判定結果に応じて、前記直接通信と前記間接通信とのいずかの通信方式を選択し、選択した通信方式で前記メッセージを前記他の端末装置に送信する制御部と、
    を備えることを特徴とする端末装置。     A terminal device that transmits a message including position information of the own device to another terminal device by inter-walking communication,
    A first communication unit that performs direct communication with the other terminal device by the inter-walking vehicle communication that is a first communication method;
    A second communication unit that performs indirect communication with the other terminal device according to a second communication method via a roadside device installed on a road;
    Based on the state information on the state of the own device, it is determined whether or not the own device is in the dangerous state, and either of the direct communication and the indirect communication is selected according to the determination result. A control unit that transmits the message to the other terminal device according to the selected communication method;
    A terminal device comprising:
  2. 　前記制御部は、前記状態情報に基づいて、自装置のユーザが所定の危険行動をとったことを検知した場合に、危険状態と判定することを特徴とする請求項１に記載の端末装置。 The terminal device according to claim 1, wherein the control unit determines that the user is in the dangerous state when detecting that the user of the own device has taken a predetermined dangerous action based on the state information.
  3. 　前記制御部は、前記状態情報に基づいて、自装置が設けられた車両が所定の危険走行を行ったことを検知した場合に、危険状態と判定することを特徴とする請求項１に記載の端末装置。 The said control part determines that it is a dangerous state, when it detects that the vehicle provided with the own apparatus performed predetermined dangerous traveling based on the said status information. Terminal equipment.
  4. 　前記制御部は、前記状態情報に基づいて、自装置が所定の危険エリア内に位置する場合に、危険状態と判定することを特徴とする請求項１に記載の端末装置。 The terminal device according to claim 1, wherein the control unit determines that the device is in a dangerous state when the device is located in a predetermined dangerous area based on the state information.
  5. 　前記制御部は、前記状態情報に基づいて、自装置が所定値以上の速度で移動している場合に、危険状態と判定することを特徴とする請求項１に記載の端末装置。 The terminal device according to claim 1, wherein the control unit determines that the device is in a dangerous state when the own device is moving at a speed equal to or higher than a predetermined value, based on the state information.
  6. 　前記制御部は、自装置の位置情報と地図情報とに基づいて、自装置が特定エリア内に位置するか否かを判定して、その判定結果に応じて通信方式を選択することを特徴とする請求項１に記載の端末装置。 The control unit determines whether or not the own device is located in a specific area based on position information of the own device and map information, and selects a communication method according to the determination result. The terminal device according to claim 1.
  7. 　前記制御部は、前記特定エリアとして、所定条件の交差点の周辺エリア、踏切の周辺エリア、および特定車両の停車場の周辺エリアのいずれかに自装置が位置するか否かを判定することを特徴とする請求項６に記載の端末装置。 The control unit is characterized in that it determines whether or not the own device is located in any one of a peripheral area of an intersection under a predetermined condition, a peripheral area of a level crossing and a peripheral area of a stop of a specific vehicle as the specific area. The terminal device according to claim 6.
  8. 　前記制御部は、自装置が前記特定エリアとしての踏切の周辺エリア内に位置する場合に、遮断機の制御装置から取得した遮断機の動作情報に基づいて、遮断機が通行禁止状態であるか否かを判定して、その判定結果に応じて通信方式を選択することを特徴とする請求項６に記載の端末装置。 When the control unit is located within the crossing crossing area as the specific area, whether the blocker is in the traffic prohibited state based on the block breaker operation information acquired from the block breaker control device The terminal device according to claim 6, wherein it is determined whether or not the communication method is selected according to the determination result.
  9. 　前記制御部は、自装置が前記特定エリアとしての特定車両の停車場の周辺エリア内に位置する場合に、前記他の端末装置から受信したメッセージに含まれる他車両の属性情報および位置情報と地図情報とに基づいて、前記特定車両が前記停車場から所定距離以内まで近づいているか否かを判定して、その判定結果に応じて通信方式を選択することを特徴とする請求項６に記載の端末装置。 The control unit is configured to, when the own device is located in an area around a stop of a specific vehicle as the specific area, include attribute information, position information, and map information of another vehicle included in the message received from the other terminal device. The terminal device according to claim 6, wherein it is determined whether or not the specific vehicle is approaching within a predetermined distance from the stop, and the communication method is selected according to the determination result. .
  10. 　前記制御部は、前記他の端末装置から受信したメッセージに含まれる通信方式情報に基づいて、自装置の周辺に既に前記直接通信を行っている他の端末装置が存在するか否かを判定して、その判定結果に応じて通信方式を選択することを特徴とする請求項１に記載の端末装置。 The control unit determines, based on communication method information included in the message received from the other terminal device, whether or not there is another terminal device already performing the direct communication around the own device. The terminal apparatus according to claim 1, wherein the communication system is selected according to the determination result.
  11. 　前記制御部は、前記他の端末装置からから受信したメッセージに含まれる位置情報および属性情報に基づいて、自装置の所定距離以内に特定車両が存在するか否かを判定して、その判定結果に応じて通信方式を選択することを特徴とする請求項１に記載の端末装置。 The control unit determines whether or not a specific vehicle exists within a predetermined distance of the own device based on position information and attribute information included in the message received from the other terminal device, and the determination result The terminal apparatus according to claim 1, wherein the communication method is selected according to.
  12. 　前記制御部は、前記他の端末装置から受信したメッセージに含まれる属性情報に基づいて、自装置の周辺に存在する前記他の端末装置の種別を判別して、その種別に応じた優先度に基づいて通信方式を選択することを特徴とする請求項１に記載の端末装置。 The control unit determines the type of the other terminal device existing around the own device based on the attribute information included in the message received from the other terminal device, and determines the priority according to the type. The terminal apparatus according to claim 1, wherein the communication system is selected based on the communication system.
  13. 　道路に設置されて、端末装置と通信を行う路側装置であって、
    　前記端末装置間で行われる位置情報を含むメッセージの送受信を中継する通信部と、
    　前記端末装置の状態に関する状態情報を前記端末装置から収集して、その状態情報に基づいて、前記端末装置が危険状態であるか否かを判定して、その判定結果に応じて、前記端末装置間による直接通信と、自装置を介した間接通信とのいずかの通信方式を選択して、選択した通信方式に関する情報を含むメッセージを、前記通信部から前記端末装置に送信する制御部と、
    を備えることを特徴とする路側装置。     A roadside device installed on a road to communicate with a terminal device,
    A communication unit that relays transmission and reception of a message including position information performed between the terminal devices;
    State information on the state of the terminal device is collected from the terminal device, and it is determined whether the terminal device is in a dangerous state based on the state information, and the terminal device is determined according to the determination result A control unit that selects a communication method of direct communication between the devices and indirect communication via the own device, and transmits a message including information on the selected communication method from the communication unit to the terminal device; ,
    A roadside apparatus comprising:
  14. 　道路に設置されて、端末装置と通信を行う路側装置であって、
    　前記端末装置間で行われる位置情報を含むメッセージの送受信を第１の通信方式である路車間通信で中継する第１の通信部と、
    　前記端末装置間で行われる位置情報を含むメッセージの送受信を前記第１の通信方式とは異なる第２の通信方式で中継する第２の通信部と、
    　前記端末装置の位置情報を含むメッセージを前記端末装置から受信したとき、前記端末装置の種別に応じて、前記第１の通信部と、前記第２の通信部とのいずれかを選択して、前記端末装置の位置情報を含むメッセージを他の端末装置に中継する制御部と、
    を備えることを特徴とする路側装置。     A roadside device installed on a road to communicate with a terminal device,
    A first communication unit that relays transmission and reception of messages including position information performed between the terminal devices by road-to-vehicle communication, which is a first communication method;
    A second communication unit relaying transmission and reception of a message including position information performed between the terminal devices using a second communication method different from the first communication method;
    When a message including position information of the terminal device is received from the terminal device, either the first communication unit or the second communication unit is selected according to the type of the terminal device, A control unit which relays a message including position information of the terminal apparatus to another terminal apparatus;
    A roadside apparatus comprising:
  15. 　自装置の位置情報を含むメッセージを歩車間通信で他の端末装置に送信する端末装置と、道路に設置されて、前記端末装置と通信を行う路側装置と、を備える通信システムであって、
    　前記端末装置は、
    　前記他の端末装置との間で、第１の通信方式である前記歩車間通信による直接通信を行う第１の通信部と、
    　前記他の端末装置との間で、道路に設置された路側装置を介した第２の通信方式による間接通信を行う第２の通信部と、
    　自装置の状態に関する状態情報に基づいて、自装置が危険状態であるか否かを判定して、その判定結果に応じて、前記直接通信と前記間接通信とのいずかの通信方式を選択する制御部と、
    を備えることを特徴とする通信システム。     A terminal system for transmitting a message including position information of the own apparatus to another terminal apparatus by walk-to-vehicle communication, and a roadside apparatus installed on a road to communicate with the terminal apparatus,
    The terminal device is
    A first communication unit that performs direct communication with the other terminal device by the inter-walking vehicle communication that is a first communication method;
    A second communication unit that performs indirect communication with the other terminal device according to a second communication method via a roadside device installed on a road;
    Based on the state information on the state of the own device, it is determined whether or not the own device is in the dangerous state, and either of the direct communication and the indirect communication is selected according to the determination result. Control unit, and
    A communication system comprising:
  16. 　端末装置から、自装置の位置情報を含むメッセージを歩車間通信で他の端末装置に送信する通信方法であって、
    　自装置の状態に関する状態情報に基づいて、自装置が危険状態であるか否かを判定し、
    　その判定結果に応じて、第１の通信方式である前記歩車間通信による直接通信と、道路に設置された路側装置を介した第２の通信方式による間接通信とのいずかの通信方式を選択し、
    　選択した通信方式で前記メッセージを前記他の端末装置に送信することを特徴とする通信方法。     A communication method in which a terminal device transmits a message including position information of the own device to another terminal device through inter-vehicle communication,
    Based on the state information on the state of the own device, it is determined whether or not the own device is in a dangerous state,
    According to the determination result, there are two communication methods, the first communication method, the direct communication by the inter-pedal communication and the indirect communication by the second communication method via the roadside device installed on the road. Selected,
    A communication method comprising: transmitting the message to the other terminal device in accordance with a selected communication method.
  17. 　道路に設置されて、端末装置と通信を行う路側装置の通信方法であって、
    　前記端末装置間で行われる位置情報を含むメッセージの送受信を中継し、
    　前記端末装置から収集した前記端末装置の状態に関する状態情報に基づいて、前記端末装置が危険状態であるか否かを判定し、
    　その判定結果に応じて、前記端末装置間による直接通信と、自装置を介した間接通信とのいずかの通信方式を選択し、
    　選択した通信方式に関する情報を含むメッセージを前記端末装置に送信することを特徴とする通信方法。     A communication method of a roadside apparatus installed on a road and communicating with a terminal device,
    Relay transmission and reception of messages including position information performed between the terminal devices,
    Whether or not the terminal device is in a dangerous state is determined based on the state information on the state of the terminal device collected from the terminal device,
    According to the determination result, either communication method of direct communication between the terminal devices or indirect communication via the own device is selected,
    A communication method comprising transmitting a message including information on a selected communication method to the terminal device.
  18. 　道路に設置されて、端末装置間で行われる位置情報を含むメッセージの送受信の中継を行う路側装置の通信方法であって、
    　前記端末装置の位置情報を含むメッセージを前記端末装置から受信したとき、前記端末装置の種別に応じて、第１の通信方式である路車間通信または前記第１の通信方式とは異なる第２の通信方式のいずれかを選択して、前記端末装置の位置情報を含むメッセージを他の端末装置に中継することを特徴とする通信方法。     A roadside apparatus communication method installed on a road and relaying transmission and reception of a message including position information performed between terminal apparatuses,
    When a message including position information of the terminal device is received from the terminal device, a second communication method different from road-vehicle communication which is the first communication method or the first communication method is received according to the type of the terminal device. A communication method comprising: relaying a message including position information of the terminal apparatus to another terminal apparatus by selecting one of the communication methods.
PCT/JP2018/010185 2017-08-29 2018-03-15 Terminal device, roadside device, communications system, and communications method WO2019044007A1 (en)

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JP2019539039A JP7231547B2 (en) 2017-08-29 2018-07-13 TERMINAL DEVICE, COMMUNICATION SYSTEM AND COMMUNICATION METHOD
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