WO2020045354A1

WO2020045354A1 - Base station, vehicle, and traffic communication system

Info

Publication number: WO2020045354A1
Application number: PCT/JP2019/033337
Authority: WO
Inventors: 李佳星
Original assignee: 京セラ株式会社
Priority date: 2018-08-29
Filing date: 2019-08-26
Publication date: 2020-03-05
Also published as: JPWO2020045354A1; JP7167169B2

Abstract

This base station, which controls a traffic safety device provided at an intersection of a first road traveled by a first vehicle and a second road traveled by a second vehicle, is provided with a receiving unit which receives first messages from the first vehicle and receives second messages from the second vehicle, and a control unit which controls the traffic safety device. If approach of the first vehicle has been detected on the basis of the first messages, then the control unit implements first control for controlling the traffic safety device so as to prioritize the first vehicle over the second vehicle. If approach of the second vehicle has been detected on the basis of the second messages and the second vehicle is an emergency vehicle, the control unit implements second control for controlling the traffic safety device so as to prioritize the second vehicle over the first vehicle.

Description

Base stations, vehicles and traffic communication systems

The present invention relates to a base station, a vehicle, and a traffic communication system.

Conventionally, in an advanced transportation system (for example, ITS; Intelligent Transport System), a technology for performing communication between a roadside device (base station) provided on a road and a vehicle has been proposed (for example, Patent Document 1).

The base station according to the first feature controls a traffic safety device provided at an intersection where a first road through which the first vehicle passes and a second road through which the second vehicle passes. The base station includes a receiving unit that receives a first message from the first vehicle and a second message from the second vehicle, and a control unit that controls the traffic safety device. A control unit configured to control the traffic safety device to give priority to the first vehicle over the second vehicle when the proximity of the first vehicle is detected based on the first message; Execute The control unit is configured to control the first vehicle when the proximity of the second vehicle is detected based on the second message and when it is determined that the second vehicle is an emergency vehicle. Also executes the second control for controlling the traffic safety device so as to give priority to the second vehicle.

車両 The vehicle according to the second feature communicates with the base station according to the first feature.

A traffic communication system according to a third aspect includes a traffic safety device provided at an intersection where a first road through which a first vehicle passes and a second road through which a second vehicle passes, and a base station which controls the traffic safety device. , Is provided. The base station receives a first message from the first vehicle, receives a second message from the second vehicle, and, when the proximity of the first vehicle is detected based on the first message, Performing first control for controlling the traffic safety device so as to give priority to the first vehicle over the second vehicle, and detecting the proximity of the second vehicle based on the second message; And when it is determined that the second vehicle is an emergency vehicle, a second control for controlling the traffic safety device so as to give priority to the second vehicle over the first vehicle is executed.

FIG. 1 is a diagram illustrating an example of a traffic communication system according to the embodiment. FIG. 2 is a diagram illustrating an example of the vehicle 10 according to the embodiment. FIG. 3 is a diagram illustrating an example of the vehicle 20 according to the embodiment. FIG. 4 is a diagram illustrating an example of the roadside device 40 according to the embodiment. FIG. 5 is a diagram illustrating an example of the road-vehicle communication according to the embodiment. FIG. 6 is a diagram illustrating an example of the traffic communication method according to the embodiment. FIG. 7 is a diagram illustrating an example of the traffic communication method according to the embodiment.

In the above-mentioned intelligent transportation system, when there is an intersection where the first road and the second road intersect, it is assumed that the first vehicle passes through the first road and the second vehicle passes through the second road. Is done.

In such cases, it is necessary to control traffic safety devices (traffic lights or gates) provided at intersections. Assuming a usage scene in which the first vehicle has priority over the second vehicle, if the second vehicle is an emergency vehicle, it is necessary to give priority to the emergency vehicle over the first vehicle.

Therefore, the present invention has been made to solve the above-described problem, and enables an emergency vehicle to appropriately pass.

The base station according to the embodiment controls a traffic safety device provided at an intersection where a first road through which a first vehicle passes and a second road through which a second vehicle passes. The base station includes a receiving unit that receives a first message from the first vehicle and a second message from the second vehicle, and a control unit that controls the traffic safety device. A control unit configured to control the traffic safety device to give priority to the first vehicle over the second vehicle when the proximity of the first vehicle is detected based on the first message; Execute The control unit is configured to control the first vehicle when the proximity of the second vehicle is detected based on the second message and when it is determined that the second vehicle is an emergency vehicle. Also executes the second control for controlling the traffic safety device so as to give priority to the second vehicle.

Hereinafter, embodiments will be described with reference to the drawings. In the following description of the drawings, the same or similar parts are denoted by the same or similar reference numerals.

However, it should be noted that the drawings are schematic and ratios of dimensions may be different from actual ones. Therefore, specific dimensions and the like should be determined in consideration of the following description. Further, it is needless to say that the drawings may include portions having different dimensional relationships or ratios.

[Embodiment]
(Traffic communication system)
Hereinafter, an example of the traffic communication system according to the embodiment will be described. In the embodiment, a case where the road 110 and the road 120 intersect as illustrated in FIG. Here, it is assumed that the road 110 is the path of the vehicle 10 and the road 120 is the path of the vehicle 20. Further, a case where the roadside device 40 is provided on the road 110 will be exemplified. The roadside device 40 may be provided on the roadside of the road 110, or may be provided on the road 110. The roadside device 40 is an example of a base station.

In the embodiment, at the intersection of the road 110 and the road 120, the gate 130 (the gate 131 and the gate 132) may be provided on the road 110, and the traffic light 140 (the traffic light 141 and the traffic light 142) is provided on the road 120. Is also good.

The vehicle 10 is an example of a first vehicle. The vehicle 10 may be an automobile such as a motorcycle, a motorcycle, or an automobile. The vehicle 10 may be a train. The vehicle 10 performs communication (road-vehicle communication) with the roadside device 40. Here, a case where the vehicle 10 is a bus is illustrated. FIG. 1 illustrates the vehicle 10 as a vehicle 10A, a vehicle 10B, and a vehicle 10C. The vehicle 10A is an example of a towing vehicle for towing one or more towed vehicles. The vehicle 10B and the vehicle 10C are examples of one or more towed vehicles towed by the towing vehicle. The towing method may be a physical towing method in which the vehicle 10 is connected by a cable or the like, or may be an electronic towing method in which the vehicle 10 is towed by radar or communication. In such traction, communication between vehicles 10 (inter-vehicle communication) may be performed in order to appropriately maintain traction. In the following, a train composed of two or more vehicles (for example, a towing vehicle and one or more towed vehicles) may be referred to as a connected train. The details of the vehicle 10 will be described later (see FIG. 2).

The vehicle 20 is an example of a second vehicle. The vehicle 20 may be an automobile such as a motorcycle, a motorcycle, or an automobile. Here, a case where the vehicle 20 is a four-wheeled vehicle will be exemplified. The vehicle 20 may communicate with the roadside device 40 (road-vehicle communication). The vehicle 20 communicates with another vehicle (inter-vehicle communication). The vehicle 20 may be an emergency vehicle such as a police vehicle, a fire vehicle, or an emergency vehicle.

The roadside device 40 communicates with the vehicle 10 (road-vehicle communication). The roadside device 40 may communicate with the vehicle 20 (road-vehicle communication). The roadside device 40 may have a function of communicating with the gate 130. The roadside device 40 may have a function of communicating with the traffic light 140. The above-mentioned vehicle-to-vehicle communication may be performed at a timing when road-to-vehicle communication is not performed. Details of the roadside device 40 will be described later (see FIG. 3).

Road 110 is an example of a first road through which a first vehicle (vehicle 10) passes. The road 110 may be a motorway or a track. The road 110 may be a dedicated road for the vehicle 10 to which the entry of the vehicle 20 is restricted.

Road 120 is an example of a first road through which a second vehicle (vehicle 20) passes. Road 120 may be a motorway. The road 120 may be a road where the vehicle 10 is allowed to enter.

The gate 130 is an example of a traffic safety device provided on a road, and is provided on a traveling road (here, the road 110) through which a connected vehicle train passes. Gate 130 is a gate for restricting entry of vehicle 20 to road 110. Gate 130 is configured to close when vehicle 10 does not pass through an intersection and open when vehicle 10 passes through an intersection. For example, the gate 130 may open and close according to the operation schedule of the vehicle 10. The gate 130 may be opened when the vehicle 10 approaches the intersection, and may be closed when the vehicle 10 leaves the intersection. The approach and departure of the vehicle 10 may be detected by the roadside device 40 based on whether a message can be received from the vehicle 10 and then notified to the gate 130 from the roadside device 40.

The traffic light 140 is an example of a traffic safety device provided on a road, and is provided on an intersection (here, the road 120) that intersects with the traveling road through which the connected vehicle train passes. The traffic light 140 is configured to display a signal (for example, a green signal, a yellow signal, or a red signal) indicating whether to permit the vehicle 20 to pass through the intersection. The traffic light 140 may be configured to display a blinking signal that calls attention to the vehicle 20. For example, the traffic light 140 may switch signals according to a predetermined schedule. The gate 130 may switch the signal according to the approach of the vehicle 10 to the intersection and the departure of the vehicle 10 from the intersection. The approach and departure of the vehicle 10 may be detected by the roadside device 40 based on whether a message can be received from the vehicle 10, and then the traffic light 140 may be notified from the roadside device 40.

(First vehicle)
Hereinafter, an example of the first vehicle according to the embodiment will be described. Here, the vehicle 10 is illustrated as the first vehicle. As shown in FIG. 2, the vehicle 10 includes a communication unit 11 and a control unit 12.

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

The communication unit 11 may perform road-to-vehicle communication and / or vehicle-to-vehicle communication. The packet includes identification information used to identify the transmission source, synchronization information indicating a synchronization method for the roadside device 40, transmission time of the packet, and / or period information indicating the period of road-to-vehicle communication (the number of times of road-vehicle communication transfer, road-to-vehicle communication). Communication period length). The vehicle-to-vehicle communication may include communication (packet transfer) that accompanies road-to-vehicle communication and / or communication for appropriately maintaining traction (such as communication for maintaining a vehicle-to-vehicle distance).

Hereinafter, the details of the first message transmitted by the vehicle 10 will be described based on the above-described message.

The communication unit 11 may transmit a first message including an information element indicating at least one of the position of the vehicle 10 and the speed of the vehicle 10 at a predetermined cycle. The position of the vehicle 10 may be a latitude and a longitude measured by a GPS (Global Positioning System) provided in the vehicle 10. The speed of the vehicle 10 may be a speed (e.g., km / h) measured by a speedometer provided on the vehicle 10.

The communication unit 11 specifies that the vehicle 10 is the leading vehicle when the vehicle 10 is the leading vehicle (sometimes referred to as a first vehicle) in a connected train composed of two or more vehicles. A first message including a first information element for performing the first message may be transmitted. When the vehicle 10 is a rear-located vehicle (sometimes referred to as a second vehicle) in the connected train, the communication unit 11 transmits a second information element for specifying that the vehicle 10 is a rear-mounted vehicle. A first message may be transmitted.

First, the first information element may include an information element for identifying that the own vehicle 10 is the leading vehicle. The second information element may include an information element for identifying that the own vehicle 10 is a rear vehicle. These information elements may include a 2-bit flag indicating a leading vehicle, a trailing vehicle, and other vehicles.

Secondly, the first information element may include an information element indicating the position of the leading vehicle. The second information element may include an information element indicating the position of the tail vehicle. The information element indicating the position may include an information element indicating the order of the vehicle 10 of the own vehicle 10. In such a case, it is preferable that the first information element and the second information element include an information element indicating the number of vehicles forming the connected train. For example, the first information element and the second information element may be represented by ○ / xx. XX is an information element indicating the order of the vehicle 10 of the own vehicle, and XX is an information element indicating the number of vehicles forming the connected train. Alternatively, the information element indicating the position may include an information element indicating the latitude and longitude of the own vehicle 10. Even in such a case, the roadside device 40 can identify the vehicles 10 forming the connected vehicle train based on the information elements indicating the latitude and longitude of the vehicles 10, and the vehicles 10 are the leading vehicles. It can be determined whether the vehicle is a rear vehicle.

The communication unit 11 may transmit a first message including an information element indicating whether or not one or more towed vehicles are being towed by the towing vehicle. For example, the information element may be a 1-bit flag indicating presence / absence of towing.

The communication unit 11 may transmit a first message including an information element indicating whether or not one or more towed vehicles are towed when the vehicle 10 is a towed vehicle. For example, the information element may be a 1-bit flag indicating whether the vehicle 10 is a towing vehicle. Such an information element may be used as the first information element described above. Alternatively, when the vehicle 10 is a towed vehicle, the communication unit 11 may transmit a first message including an information element indicating whether or not the vehicle 10 is being towed by the towed vehicle. For example, the information element may be a 1-bit flag indicating whether the vehicle 10 is a towed vehicle. Alternatively, the information element may be a one-bit flag indicating whether the vehicle 10 is a towed vehicle or a towed vehicle.

When one or more towed vehicles are being towed by the towing vehicle, the communication unit 11 may transmit a first message including an information element indicating a length of a train including the towing vehicle and the towed vehicle. . The length of the train may be represented by an index that is predetermined according to the number of vehicles 10 that constitute the train, the physical length of the train, and / or the length of the train.

The communication unit 11 may transmit a first message including an information element indicating a towing method when one or more towed vehicles are being towed by the towing vehicle. As described above, the towing method may be a towing method in which the vehicle 10 is physically connected and / or a towing method in which the vehicle 10 is electronically connected.

The control unit 12 is configured by a control circuit having a memory, a CPU (Central Processing Unit), and the like. The control unit 12 controls at least the communication unit 11. For example, when one or more towed vehicles are being towed by the towing vehicle, the control unit 12 controls the communication unit 11 to transmit the first message including the information element described above.

In an embodiment, the first message may be transmitted by broadcast. In such a case, the first message may include an information element specifying the other party, and may not include an information element specifying the other party.

(2nd vehicle)
Hereinafter, an example of the second vehicle according to the embodiment will be described. Here, the vehicle 20 is illustrated as the second vehicle. As shown in FIG. 3, the vehicle 20 includes a communication unit 21 and a control unit 22.

The communication unit 21 is configured by a wireless communication module. The communication unit 21 may have a function of performing a carrier sense to determine an empty state of a radio wave frequency (for example, a 700 MHz band). The communication unit 21 transmits the packet at a timing when the frequency of the radio wave is vacant. One message may be composed of one or more packets.

The communication unit 21 may perform road-to-vehicle communication or vehicle-to-vehicle communication. The packet includes identification information used to identify the transmission source, synchronization information indicating a synchronization method for the roadside device 40, transmission time of the packet, and / or period information indicating the period of road-to-vehicle communication (the number of times of road-vehicle communication transfer, road-to-vehicle communication). Communication period length). The vehicle-to-vehicle communication may include communication (packet transfer) that occurs with road-to-vehicle communication and / or communication for appropriately maintaining traction (such as communication for maintaining a vehicle-to-vehicle distance).

Hereinafter, the details of the second message transmitted by the vehicle 20 will be described based on the above-described message.

The communication unit 21 may transmit, at a predetermined cycle, a second message including an information element indicating at least one of the position of the vehicle 20 and the speed of the vehicle 20. The position of the vehicle 20 may be a latitude and a longitude measured by a GPS (Global Positioning System) provided in the vehicle 20. The speed of the vehicle 20 may be a speed (for example, km / h) measured by a speedometer provided on the vehicle 20.

The communication unit 21 may transmit a second message including an information element indicating whether the vehicle 20 is an emergency vehicle. The information element may be a 1-bit flag indicating whether the vehicle 20 is an emergency vehicle.

The control unit 22 is configured by a control circuit having a memory, a CPU, and the like. The control unit 22 controls at least the communication unit 21. For example, when the vehicle 20 is an emergency vehicle, the control unit 22 controls the communication unit 21 to transmit a second message including an information element indicating that the vehicle 20 is an emergency vehicle.

In an embodiment, the second message may be transmitted by broadcast. In such a case, the second message may include an information element specifying the other party, and may not include an information element specifying the other party.

(Roadside aircraft)
Hereinafter, an example of the roadside device according to the embodiment will be described. As shown in FIG. 4, the roadside device 40 includes a communication unit 41 and a control unit 42.

The wireless communication method of the roadside device 40 may be based on ARIB @ T109, V2X (Vehicle to Everything) defined by 3GPP (3rd Generation Partnership Project), and / or wireless LAN. The roadside device 40 may be an all-in type that can support all of these communication standards.

The communication unit 41 is configured by a wireless communication module. The communication unit 41 may not have a function of performing carrier sensing to determine an empty state of a radio wave frequency (for example, a 700 MHz band). The communication unit 41 transmits the packet at the timing determined by the control unit 42. One message may be composed of one or more packets.

The communication unit 41 may perform road-to-vehicle communication. The packet includes identification information used to identify the transmission source, synchronization information indicating a synchronization method for the roadside device 40, transmission time of the packet, and / or period information indicating the period of road-to-vehicle communication (the number of times of road-vehicle communication transfer, road-to-vehicle communication). Communication period length).

The communication unit 41 receives the first message from the vehicle 10. As described above, the first message may include an information element indicating at least one of the position of the vehicle 10 and the speed of the vehicle 10. The first message may include an information element indicating whether or not the vehicle 10 forms a connected train. Such an information element may be an information element indicating whether or not one or more towed vehicles are being towed by the towing vehicle.

The communication unit 41 receives the second message from the vehicle 20. As described above, the second message may include an information element indicating at least one of the position of the vehicle 20 and the speed of the vehicle 20. The second message may include an information element indicating whether the vehicle 20 is an emergency vehicle.

The control unit 42 is configured by a control circuit having a memory, a CPU, and the like. The control unit 42 controls at least the communication unit 41. The control unit 42 controls the traffic safety device by transmitting a message for controlling the traffic safety device provided on the road to the traffic safety device.

First, the control unit 42 executes the first control for controlling the traffic safety device so that the vehicle 10 has priority over the vehicle 20 when the approach of the vehicle 10 is detected based on the first message.

For example, the fact that being able to receive the first message from the vehicle 10 means that the roadside device 40 is present at least within the communication range of the vehicle 10. May be detected.

The control unit 42 may specify the speed of the vehicle 10 based on the first message. When the first message includes an information element indicating the position of the vehicle 10, the control unit 42 can specify the speed of the vehicle 10 by receiving the first message two or more times. The speed of the vehicle 10 can be specified based on the reception cycle (predetermined cycle) of the first message and the amount of movement of the position of the vehicle 10. When the first message includes an information element indicating the speed of the vehicle 10, the control unit 42 can specify the speed of the vehicle 10 by receiving the first message once.

The control unit 42 may estimate a timing at which the vehicle 10 enters an intersection (hereinafter, an entry timing) based on at least the speed of the vehicle 10. The control unit 42 may transmit a message instructing to open the gate 130 to the gate 130 based on the approach timing of the vehicle 10, and may output a message requesting that the stop signal of the vehicle 20 be displayed on the traffic light 140. It may be transmitted to the traffic light 140.

The control unit 42 may estimate a timing at which the vehicle 10 leaves the intersection (hereinafter, a departure timing) based on at least the speed of the vehicle 10. The control unit 42 may transmit a message instructing to close the gate 130 to the gate 130 based on the departure timing of the vehicle 10, and may output a message requesting that the traveling signal of the vehicle 20 be displayed on the traffic light 140. It may be transmitted to the traffic light 140.

Here, since the control unit 42 gives priority to the vehicle 10 over the vehicle 20 in the first control, the control unit 42 controls the traffic safety device regardless of whether the vehicle 20 is close to the intersection or not, regardless of the speed of the vehicle 20. You may.

Second, the control unit 42 controls the vehicle 20 more than the vehicle 10 when the proximity of the vehicle 20 is detected based on the second message and when it is determined that the vehicle 20 is an emergency vehicle. The second control for controlling the traffic safety device so as to give priority to is performed.

For example, being able to receive the second message from the vehicle 20 means that the roadside device 40 is present at least within the communication range of the vehicle 20. May be detected.

The control unit 42 may specify whether or not the vehicle 20 is an emergency vehicle based on an information element indicating whether or not the vehicle 20 is an emergency vehicle. Alternatively, the control unit 42 may specify whether or not the vehicle 20 is an emergency vehicle based on a siren sound output from the emergency vehicle. Alternatively, the control unit 42 may specify whether or not the vehicle 20 is an emergency vehicle based on information (for example, the position and the course of the emergency vehicle) received from the traffic control center that manages the emergency vehicle.

The control unit 42 may specify the speed of the vehicle 20 based on the second message. When the second message includes the information element indicating the position of the vehicle 20, the control unit 42 can specify the speed of the vehicle 20 by receiving the second message two or more times. The speed of the vehicle 20 can be specified based on the reception period (predetermined period) of the second message and the amount of movement of the position of the vehicle 20. When the second message includes the information element indicating the speed of the vehicle 20, the control unit 42 can specify the speed of the vehicle 20 by receiving the second message once.

The control unit 42 may estimate a timing at which the vehicle 20 enters an intersection (hereinafter, an entry timing) based on at least the speed of the vehicle 20. The control unit 42 may transmit a message instructing to close the gate 130 to the gate 130 based on the approach timing of the vehicle 20, and may send a message requesting to display a traveling signal of the vehicle 20 on the traffic light 140. It may be transmitted to the traffic light 140.

The control unit 42 may estimate the timing at which the vehicle 20 leaves the intersection (hereinafter, the departure timing) based on at least the speed of the vehicle 20. The control unit 42 may transmit a message instructing to open the gate 130 to the gate 130 based on the departure timing of the vehicle 20, and may output a message requesting to display a stop signal of the vehicle 20 on the traffic light 140. It may be transmitted to the traffic light 140.

Here, the control unit 42 may execute the second control based on the speed of the vehicle 10. For example, consider a case where the proximity of both the vehicle 10 and the vehicle 20 (emergency vehicle) is detected. In such a case, when the speed of the vehicle 10 is higher than the threshold value and there is a high possibility that the vehicle 10 will impede the traffic of the vehicle 20, the control unit 42 determines that the vehicle 10 will not be opened before the vehicle 10 without opening the gate 130. 20 may be passed. Alternatively, the control unit 42 may open the gate 130 after the vehicle 20 has passed the intersection when the speed of the vehicle 10 is lower than the threshold value and the vehicle 10 is less likely to obstruct the traffic of the vehicle 20.

The control unit 42 may execute the second control based on the speeds of both the vehicle 10 and the vehicle 20. For example, consider a case where the proximity of both the vehicle 10 and the vehicle 20 (emergency vehicle) is detected. In such a case, when the departure timing of the vehicle 10 is earlier than the entry timing of the vehicle 20, the control unit 42 controls the traffic safety device so that the vehicle 10 can pass through the intersection before the vehicle 20. It may be controlled. For example, the control unit 42 may close the gate 130 after opening the gate 130 and passing the vehicle 10. The control unit 42 may display a traveling signal of the vehicle 20 on the traffic light 140 after displaying the stop signal of the vehicle 20 on the traffic light 140 and passing through the vehicle 10. On the other hand, when the departure timing of the vehicle 10 is later than the entry timing of the vehicle 20, the control unit 42 controls the traffic safety device so that the vehicle 20 can pass through the intersection earlier than the vehicle 10. Is also good. For example, the control unit 42 may open the gate 130 after closing the gate 130 and passing the vehicle 20. The control unit 42 may display a traveling signal of the vehicle 20 on the traffic light 140 and display a stop signal of the vehicle 20 on the traffic light 140 after passing through the vehicle 20.

(Transportation method)
Hereinafter, an example of the traffic communication method according to the embodiment will be described.

First, the above-described first control will be described. Here, a case where the vehicle 20 is not an emergency vehicle when the proximity of both the vehicle 10 and the vehicle 20 is detected will be exemplified.

車両 As shown in FIG. 6, in step S11, the vehicle 10 transmits a first message at a predetermined cycle. The first message may include an information element indicating at least one of the position of the vehicle 10 and the speed of the vehicle 10.

In step S12, the vehicle 20 transmits the second message at a predetermined cycle. The second message includes an information element indicating that the vehicle 20 is not an emergency vehicle. The second message may include an information element indicating at least one of the position of the vehicle 20 and the speed of the vehicle 20.

In step S13, the roadside device 40 detects the proximity of the vehicle 10 in response to the reception of the first message, and detects the proximity of the vehicle 20 in response to the reception of the second message.

In step S14, the roadside device 40 executes the first control for controlling the traffic safety device so that the vehicle 20 has priority over the vehicle 20 because the vehicle 20 is not an emergency vehicle. The first control is a control that gives priority to the vehicle 10 over the vehicle 20, and the traffic safety device may be controlled regardless of the speed of the vehicle 20.

Secondly, the above-described second control will be described. Here, a case where the vehicle 20 is an emergency vehicle when the proximity of both the vehicle 10 and the vehicle 20 is detected will be exemplified.

車両 As shown in FIG. 7, in step S21, the vehicle 10 transmits a first message at a predetermined cycle. The first message may include an information element indicating at least one of the position of the vehicle 10 and the speed of the vehicle 10.

In step S22, the vehicle 20 transmits the second message at a predetermined cycle. The second message includes an information element indicating that the vehicle 20 is an emergency vehicle. The second message may include an information element indicating at least one of the position of the vehicle 20 and the speed of the vehicle 20.

In step S23, the roadside device 40 detects the proximity of the vehicle 10 in response to the reception of the first message, and detects the proximity of the vehicle 20 in response to the reception of the second message.

In step S24, the roadside device 40 executes the second control for controlling the traffic safety device so that the vehicle 20 has priority over the vehicle 10 because the vehicle 20 is an emergency vehicle. As described above, the roadside device 40 may execute the second control based on the speed of the vehicle 10.

(Action and effect)
In the embodiment, on the premise of the first control in which the vehicle 10 has priority over the vehicle 20, the roadside device 40 performs the second control in which the vehicle 20 has priority over the vehicle 10 when the vehicle 20 is an emergency vehicle. According to such a configuration, it is possible to appropriately pass the emergency vehicle while reducing the possibility that the traffic of the vehicle 10 is obstructed.

[Modification 1]
Hereinafter, a first modification of the embodiment will be described. Hereinafter, differences from the embodiment will be mainly described.

In the first modification, the roadside device 40 may execute the second control based on whether or not the vehicle 10 forms a connected vehicle train. As described above, the first message may include an information element indicating whether or not the vehicle 10 forms a connected train.

{For example, consider a case in which the proximity of both the vehicle 10 and the vehicle 20 (emergency vehicle) is detected. In such a case, the roadside device 40 is located ahead of the vehicle 10 without opening the gate 130 when the vehicle 10 constitutes a concatenated train and there is a high possibility that the vehicle 10 will obstruct the passage of the vehicle 20. May be passed through the vehicle 20. Alternatively, the roadside device 40 may open the gate 130 after the vehicle 20 has passed through the intersection, when the vehicle 10 does not constitute a concatenated train and there is a low possibility that the vehicle 10 will block the traffic of the vehicle 20. Good.

Here, the roadside device 40 may determine the possibility that the vehicle 10 will prevent the vehicle 20 from passing based on the length of the connected vehicle train. The roadside device 40 determines that such a possibility is high when the length of the connected train is longer than the threshold value, and determines that the possibility is high when the length of the connected train is shorter than the threshold value. You may judge that it is low.

[Modification 2]
Hereinafter, a second modification of the embodiment will be described. Hereinafter, differences from the embodiment will be mainly described.

In the second modification, the case where the vehicle 10 forms a connected vehicle train will be considered. The roadside device 40 may specify the speed of the leading vehicle based on the first message received from the leading vehicle, and may specify the timing at which the connected train enters the intersection based on the specified speed. The roadside device 40 may specify the speed of the trailing vehicle based on the first message received from the trailing vehicle, and may specify the timing at which the connected vehicle row leaves the intersection based on the specified speed.

The roadside device 40 may execute the second control based on the entry timing or the departure timing of the connected train. In such a case, when the departure timing of the connected train is earlier than the entry timing of the vehicle 20, the roadside device 40 performs traffic safety so that the connected train can pass through the intersection before the vehicle 20. The device may be controlled. When the departure timing of the connected train is later than the entry timing of the vehicle 20, the roadside machine 40 controls the traffic safety device so that the vehicle 20 can pass through the intersection earlier than the connected train. Good.

[Other Embodiments]
Although the present invention has been described with reference to the above-described embodiments, it should not be understood that the description and drawings forming part of this disclosure limit the present invention. From this disclosure, various alternative embodiments, examples, and operation techniques will be apparent to those skilled in the art.

In the embodiment, the case has been described in which the vehicle 10 forms a connected vehicle train. However, embodiments are not limited to this. The vehicle 10 does not need to form a connected train.

In the embodiment, the case where the roadside device 40 is provided at a position adjacent to the traffic safety device has been described. However, embodiments are not limited to this. The roadside device 40 may be provided at a position away from the traffic safety device. In such a case, it is preferable that the roadside device 40 knows the geographical position of the traffic safety device.

In the embodiment, the case where the traffic safety device is the gate 130 or the traffic light 140 has been described. However, embodiments are not limited to this. The traffic safety device may be a device that transmits to the vehicle a signal that instructs whether or not the vehicle can pass (in other words, a signal that instructs the vehicle to travel or stop). The transmission destination of the signal may be the vehicle 10 or the vehicle 20.

In the embodiment, the case where the roadside device 40 is separate from the traffic safety device has been described. However, embodiments are not limited to this. The roadside device 40 may be integral with the traffic safety device. In such a case, the roadside device 40 may transmit a signal to the vehicle indicating whether or not the vehicle can pass. The transmission destination of the signal may be the vehicle 10 or the vehicle 20.

Although not particularly described in the embodiment, the roadside device 40 may communicate with another roadside device (inter-road communication).

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

Here, the vehicle of the present embodiment is a legal vehicle related to traffic in each country (for example, an automobile, a motorbike, a light vehicle, a trolley bus, and a tram if it is a "vehicle or the like" in the Japanese Road Traffic Act). Including, but not limited to. The vehicle may be a self-propelled vehicle, such as a self-propelled industrial machine (so-called industrial vehicle), a self-propelled agricultural machine (so-called agricultural vehicle), or a self-propelled construction machine. (So-called construction vehicles). Further, if not inconsistent with the description of the above-described embodiment, the self-propelled means of the vehicle does not need to be wheels, and a flying car called a so-called aeromobile may be included in the vehicle.

道路 In addition to the above description, the roads according to the present embodiment include, but are not limited to, roads based on traffic laws (for example, the Road Traffic Law in Japan). The road according to the present embodiment may be a road through which vehicles pass.

This application claims the priority of Japanese Patent Application No. 2018-160436 (filed on Aug. 29, 2018), the entire contents of which are incorporated herein.

Claims

A base station that controls a traffic safety device provided at an intersection where a first road through which a first vehicle passes and a second road through which a second vehicle passes are provided,
A receiving unit that receives a first message from the first vehicle and a second message from the second vehicle;
A control unit for controlling the traffic safety device,
The control unit includes:
When the proximity of the first vehicle is detected based on the first message, executing a first control to control the traffic safety device to give priority to the first vehicle over the second vehicle,
When the proximity of the second vehicle is detected based on the second message, and when it is determined that the second vehicle is an emergency vehicle, the second vehicle is more than the first vehicle. A base station that performs a second control that controls the traffic safety device such that priority is given to the base station.
A gate provided on the first road is provided as the traffic safety device,
The base station according to claim 1, wherein the control unit controls the gate in the second control.
As the traffic safety device, a traffic light provided on the second road is provided,
The base station according to claim 1, wherein the control unit controls the traffic light in the second control.
The first message includes an information element indicating whether or not the first vehicle forms a connected train constituted by two or more vehicles,
The base station according to claim 1, wherein the control unit executes the second control based on the information element.
The first message includes an information element indicating at least one of a position of the first vehicle and a speed of the first vehicle,
The base station according to claim 1, wherein the control unit executes the second control based on a speed of the first vehicle specified by the information element.
The second message includes an information element indicating whether the second vehicle is the emergency vehicle,
The base station according to claim 1, wherein the control unit specifies whether the second vehicle is the emergency vehicle based on the information element.
The base station according to any one of claims 1 to 6, wherein the first road is a dedicated road for the first vehicle to which entry of the second vehicle is restricted.
The control unit is configured to detect when the proximity of the first vehicle is detected based on the first message and to determine that the second vehicle is not an emergency vehicle based on the second message. The base station according to any one of claims 1 to 7, wherein the base station performs the first control.
A vehicle that communicates with the base station according to any one of claims 1 to 8.
A traffic safety device provided at an intersection where a first road through which the first vehicle passes and a second road through which the second vehicle passes;
A base station that controls the traffic safety device,
The base station comprises:
Receiving a first message from the first vehicle, receiving a second message from the second vehicle,
When the proximity of the first vehicle is detected based on the first message, executing a first control to control the traffic safety device to give priority to the first vehicle over the second vehicle,
When the proximity of the second vehicle is detected based on the second message, and when it is determined that the second vehicle is an emergency vehicle, the second vehicle is more than the first vehicle. A second communication system for controlling the traffic safety device such that priority is given to the traffic safety device.