WO2020045355A1 - Base station, vehicle, and traffic communication system - Google Patents

Base station, vehicle, and traffic communication system Download PDF

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Publication number
WO2020045355A1
WO2020045355A1 PCT/JP2019/033339 JP2019033339W WO2020045355A1 WO 2020045355 A1 WO2020045355 A1 WO 2020045355A1 JP 2019033339 W JP2019033339 W JP 2019033339W WO 2020045355 A1 WO2020045355 A1 WO 2020045355A1
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WIPO (PCT)
Prior art keywords
vehicle
road
target vehicle
specific road
enter
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PCT/JP2019/033339
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French (fr)
Japanese (ja)
Inventor
李佳 星
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京セラ株式会社
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Priority to JP2020539445A priority Critical patent/JP7167170B2/en
Publication of WO2020045355A1 publication Critical patent/WO2020045355A1/en

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/087—Override of traffic control, e.g. by signal transmitted by an emergency vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions

Definitions

  • the present invention relates to a base station, a vehicle, and a traffic communication system.
  • the base station controls a traffic safety device provided at an intersection where a general road and a specific road intersect.
  • a communication unit that receives at least one message from a target vehicle traveling on the general road; and a predetermined unit that is configured to permit the target vehicle to travel on the specific road based on the at least one message.
  • a control unit that determines whether the vehicle is a vehicle and whether the target vehicle is about to enter the specific road. The control unit allows the target vehicle to enter the specific road when it is determined that the target vehicle is the predetermined vehicle and the target vehicle is about to enter the specific road. Controlling the traffic safety device;
  • the vehicle according to the second aspect communicates with a base station that controls a traffic safety device provided at an intersection where a general road and a specific road intersect.
  • the vehicle is, in a state where the vehicle travels on a general road, whether or not the vehicle is a predetermined vehicle permitted to travel on the specific road, and whether or not the vehicle is about to enter the specific road.
  • a transmitting unit that transmits at least one message for the base station to determine the above.
  • the road traffic system includes a traffic safety device provided at an intersection where a general road and a specific road intersect, and a base station that controls the traffic safety device.
  • a communication unit that receives at least one message from a target vehicle traveling on the general road; and a predetermined unit that is configured to permit the target vehicle to travel on the specific road based on the at least one message.
  • a control unit that determines whether the vehicle is a vehicle and whether the target vehicle is about to enter the specific road. The control unit allows the target vehicle to enter the specific road when it is determined that the target vehicle is the predetermined vehicle and the target vehicle is about to enter the specific road. Controlling the traffic safety device;
  • FIG. 1 is a diagram illustrating a configuration of a vehicle according to an embodiment. It is a figure showing composition of a roadside machine concerning an embodiment. It is a figure showing the road-to-vehicle communication period concerning an embodiment. It is a figure showing the example of operation of the traffic communication system concerning an embodiment. It is a figure showing the example of operation flow of the roadside machine concerning an embodiment.
  • the predetermined vehicle is not limited to traveling on a specific road, but may travel on a general road where traveling of a general vehicle is permitted.
  • the base station controls a traffic safety device (gate or traffic signal) provided at an intersection where a general road and a specific road intersect, the base station performs control in consideration of the existence of a predetermined vehicle traveling on the general road. There is a need.
  • a traffic safety device gate or traffic signal
  • the present invention makes it possible to appropriately control the traffic safety device.
  • the base station controls a traffic safety device provided at an intersection where a general road and a specific road intersect.
  • a communication unit that receives at least one message from a target vehicle traveling on the general road; and a predetermined unit that is configured to permit the target vehicle to travel on the specific road based on the at least one message.
  • a control unit that determines whether the vehicle is a vehicle and whether the target vehicle is about to enter the specific road. The control unit allows the target vehicle to enter the specific road when it is determined that the target vehicle is the predetermined vehicle and the target vehicle is about to enter the specific road. Controlling the traffic safety device;
  • FIG. 1 is a diagram illustrating an example of a traffic communication system 100 according to the embodiment.
  • a case where a specific road 110 and a general road 120 intersect is exemplified.
  • a crossroad is illustrated as a case where the specific road 110 and the general road 120 intersect.
  • the specific road 110 and the general road 120 are orthogonal, but the angle at which the specific road 110 and the general road 120 intersect is not limited.
  • intersection refers to the intersection of two or more roads (in the case of a road with a distinction between a sidewalk and a road), where two or more roads intersect. It is assumed that the concept includes.
  • the specific road 110 is a road on which traveling is permitted only for a predetermined vehicle.
  • the predetermined vehicle may be a predetermined type of vehicle.
  • the predetermined type of vehicle may be a bus.
  • a bus is a relatively large car that carries passengers on a certain route.
  • the predetermined type of vehicle may be a tram or the like.
  • the predetermined vehicle may be an emergency vehicle.
  • the emergency vehicle refers to a vehicle used for business that requires urgency for some reason, such as rescue of lives or response to a fire, and for example, an emergency vehicle, a fire engine, a police vehicle, and the like are included in the emergency vehicles.
  • the predetermined vehicle may be limited to emergency vehicles that are in emergency traveling.
  • the term “emergency running” refers to a state in which the vehicle is running while sounding a siren or a state in which the vehicle is running while turning on a rotating light. In the following, description will be made on the assumption that an emergency vehicle can be exceptionally allowed to travel on a bus dedicated road.
  • the general road 120 is a road on which general vehicles are allowed to travel. General vehicles are all vehicles that are not limited to emergency vehicles.
  • FIG. 1 illustrates a case where a vehicle 10A is traveling on a specific road 110 and a vehicle 10B is traveling on a general road 120. Furthermore, the case where the roadside device 40 is provided on the road side of the specific road 110 is illustrated.
  • the roadside device 40 is an example of a base station.
  • the gate device 130 (the gate device 131 and the gate device 132) is provided on the specific road 110, and the traffic signal 140 (the traffic signal 141 and the traffic signal 142) is provided on the general road 120. ) May be provided.
  • the gate device 130 is an example of a traffic safety device, and the traffic signal 140 is another example of a traffic safety device.
  • the vehicle 10 (the vehicle 10A and the vehicle 10B) may be an automobile such as a motorcycle, a motorcycle, or an automobile.
  • the vehicle 10 performs communication (road-vehicle communication) with the roadside device 40.
  • a case where the vehicle 10A is a bus is illustrated. The details of the vehicle 10 will be described later (see FIG. 2).
  • the roadside device 40 communicates with the vehicle 10 (road-vehicle communication).
  • the roadside device 40 has a function of communicating with the gate device 130.
  • the roadside device 40 may have a function of communicating with the traffic light 140.
  • the vehicle 10 may perform inter-vehicle communication with another vehicle.
  • the vehicle-to-vehicle communication may be performed at a timing when the road-to-vehicle communication is not performed. Details of the roadside device 40 will be described later (see FIG. 3).
  • the gate device 130 has a gate for restricting the entry of the vehicle 10B to the specific road 110.
  • the gate device 130 includes, in addition to the gate, a drive mechanism for opening and closing the gate, and a communication interface for performing communication with the roadside device 40.
  • the gate device 130 is configured to close when the vehicle 10A does not pass through the intersection, and to open when the vehicle 10A passes through the intersection. For example, the gate device 130 may open and close according to the operation schedule of the vehicle 10A. The gate device 130 may be opened when the vehicle 10A approaches the intersection, and may be closed when the vehicle 10A leaves the intersection. The approach and departure of the vehicle 10A may be detected by the roadside device 40 based on whether a message can be received from the vehicle 10A, and then the gate device 130 may be notified from the roadside device 40.
  • 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 10B to pass through the intersection.
  • the traffic light 140 may be configured to display a blinking signal that calls attention to the vehicle 10B.
  • the traffic light 140 may switch signals according to a predetermined schedule.
  • the gate device 130 may switch the signal according to the approach of the vehicle 10A to the intersection and the departure of the vehicle 10A from the intersection.
  • the approach and departure of the vehicle 10A may be detected by the roadside device 40 based on whether or not a message can be received from the vehicle 10A, and then the traffic signal 140 may be notified from the roadside device 40.
  • the roadside device 40 that controls the traffic safety device provided at the intersection where the general road 120 and the specific road 110 intersect needs to perform control in consideration of the existence of the bus running on the general road 120.
  • FIG. 2 is a diagram illustrating a configuration of the vehicle 10 according to the embodiment. 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 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-vehicle communication (the number of times of transfer between road-vehicle communication, Or period length of road-to-vehicle communication).
  • Vehicle-to-vehicle communication includes communication (packet transfer) that occurs with road-to-vehicle communication.
  • the message may include type information indicating the type of the vehicle 10.
  • the type information indicating the type of the vehicle 10 may be information for uniquely identifying the type of the vehicle 10.
  • the type information is information indicating that the vehicle 10 is a bus.
  • the type information may be a 1-bit flag indicating whether the vehicle type is a bus.
  • the message may include emergency vehicle information indicating whether the vehicle 10 is an emergency vehicle.
  • the emergency vehicle information may be information indicating whether or not the vehicle 10 is traveling in an emergency.
  • the emergency vehicle information may be a 1-bit flag indicating whether or not the vehicle 10 is an emergency vehicle or a 1-bit flag indicating whether or not the vehicle 10 is in an emergency running state.
  • the message may include direction indicator information indicating the state of the direction indicator provided on the vehicle 10.
  • the direction indicator is one of security parts for vehicles, and is a device for indicating the direction to the surroundings when turning right or left or changing course. Generally, the vehicle 10 blinks the right turn signal to turn right and the left turn signal to turn left.
  • the direction indicator information may include information indicating whether the direction indicator is blinking and / or information indicating whether the left or right direction indicator is blinking.
  • the message includes route information indicating a route on which the vehicle 10 is to travel.
  • the route information may be information indicating a route guided by the car navigation system of the vehicle 10.
  • the route information may be information indicating a route scheduled to travel by automatic driving.
  • the route information does not need to be information indicating the entire route from the departure place to the arrival place of the vehicle 10, but may be information indicating only a route scheduled to travel for the latest fixed time or fixed distance.
  • the control unit 12 is configured by a control circuit having a memory, a CPU, and the like.
  • the control unit 12 controls at least the communication unit 11.
  • the control unit 12 may control the communication unit 11 to transmit at least one message including the above-described information when the vehicle 10 is traveling on the general road 120.
  • the message may be sent by broadcast.
  • the message may not include destination-identifying information and / or destination-identifying information.
  • FIG. 3 is a diagram illustrating a configuration of the roadside device 40 according to the embodiment.
  • 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 for identifying the transmission source, synchronization information indicating a synchronization method for the roadside device 40, transmission time of the packet, and / or period information indicating a period of the road-vehicle communication (for example, the number of times of transfer of road-vehicle communication, And / or period length of road-to-vehicle communication).
  • the communication unit 41 receives from the vehicle 10 at least one message including type information indicating the type of the vehicle 10 and / or emergency vehicle information indicating whether the vehicle 10 is an emergency vehicle.
  • the communication unit 41 transmits, from the vehicle 10, at least one message including direction indicator information indicating a state of a direction indicator provided on the vehicle 10 and / or route information indicating a planned route of the vehicle 10. To receive.
  • 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 determines whether or not the vehicle 10 is a predetermined vehicle permitted to travel on the specific road 110 based on at least one message received from the vehicle 10 and determines whether or not the vehicle 10 is Determine whether you are about to enter.
  • the control unit 42 determines based on the type information and / or the emergency vehicle information included in at least one message received from the vehicle 10 that the vehicle 10 is permitted to travel on the specific road 110. It is determined whether the vehicle is a vehicle. For example, when the type information indicates a bus, the control unit 42 may determine that the vehicle 10 is a predetermined vehicle. When the emergency vehicle information indicates the emergency vehicle, the control unit 42 may determine that the vehicle 10 is the predetermined vehicle.
  • the control unit 42 determines whether or not the vehicle 10 is about to enter the specific road 110 based on the direction indicator information and / or the route information included in at least one message received from the vehicle 10. For example, when the direction indicator information indicates a right or left turn to the specific road 110, the control unit 42 may determine that the vehicle 10 is about to enter the specific road 110. When the route indicated by the route information includes the specific road 110, the control unit 42 may determine that the vehicle 10 is about to enter the specific road 110.
  • the control unit 42 controls the gate to permit the vehicle 10 to enter the specific road 110 when it is determined that the vehicle 10 is the predetermined vehicle and the vehicle 10 is about to enter the specific road 110.
  • the device 130 is controlled.
  • control unit 42 may transmit a control command instructing to open the gate of the gate device 130 to the gate device 130 so as to permit the vehicle 10 to enter the specific road 110.
  • a control command instructing to open the gate of the gate device 130 to the gate device 130 so as to permit the vehicle 10 to enter the specific road 110.
  • Such communication may be performed by wire or wirelessly.
  • the control unit 42 may control switching of the signal displayed by the traffic signal 140 so as to permit the vehicle 10 to enter the specific road 110.
  • the control unit 42 may transmit a control command to switch the signal displayed by the traffic light 140 to the traffic light 140.
  • Such communication may be performed by wire or wirelessly.
  • FIG. 4 is a diagram illustrating a road-vehicle communication period according to the embodiment.
  • FIG. 4 illustrates a road-to-vehicle communication period based on ARIB T109.
  • the roadside device 40 and the vehicle 10 basically communicate at a cycle of 100 ms.
  • the roadside device 40 secures its own transmission time by notifying the surrounding vehicles 10 of the transmission time and the road-to-vehicle communication period information (the number of transfers / the road-to-vehicle communication period length) as its own transmission information. Further, synchronization accuracy of ⁇ 16 ⁇ s or less is maintained between the roadside devices 40.
  • the vehicle 10 performs transmission at a timing other than the transmission period of the roadside device 40 by synchronizing the time based on the transmission time received from the roadside device 40 and stopping its own transmission based on the road-to-vehicle communication period information.
  • 16 ⁇ s is set as a control unit time (unit), and the control cycle is composed of 6250 units.
  • the maximum value of the number of road-to-vehicle communication periods that can be set in one control cycle is 16, and they are arranged at intervals of 390 units (6240 ⁇ s) from the beginning of the control cycle.
  • the maximum value of the road-vehicle communication period length that can be set is 189 units (3024 ⁇ s).
  • One of the 16 road-to-vehicle communication periods in one control cycle is assigned to the road-side device 40.
  • the roadside device 40 transmits a wireless signal only during its own road-to-vehicle communication period.
  • the roadside device 40 broadcasts a radio signal including road-to-vehicle communication period information including information regarding its own road-to-vehicle communication period.
  • the vehicle 10 grasps the road-to-vehicle communication period used by the roadside device 40 based on the road-to-vehicle communication period information, and does not transmit a radio signal during the road-to-vehicle communication period used by the roadside device 40. .
  • FIG. 5 is a diagram illustrating an operation example of the traffic communication system 100 according to the embodiment.
  • a gate device 130 (gate) is provided at the entrance to the specific road 110 on a T-shaped intersection where the specific road 110 intersects the general road 120.
  • a roadside device 40 that controls the gate device 130 is provided on the roadside of the T-shaped road.
  • the roadside device 40 includes an antenna having a directivity pattern in a direction along the general road 120.
  • the roadside device 40 has its area as its own communication area by directing its directivity to an area on the general road 120 just before the branch point to the specific road 110, and communicates with the vehicle 10 in the communication area.
  • the vehicle 10 is traveling in the left lane of the general road 120 and is approaching a branch point to the specific road 110.
  • the vehicle 10 transmits at least one message to the roadside device 40 within the communication area of the roadside device 40.
  • the roadside device 40 may make a left turn from the general road 120 to the specific road 110 when the vehicle 10 is a bus or an emergency vehicle based on at least one message received from the vehicle 10.
  • the gate of the gate device 130 is opened.
  • the roadside device 40 permits the vehicle 10 to enter the specific road 110.
  • the roadside device 40 closes the gate of the gate device 130 when detecting that the vehicle 10 has passed through the gate by a sensor or the like.
  • FIG. 6 is a diagram illustrating an example of an operation flow of the roadside device 40 according to the embodiment.
  • the communication unit 41 includes, from the vehicle 10, type information indicating the type of the vehicle 10 and / or emergency vehicle information indicating whether the vehicle 10 is an emergency vehicle. Receive at least one message.
  • the communication unit 41 transmits, from the vehicle 10, at least one message including direction indicator information indicating a state of a direction indicator provided on the vehicle 10 and / or route information indicating a planned route of the vehicle 10. To receive.
  • step S102 the control unit 42 determines, based on the type information and / or the emergency vehicle information included in at least one message received from the vehicle 10, the predetermined vehicle that the vehicle 10 is permitted to travel on the specific road 110. Is determined.
  • Step S102: NO the control unit 42 does not open the gate of the gate device 130 in Step S105.
  • Step S103 the control unit 42 determines that the direction indicator information and / or the route included in at least one message received from the vehicle 10 Based on the information, it is determined whether or not the vehicle 10 is about to enter the specific road 110. When it is not determined that the vehicle 10 is about to enter the specific road 110 (step S103: NO), the control unit 42 does not open the gate of the gate device 130 in step S105.
  • step S103 When it is determined that the vehicle 10 is about to enter the specific road 110 (step S103: YES), the control unit 42 controls to open the gate of the gate device 130 in step S104.
  • step S102 and step S103 may be reversed.
  • the traffic safety device provided at the intersection where the general road 120 and the specific road 110 intersect can be appropriately adjusted.
  • the predetermined vehicle traveling on the general road 120 can enter the specific road 110.
  • the traffic safety device is a gate device or a traffic signal.
  • the traffic safety device may be a wireless device that wirelessly transmits various instructions to the vehicle 10.
  • a traffic safety device transmits to the vehicle 10 a signal for instructing whether or not the vehicle 10 can pass (in other words, an instruction signal for advancing / stopping the vehicle 10 to the specific road 110).
  • a traffic safety device may be configured integrally with the roadside device 40.
  • the roadside device 40 may communicate with another roadside device (inter-road communication).
  • the vehicle 10A and the roadside device 40 are mainly described, but the embodiment is not limited to this.
  • a communication device provided in at least one of the vehicle 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.

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  • Traffic Control Systems (AREA)

Abstract

A roadside device 40, which controls a traffic safety device disposed at the intersection of a general road 120 and a specific road 110, determines, on the basis of at least one message from a target vehicle travelling on the general road 120, whether the target vehicle is a prescribed vehicle that is allowed to travel on the specific road 110 and whether or not the target vehicle is attempting to enter the specific road 110. If it has been determined that the target vehicle is the specific vehicle and the target vehicle is attempting to enter the specific road 110, the roadside device 40 controls the traffic safety device so as to allow the target vehicle to enter the specific road 110.

Description

基地局、車両、及び交通通信システムBase stations, vehicles, and traffic communication systems
　本発明は、基地局、車両、及び交通通信システムに関する。 The present invention relates to a base station, a vehicle, and a traffic communication system.
　従来、高度交通システム（例えば、ＩＴＳ；Ｉｎｔｅｌｌｉｇｅｎｔ　Ｔｒａｎｓｐｏｒｔ　Ｓｙｓｔｅｍ）において、道路周辺に設けられる基地局である路側機と車両との間で通信を行う技術が提案されている（例えば、特許文献１）。 Conventionally, in an advanced transportation system (for example, ITS; Intelligent Transport System), a technology for performing communication between a vehicle and a roadside device, which is a base station provided around a road, has been proposed (for example, Patent Document 1).
　第１の態様に係る基地局は、一般道路及び特定道路が交わる交差点に設けられる交通安全装置を制御する。前記基地局は、前記一般道路を走行する対象車両から少なくとも１つのメッセージを受信する通信部と、前記少なくとも１つのメッセージに基づいて、前記対象車両が前記特定道路を走行することが許可される所定車両であるか否か、及び前記対象車両が前記特定道路に進入しようとしているか否かを判定する制御部とを備える。前記制御部は、前記対象車両が前記所定車両であり、且つ前記対象車両が前記特定道路に進入しようとしていると判定された場合に、前記対象車両が前記特定道路に進入することを許可するよう前記交通安全装置を制御する。 The base station according to the first aspect controls a traffic safety device provided at an intersection where a general road and a specific road intersect. A communication unit that receives at least one message from a target vehicle traveling on the general road; and a predetermined unit that is configured to permit the target vehicle to travel on the specific road based on the at least one message. A control unit that determines whether the vehicle is a vehicle and whether the target vehicle is about to enter the specific road. The control unit allows the target vehicle to enter the specific road when it is determined that the target vehicle is the predetermined vehicle and the target vehicle is about to enter the specific road. Controlling the traffic safety device;
　第２の態様に係る車両は、一般道路及び特定道路が交わる交差点に設けられる交通安全装置を制御する基地局との通信を行う。前記車両は、当該車両が一般道路を走行する状態において、当該車両が前記特定道路を走行することが許可される所定車両であるか否か及び当該車両が前記特定道路に進入しようとしているか否かを前記基地局が判定するための少なくとも１つのメッセージを送信する送信部を備える。 The vehicle according to the second aspect communicates with a base station that controls a traffic safety device provided at an intersection where a general road and a specific road intersect. The vehicle is, in a state where the vehicle travels on a general road, whether or not the vehicle is a predetermined vehicle permitted to travel on the specific road, and whether or not the vehicle is about to enter the specific road. And a transmitting unit that transmits at least one message for the base station to determine the above.
　第３の態様に係る道路交通システムは、一般道路及び特定道路が交わる交差点に設けられる交通安全装置と、前記交通安全装置を制御する基地局とを備える。前記基地局は、前記一般道路を走行する対象車両から少なくとも１つのメッセージを受信する通信部と、前記少なくとも１つのメッセージに基づいて、前記対象車両が前記特定道路を走行することが許可される所定車両であるか否か、及び前記対象車両が前記特定道路に進入しようとしているか否かを判定する制御部とを備える。前記制御部は、前記対象車両が前記所定車両であり、且つ前記対象車両が前記特定道路に進入しようとしていると判定された場合に、前記対象車両が前記特定道路に進入することを許可するよう前記交通安全装置を制御する。 The road traffic system according to the third aspect includes a traffic safety device provided at an intersection where a general road and a specific road intersect, and a base station that controls the traffic safety device. A communication unit that receives at least one message from a target vehicle traveling on the general road; and a predetermined unit that is configured to permit the target vehicle to travel on the specific road based on the at least one message. A control unit that determines whether the vehicle is a vehicle and whether the target vehicle is about to enter the specific road. The control unit allows the target vehicle to enter the specific road when it is determined that the target vehicle is the predetermined vehicle and the target vehicle is about to enter the specific road. Controlling the traffic safety device;
実施形態に係る交通通信システムの一例を示す図である。It is a figure showing an example of the traffic communication system concerning an embodiment. 実施形態に係る車両の構成を示す図である。FIG. 1 is a diagram illustrating a configuration of a vehicle according to an embodiment. 実施形態に係る路側機の構成を示す図である。It is a figure showing composition of a roadside machine concerning an embodiment. 実施形態に係る路車間通信期間を示す図である。It is a figure showing the road-to-vehicle communication period concerning an embodiment. 実施形態に係る交通通信システムの動作例を示す図である。It is a figure showing the example of operation of the traffic communication system concerning an embodiment. 実施形態に係る路側機の動作フロー例を示す図である。It is a figure showing the example of operation flow of the roadside machine concerning an embodiment.
　道路の中には、所定車両に限って走行が許可される特定道路が存在する。しかしながら、所定車両は、特定道路を走行する場合に限らず、一般的な車両の走行が許可される一般道路を走行する場合がある。 特定 There are specific roads that are allowed to run only for certain vehicles. However, the predetermined vehicle is not limited to traveling on a specific road, but may travel on a general road where traveling of a general vehicle is permitted.
　よって、一般道路及び特定道路が交わる交差点に設けられる交通安全装置（ゲート又は交通信号機）を基地局が制御する場合において、基地局は、一般道路を走行する所定車両の存在を考慮した制御を行う必要がある。 Therefore, when the base station controls a traffic safety device (gate or traffic signal) provided at an intersection where a general road and a specific road intersect, the base station performs control in consideration of the existence of a predetermined vehicle traveling on the general road. There is a need.
　そこで、本発明は、交通安全装置を適切に制御することを可能とする。 Therefore, the present invention makes it possible to appropriately control the traffic safety device.
　実施形態に係る基地局は、一般道路及び特定道路が交わる交差点に設けられる交通安全装置を制御する。前記基地局は、前記一般道路を走行する対象車両から少なくとも１つのメッセージを受信する通信部と、前記少なくとも１つのメッセージに基づいて、前記対象車両が前記特定道路を走行することが許可される所定車両であるか否か、及び前記対象車両が前記特定道路に進入しようとしているか否かを判定する制御部とを備える。前記制御部は、前記対象車両が前記所定車両であり、且つ前記対象車両が前記特定道路に進入しようとしていると判定された場合に、前記対象車両が前記特定道路に進入することを許可するよう前記交通安全装置を制御する。 The base station according to the embodiment controls a traffic safety device provided at an intersection where a general road and a specific road intersect. A communication unit that receives at least one message from a target vehicle traveling on the general road; and a predetermined unit that is configured to permit the target vehicle to travel on the specific road based on the at least one message. A control unit that determines whether the vehicle is a vehicle and whether the target vehicle is about to enter the specific road. The control unit allows the target vehicle to enter the specific road when it is determined that the target vehicle is the predetermined vehicle and the target vehicle is about to enter the specific road. Controlling the traffic safety device;
　実施形態について図面を参照しながら説明する。なお、以下の図面の記載において、同一又は類似の部分には、同一又は類似の符号を付している。 The embodiment 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.
　（交通通信システム）
　図１は、実施形態に係る交通通信システム１００の一例を示す図である。実施形態では、図１に示すように、特定道路１１０及び一般道路１２０が交わるケースについて例示する。図１において、特定道路１１０及び一般道路１２０が交わるケースとして十字路を例示しているが、十字路に限らずＴ字路（三叉路或いは丁字路ともいう）であってもよい。また図１において、特定道路１１０及び一般道路１２０は直交しているが、特定道路１１０及び一般道路１２０が交わる角度は限定されない。 (Traffic communication system)
FIG. 1 is a diagram illustrating an example of a traffic communication system 100 according to the embodiment. In the embodiment, as shown in FIG. 1, a case where a specific road 110 and a general road 120 intersect is exemplified. In FIG. 1, a crossroad is illustrated as a case where the specific road 110 and the general road 120 intersect. In FIG. 1, the specific road 110 and the general road 120 are orthogonal, but the angle at which the specific road 110 and the general road 120 intersect is not limited.
　以下において、「交差点」とは、二以上の道路が交わる場合における当該二以上の道路（歩道と車道の区別のある道路においては、車道）の交わる部分をいい、十字路及びＴ字路の両方を含む概念であるとする。 In the following, "intersection" refers to the intersection of two or more roads (in the case of a road with a distinction between a sidewalk and a road), where two or more roads intersect. It is assumed that the concept includes.
　特定道路１１０は、所定車両に限って走行が許可される道路である。所定車両は、所定種別の車両であってもよい。所定種別の車両は、バスであってもよい。バスとは、ある決まったルートで乗客を運ぶ比較的大型の自動車をいう。所定種別の車両は、路面電車等であってもよい。以下において、特定道路１１０が、バスに専用で用いるバス専用道路である一例について説明する。 The specific road 110 is a road on which traveling is permitted only for a predetermined vehicle. The predetermined vehicle may be a predetermined type of vehicle. The predetermined type of vehicle may be a bus. A bus is a relatively large car that carries passengers on a certain route. The predetermined type of vehicle may be a tram or the like. In the following, an example in which the specific road 110 is a bus dedicated road exclusively used for a bus will be described.
　所定車両は、緊急車両であってもよい。緊急車両とは、人命救助や火災対応など、何らかの理由で急を要する業務に利用される車両をいい、例えば、救急車、消防車、又は警察車両等が緊急車両に含まれる。所定車両は、緊急車両のうち緊急走行中のものに限定されていてもよい。緊急走行中とは、サイレンを鳴らしながら走行している状態や、回転灯を点灯させながら走行している状態をいう。以下において、緊急車両は、例外的にバス専用道路での走行が許可されうると仮定して説明を進める。 The predetermined vehicle may be an emergency vehicle. The emergency vehicle refers to a vehicle used for business that requires urgency for some reason, such as rescue of lives or response to a fire, and for example, an emergency vehicle, a fire engine, a police vehicle, and the like are included in the emergency vehicles. The predetermined vehicle may be limited to emergency vehicles that are in emergency traveling. The term “emergency running” refers to a state in which the vehicle is running while sounding a siren or a state in which the vehicle is running while turning on a rotating light. In the following, description will be made on the assumption that an emergency vehicle can be exceptionally allowed to travel on a bus dedicated road.
　一般道路１２０は、一般的な車両の走行が許可される道路である。一般的な車両とは、緊急車両に限定されないすべての車両をいう。図１において、特定道路１１０上を車両１０Ａが走行しており、一般道路１２０上を車両１０Ｂが走行しているケースを例示している。さらに、特定道路１１０の路側に路側機４０が設けられるケースを例示している。路側機４０は、基地局の一例である。 The general road 120 is a road on which general vehicles are allowed to travel. General vehicles are all vehicles that are not limited to emergency vehicles. FIG. 1 illustrates a case where a vehicle 10A is traveling on a specific road 110 and a vehicle 10B is traveling on a general road 120. Furthermore, the case where the roadside device 40 is provided on the road side of the specific road 110 is illustrated. The roadside device 40 is an example of a base station.
　特定道路１１０及び一般道路１２０の交差点において、特定道路１１０上にゲート装置１３０（ゲート装置１３１及びゲート装置１３２）が設けられており、一般道路１２０上に交通信号機１４０（交通信号機１４１及び交通信号機１４２）が設けられてもよい。ゲート装置１３０は、交通安全装置の一例であり、交通信号機１４０は、交通安全装置の他の例である。 At the intersection of the specific road 110 and the general road 120, the gate device 130 (the gate device 131 and the gate device 132) is provided on the specific road 110, and the traffic signal 140 (the traffic signal 141 and the traffic signal 142) is provided on the general road 120. ) May be provided. The gate device 130 is an example of a traffic safety device, and the traffic signal 140 is another example of a traffic safety device.
　車両１０（車両１０Ａ及び車両１０Ｂ）は、自動二輪車、自動三輪車、又は自動四輪車などの自動車であってもよい。車両１０は、路側機４０と通信（路車間通信）を行う。ここでは、車両１０Ａがバスであるケースを例示する。車両１０の詳細については後述する（図２を参照）。 The vehicle 10 (the vehicle 10A and the vehicle 10B) may be an automobile such as a motorcycle, a motorcycle, or an automobile. The vehicle 10 performs communication (road-vehicle communication) with the roadside device 40. Here, a case where the vehicle 10A is a bus is illustrated. The details of the vehicle 10 will be described later (see FIG. 2).
　路側機４０は、車両１０と通信（路車間通信）を行う。路側機４０は、ゲート装置１３０と通信を行う機能を有する。路側機４０は、交通信号機１４０と通信を行う機能を有していてもよい。車両１０は、他の車両との車車間通信を行ってもよい。車車間通信は、路車間通信が行われていないタイミングで行われてもよい。路側機４０の詳細については後述する（図３を参照）。 The roadside device 40 communicates with the vehicle 10 (road-vehicle communication). The roadside device 40 has a function of communicating with the gate device 130. The roadside device 40 may have a function of communicating with the traffic light 140. The vehicle 10 may perform inter-vehicle communication with another vehicle. The vehicle-to-vehicle communication may be performed at a timing when the road-to-vehicle communication is not performed. Details of the roadside device 40 will be described later (see FIG. 3).
　ゲート装置１３０は、特定道路１１０への車両１０Ｂの進入を制限するためのゲートを有する。ゲート装置１３０は、ゲートに加えて、ゲートを開閉する駆動機構や、路側機４０との通信を行うための通信インターフェイスを有する。 The gate device 130 has a gate for restricting the entry of the vehicle 10B to the specific road 110. The gate device 130 includes, in addition to the gate, a drive mechanism for opening and closing the gate, and a communication interface for performing communication with the roadside device 40.
　ゲート装置１３０は、車両１０Ａが交差点を通過しないときに閉じ、車両１０Ａが交差点を通過するときに開くように構成される。例えば、ゲート装置１３０は、車両１０Ａの運行スケジュールに応じて開閉してもよい。ゲート装置１３０は、交差点への車両１０Ａの接近に応じて開き、交差点からの車両１０Ａの離脱に応じて閉じてもよい。車両１０Ａの接近及び離脱は、車両１０Ａからメッセージを受信できるか否かに基づいて路側機４０によって検出された上で、路側機４０からゲート装置１３０に通知されてもよい。 The gate device 130 is configured to close when the vehicle 10A does not pass through the intersection, and to open when the vehicle 10A passes through the intersection. For example, the gate device 130 may open and close according to the operation schedule of the vehicle 10A. The gate device 130 may be opened when the vehicle 10A approaches the intersection, and may be closed when the vehicle 10A leaves the intersection. The approach and departure of the vehicle 10A may be detected by the roadside device 40 based on whether a message can be received from the vehicle 10A, and then the gate device 130 may be notified from the roadside device 40.
　交通信号機１４０は、車両１０Ｂの交差点の通過を許可するか否かを示す信号（例えば、青信号、黄信号、赤信号）を表示するように構成される。交通信号機１４０は、車両１０Ｂに注意喚起を促す点滅信号を表示するように構成されてもよい。例えば、交通信号機１４０は、予め定められたスケジュールに応じて信号を切り替えてもよい。ゲート装置１３０は、交差点への車両１０Ａの接近及び交差点からの車両１０Ａの離脱に応じて信号を切り替えてもよい。車両１０Ａの接近及び離脱は、車両１０Ａからメッセージを受信できるか否かに基づいて路側機４０によって検出された上で、路側機４０から交通信号機１４０に通知されてもよい。 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 10B to pass through the intersection. The traffic light 140 may be configured to display a blinking signal that calls attention to the vehicle 10B. For example, the traffic light 140 may switch signals according to a predetermined schedule. The gate device 130 may switch the signal according to the approach of the vehicle 10A to the intersection and the departure of the vehicle 10A from the intersection. The approach and departure of the vehicle 10A may be detected by the roadside device 40 based on whether or not a message can be received from the vehicle 10A, and then the traffic signal 140 may be notified from the roadside device 40.
　実施形態において、バスが特定道路１１０を走行する場合に限らず、バスが一般道路１２０を走行しうるシナリオを想定する。このようなシナリオにおいて、一般道路１２０及び特定道路１１０が交わる交差点に設けられる交通安全装置を制御する路側機４０は、一般道路１２０を走行するバスの存在を考慮した制御を行う必要がある。 In the embodiment, not limited to the case where the bus travels on the specific road 110, a scenario in which the bus can travel on the general road 120 is assumed. In such a scenario, the roadside device 40 that controls the traffic safety device provided at the intersection where the general road 120 and the specific road 110 intersect needs to perform control in consideration of the existence of the bus running on the general road 120.
　（車両）
　図２は、実施形態に係る車両１０の構成を示す図である。図２に示すように、車両１０は、通信部１１及び制御部１２を有する。 (vehicle)
FIG. 2 is a diagram illustrating a configuration of the vehicle 10 according to the embodiment. As shown in FIG. 2, the vehicle 10 includes a communication unit 11 and a control unit 12.
　通信部１１は、無線通信モジュールによって構成される。通信部１１は、キャリアセンスを行って電波の周波数（例えば、７００ＭＨｚ帯）の空き状態を判定する機能を有していてもよい。通信部１１は、電波の周波数が空いているタイミングでパケットを送信する。１以上のパケットによって１つのメッセージが構成されてもよい。 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.
　通信部１１は、路車間通信を行ってもよく、車車間通信を行ってもよい。パケットは、送信元の識別に用いる識別情報、路側機４０に対する同期方法を示す同期情報、パケットの送信時刻、及び／又は路車間通信の期間を示す期間情報（路車間通信の転送回数、及び／又は路車間通信の期間長）などを含む。車車間通信は、路車間通信に伴って生じる通信（パケット転送）を含む。 The communication unit 11 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-vehicle communication (the number of times of transfer between road-vehicle communication, Or period length of road-to-vehicle communication). Vehicle-to-vehicle communication includes communication (packet transfer) that occurs with road-to-vehicle communication.
　以下において、上述したメッセージを踏まえて、メッセージの詳細について説明する。 メ ッ セ ー ジ The details of the message will be described below based on the above message.
　メッセージは、車両１０の種別を示す種別情報を含んでもよい。車両１０の種別を示す種別情報は、車両１０の種別が何であるかを一意に識別する情報であってもよい。車両１０がバスである場合、種別情報は、バスであることを示す情報ということになる。或いは、種別情報は、車両種別がバスであるか否かを示す１ビットのフラグであってもよい。 The message may include type information indicating the type of the vehicle 10. The type information indicating the type of the vehicle 10 may be information for uniquely identifying the type of the vehicle 10. When the vehicle 10 is a bus, the type information is information indicating that the vehicle 10 is a bus. Alternatively, the type information may be a 1-bit flag indicating whether the vehicle type is a bus.
　メッセージは、車両１０が緊急車両であるか否かを示す緊急車両情報を含んでもよい。緊急車両情報は、車両１０が緊急走行中であるか否かを示す情報であってもよい。緊急車両情報は、車両１０が緊急車両であるか否かを示す１ビットのフラグ又は車両１０が緊急走行中であるか否かを示す１ビットのフラグであってもよい。 The message may include emergency vehicle information indicating whether the vehicle 10 is an emergency vehicle. The emergency vehicle information may be information indicating whether or not the vehicle 10 is traveling in an emergency. The emergency vehicle information may be a 1-bit flag indicating whether or not the vehicle 10 is an emergency vehicle or a 1-bit flag indicating whether or not the vehicle 10 is in an emergency running state.
　メッセージは、車両１０に設けられた方向指示器の状態を示す方向指示器情報を含んでもよい。方向指示器とは、車両用の保安部品の１つであり、右左折や進路変更の際に、その方向を周囲に示すための装置である。一般に、車両１０は、右折するために右側の方向指示器を点滅させ、左折するために左側の方向指示器を点滅させる。方向指示器情報は、方向指示器が点滅しているか否かを示す情報、及び／又は左右どちらの方向指示器が点滅しているかを示す情報等を含んでもよい。 The message may include direction indicator information indicating the state of the direction indicator provided on the vehicle 10. The direction indicator is one of security parts for vehicles, and is a device for indicating the direction to the surroundings when turning right or left or changing course. Generally, the vehicle 10 blinks the right turn signal to turn right and the left turn signal to turn left. The direction indicator information may include information indicating whether the direction indicator is blinking and / or information indicating whether the left or right direction indicator is blinking.
　メッセージは、車両１０の走行予定の経路を示す経路情報を含む。経路情報は、車両１０のカーナビゲーションシステムが案内する経路を示す情報であってもよい。車両１０が自動運転中である場合、経路情報は、自動運転により走行予定の経路を示す情報であってもよい。経路情報は、車両１０の出発地から到着地までの全経路を示す情報である必要はなく、直近の一定時間又は一定距離における走行予定の経路のみを示す情報であってもよい。 The message includes route information indicating a route on which the vehicle 10 is to travel. The route information may be information indicating a route guided by the car navigation system of the vehicle 10. When the vehicle 10 is automatically driving, the route information may be information indicating a route scheduled to travel by automatic driving. The route information does not need to be information indicating the entire route from the departure place to the arrival place of the vehicle 10, but may be information indicating only a route scheduled to travel for the latest fixed time or fixed distance.
　制御部１２は、メモリ及びＣＰＵなどを有する制御回路によって構成される。制御部１２は、少なくとも通信部１１を制御する。制御部１２は、車両１０が一般道路１２０を走行している場合において、上述した情報を含む少なくとも１つのメッセージを送信するように通信部１１を制御してもよい。 The control unit 12 is configured by a control circuit having a memory, a CPU, and the like. The control unit 12 controls at least the communication unit 11. The control unit 12 may control the communication unit 11 to transmit at least one message including the above-described information when the vehicle 10 is traveling on the general road 120.
　実施形態において、メッセージは、ブロードキャストで送信されてもよい。このようなケースにおいて、メッセージは、宛先を特定する情報、及び／又は宛先を特定する情報を含んでいなくてもよい。 In an embodiment, the message may be sent by broadcast. In such a case, the message may not include destination-identifying information and / or destination-identifying information.
　（路側機）
　図３は、実施形態に係る路側機４０の構成を示す図である。図３に示すように、路側機４０は、通信部４１及び制御部４２を有する。 (Roadside aircraft)
FIG. 3 is a diagram illustrating a configuration of the roadside device 40 according to the embodiment. As shown in FIG. 3, the roadside device 40 includes a communication unit 41 and a control unit 42.
　路側機４０の無線通信方式は、ＡＲＩＢ　Ｔ１０９、３ＧＰＰ（３ｒｄ　ＧｅｎｅｒａｔｉｏｎＰａｒｔｎｅｒｓｈｉｐ　Ｐｒｏｊｅｃｔ）で定義されるＶ２Ｘ（Ｖｅｈｉｃｌｅ　ｔｏ　Ｅｖｅｒｙｔｈｉｎｇ）、及び／又は無線ＬＡＮなどの方式に準拠してもよい。路側機４０は、これらの通信規格の全てに対応可能なオールインタイプであってもよい。 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.
　通信部４１は、無線通信モジュールによって構成される。通信部４１は、キャリアセンスを行って電波の周波数（例えば、７００ＭＨｚ帯）の空き状態を判定する機能を有していなくてもよい。通信部４１は、制御部４２によって決定されたタイミングでパケットを送信する。１以上のパケットによって１つのメッセージが構成されてもよい。 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.
　通信部４１は、路車間通信を行ってもよい。パケットは、送信元の識別に用いる識別情報、路側機４０に対する同期方法を示す同期情報、パケットの送信時刻、及び／又は路車間通信の期間を示す期間情報（例えば、路車間通信の転送回数、及び／又は路車間通信の期間長）などを含む。 The communication unit 41 may perform road-to-vehicle communication. The packet includes identification information used for identifying the transmission source, synchronization information indicating a synchronization method for the roadside device 40, transmission time of the packet, and / or period information indicating a period of the road-vehicle communication (for example, the number of times of transfer of road-vehicle communication, And / or period length of road-to-vehicle communication).
　通信部４１は、車両１０から、当該車両１０の種別を示す種別情報及び／又は当該車両１０が緊急車両であるか否かを示す緊急車両情報を含む少なくとも１つのメッセージを受信する。 The communication unit 41 receives from the vehicle 10 at least one message including type information indicating the type of the vehicle 10 and / or emergency vehicle information indicating whether the vehicle 10 is an emergency vehicle.
　また、通信部４１は、車両１０から、当該車両１０に設けられた方向指示器の状態を示す方向指示器情報及び／又は当該車両１０の走行予定の経路を示す経路情報を含む少なくとも１つのメッセージを受信する。 In addition, the communication unit 41 transmits, from the vehicle 10, at least one message including direction indicator information indicating a state of a direction indicator provided on the vehicle 10 and / or route information indicating a planned route of the vehicle 10. To receive.
　制御部４２は、メモリ及びＣＰＵなどを有する制御回路によって構成される。制御部４２は、少なくとも通信部４１を制御する。制御部４２は、車両１０から受信した少なくとも１つのメッセージに基づいて、当該車両１０が特定道路１１０を走行することが許可される所定車両であるか否か、及び当該車両１０が特定道路１１０に進入しようとしているか否かを判定する。 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 determines whether or not the vehicle 10 is a predetermined vehicle permitted to travel on the specific road 110 based on at least one message received from the vehicle 10 and determines whether or not the vehicle 10 is Determine whether you are about to enter.
　具体的には、制御部４２は、車両１０から受信した少なくとも１つのメッセージに含まれる種別情報及び／又は緊急車両情報に基づいて、当該車両１０が特定道路１１０を走行することが許可される所定車両であるか否かを判定する。例えば、制御部４２は、種別情報がバスを示す場合に、当該車両１０が所定車両であると判定してもよい。制御部４２は、緊急車両情報が緊急車両を示す場合に、当該車両１０が所定車両であると判定してもよい。 Specifically, the control unit 42 determines based on the type information and / or the emergency vehicle information included in at least one message received from the vehicle 10 that the vehicle 10 is permitted to travel on the specific road 110. It is determined whether the vehicle is a vehicle. For example, when the type information indicates a bus, the control unit 42 may determine that the vehicle 10 is a predetermined vehicle. When the emergency vehicle information indicates the emergency vehicle, the control unit 42 may determine that the vehicle 10 is the predetermined vehicle.
　また、制御部４２は、車両１０から受信した少なくとも１つのメッセージに含まれる方向指示器情報及び／又は経路情報に基づいて、当該車両１０が特定道路１１０に進入しようとしているか否かを判定する。例えば、制御部４２は、方向指示器情報が特定道路１１０への右折又は左折を示す場合に、当該車両１０が特定道路１１０に進入しようとしていると判定してもよい。制御部４２は、経路情報が示す経路に特定道路１１０が含まれる場合に、当該車両１０が特定道路１１０に進入しようとしていると判定してもよい。 The control unit 42 determines whether or not the vehicle 10 is about to enter the specific road 110 based on the direction indicator information and / or the route information included in at least one message received from the vehicle 10. For example, when the direction indicator information indicates a right or left turn to the specific road 110, the control unit 42 may determine that the vehicle 10 is about to enter the specific road 110. When the route indicated by the route information includes the specific road 110, the control unit 42 may determine that the vehicle 10 is about to enter the specific road 110.
　制御部４２は、当該車両１０が所定車両であり、且つ当該車両１０が特定道路１１０に進入しようとしていると判定された場合に、当該車両１０が特定道路１１０に進入することを許可するようゲート装置１３０を制御する。 The control unit 42 controls the gate to permit the vehicle 10 to enter the specific road 110 when it is determined that the vehicle 10 is the predetermined vehicle and the vehicle 10 is about to enter the specific road 110. The device 130 is controlled.
　例えば、制御部４２は、車両１０が特定道路１１０に進入することを許可するように、ゲート装置１３０のゲートを開くことを指示する制御コマンドをゲート装置１３０に送信してもよい。このような通信は、有線で行われてもよく、無線で行われてもよい。 For example, the control unit 42 may transmit a control command instructing to open the gate of the gate device 130 to the gate device 130 so as to permit the vehicle 10 to enter the specific road 110. Such communication may be performed by wire or wirelessly.
　制御部４２は、車両１０が特定道路１１０に進入することを許可するように、交通信号機１４０によって表示される信号の切替を制御してもよい。このようなケースにおいて、制御部４２は、交通信号機１４０によって表示される信号の切替を指示する制御コマンドを交通信号機１４０に送信してもよい。このような通信は、有線で行われてもよく、無線で行われてもよい。 The control unit 42 may control switching of the signal displayed by the traffic signal 140 so as to permit the vehicle 10 to enter the specific road 110. In such a case, the control unit 42 may transmit a control command to switch the signal displayed by the traffic light 140 to the traffic light 140. Such communication may be performed by wire or wirelessly.
　（路車間通信）
　図４は、実施形態に係る路車間通信期間を示す図である。図４では、ＡＲＩＢ　Ｔ１０９に基づく路車間通信期間を例示している。 (Road-to-vehicle communication)
FIG. 4 is a diagram illustrating a road-vehicle communication period according to the embodiment. FIG. 4 illustrates a road-to-vehicle communication period based on ARIB T109.
　図４に示すように、路側機４０及び車両１０は、１００ｍｓ周期での通信を基本とする。路側機４０は、自身の送信情報として送信時刻及び路車間通信期間情報（転送回数・路車間通信期間長）を周囲の車両１０に通知することにより、自身の送信時間を確保する。また、路側機４０間では±１６μｓ以下の同期精度を保つこととされている。 路 As shown in FIG. 4, the roadside device 40 and the vehicle 10 basically communicate at a cycle of 100 ms. The roadside device 40 secures its own transmission time by notifying the surrounding vehicles 10 of the transmission time and the road-to-vehicle communication period information (the number of transfers / the road-to-vehicle communication period length) as its own transmission information. Further, synchronization accuracy of ± 16 μs or less is maintained between the roadside devices 40.
　車両１０は、路側機４０から受信した送信時刻に基づいて時刻同期し、路車間通信期間情報に基づいて自身の送信を停止することで、路側機４０の送信期間以外のタイミングで送信を行う。 The vehicle 10 performs transmission at a timing other than the transmission period of the roadside device 40 by synchronizing the time based on the transmission time received from the roadside device 40 and stopping its own transmission based on the road-to-vehicle communication period information.
　１００ｍｓの制御周期内において１６μｓを制御単位時間（ユニット）としており、制御周期は６２５０ユニットで構成される。１制御周期中に設定可能な路車間通信期間数の最大値は１６であり、制御周期の先頭から３９０ユニット（６２４０μｓ）間隔で配置する。設定可能な路車間通信期間長の最大値は、１８９ユニット（３０２４μｓ）である。 In the control cycle of $ 100 ms, 16 μs is set as a control unit time (unit), and the control cycle is composed of 6250 units. The maximum value of the number of road-to-vehicle communication periods that can be set in one control cycle is 16, and they are arranged at intervals of 390 units (6240 μs) from the beginning of the control cycle. The maximum value of the road-vehicle communication period length that can be set is 189 units (3024 μs).
　路側機４０には、１制御周期中にある１６の路車間通信期間のうち１つの路車間通信期間が割り当てられる。路側機４０は、自身の路車間通信期間においてのみ無線信号を送信する。 One of the 16 road-to-vehicle communication periods in one control cycle is assigned to the road-side device 40. The roadside device 40 transmits a wireless signal only during its own road-to-vehicle communication period.
　路側機４０は、自身の路車間通信期間に関する情報を含む路車間通信期間情報を含む無線信号をブロードキャストする。車両１０は、路車間通信期間情報に基づいて、路側機４０が使用している路車間通信期間を把握し、路側機４０が使用している路車間通信期間において無線信号を送信しないようにする。 The roadside device 40 broadcasts a radio signal including road-to-vehicle communication period information including information regarding its own road-to-vehicle communication period. The vehicle 10 grasps the road-to-vehicle communication period used by the roadside device 40 based on the road-to-vehicle communication period information, and does not transmit a radio signal during the road-to-vehicle communication period used by the roadside device 40. .
　（動作例）
　図５は、実施形態に係る交通通信システム１００の動作例を示す図である。 (Operation example)
FIG. 5 is a diagram illustrating an operation example of the traffic communication system 100 according to the embodiment.
　図５に示すように、一般道路１２０に対して特定道路１１０が交わるＴ字路において、特定道路１１０への入り口にゲート装置１３０（ゲート）が設けられている。また、Ｔ字路の路側には、ゲート装置１３０を制御する路側機４０が設けられている。 ゲ ー ト As shown in FIG. 5, a gate device 130 (gate) is provided at the entrance to the specific road 110 on a T-shaped intersection where the specific road 110 intersects the general road 120. A roadside device 40 that controls the gate device 130 is provided on the roadside of the T-shaped road.
　路側機４０は、一般道路１２０に沿った方向に指向性パターンを有するアンテナを備える。路側機４０は、一般道路１２０における特定道路１１０への分岐点の手前の領域に指向性を向けることにより当該領域を自身の通信エリアとしており、当該通信エリア内の車両１０との通信を行う。車両１０は、一般道路１２０の左側車線を走行しており、特定道路１１０への分岐点に差し掛かっている。車両１０は、路側機４０の通信エリア内において、路側機４０に対して少なくとも１つのメッセージを送信する。 The roadside device 40 includes an antenna having a directivity pattern in a direction along the general road 120. The roadside device 40 has its area as its own communication area by directing its directivity to an area on the general road 120 just before the branch point to the specific road 110, and communicates with the vehicle 10 in the communication area. The vehicle 10 is traveling in the left lane of the general road 120 and is approaching a branch point to the specific road 110. The vehicle 10 transmits at least one message to the roadside device 40 within the communication area of the roadside device 40.
　このような状況下において、路側機４０は、車両１０から受信した少なくとも１つのメッセージに基づいて、車両１０がバス又は緊急車両であり、且つ、車両１０が一般道路１２０から特定道路１１０へ左折しようとしていると判定した場合に、ゲート装置１３０のゲートを開く。これにより、路側機４０は、車両１０が特定道路１１０に進入することを許可する。路側機４０は、ゲート装置１３０のゲートを開いた後、センサ等により車両１０がゲートを通過したことを検知した場合に、ゲート装置１３０のゲートを閉じる。 In such a situation, the roadside device 40 may make a left turn from the general road 120 to the specific road 110 when the vehicle 10 is a bus or an emergency vehicle based on at least one message received from the vehicle 10. When it is determined that the above condition is satisfied, the gate of the gate device 130 is opened. As a result, the roadside device 40 permits the vehicle 10 to enter the specific road 110. After opening the gate of the gate device 130, the roadside device 40 closes the gate of the gate device 130 when detecting that the vehicle 10 has passed through the gate by a sensor or the like.
　（動作フロー）
　図６は、実施形態に係る路側機４０の動作フロー例を示す図である。 (Operation flow)
FIG. 6 is a diagram illustrating an example of an operation flow of the roadside device 40 according to the embodiment.
　図６に示すように、ステップＳ１０１において、通信部４１は、車両１０から、当該車両１０の種別を示す種別情報及び／又は当該車両１０が緊急車両であるか否かを示す緊急車両情報を含む少なくとも１つのメッセージを受信する。また、通信部４１は、車両１０から、当該車両１０に設けられた方向指示器の状態を示す方向指示器情報及び／又は当該車両１０の走行予定の経路を示す経路情報を含む少なくとも１つのメッセージを受信する。 As shown in FIG. 6, in step S101, the communication unit 41 includes, from the vehicle 10, type information indicating the type of the vehicle 10 and / or emergency vehicle information indicating whether the vehicle 10 is an emergency vehicle. Receive at least one message. In addition, the communication unit 41 transmits, from the vehicle 10, at least one message including direction indicator information indicating a state of a direction indicator provided on the vehicle 10 and / or route information indicating a planned route of the vehicle 10. To receive.
　ステップＳ１０２において、制御部４２は、車両１０から受信した少なくとも１つのメッセージに含まれる種別情報及び／又は緊急車両情報に基づいて、当該車両１０が特定道路１１０を走行することが許可される所定車両であるか否かを判定する。当該車両１０が所定車両でないと判定された場合（ステップＳ１０２：ＮＯ）、ステップＳ１０５において、制御部４２は、ゲート装置１３０のゲートを開かない。 In step S102, the control unit 42 determines, based on the type information and / or the emergency vehicle information included in at least one message received from the vehicle 10, the predetermined vehicle that the vehicle 10 is permitted to travel on the specific road 110. Is determined. When it is determined that the vehicle 10 is not the predetermined vehicle (Step S102: NO), the control unit 42 does not open the gate of the gate device 130 in Step S105.
　当該車両１０が所定車両であると判定された場合（ステップＳ１０２：ＹＥＳ）、ステップＳ１０３において、制御部４２は、当該車両１０から受信した少なくとも１つのメッセージに含まれる方向指示器情報及び／又は経路情報に基づいて、当該車両１０が特定道路１１０に進入しようとしているか否かを判定する。当該車両１０が特定道路１１０に進入しようとしていると判定されない場合（ステップＳ１０３：ＮＯ）、ステップＳ１０５において、制御部４２は、ゲート装置１３０のゲートを開かない。 When it is determined that the vehicle 10 is the predetermined vehicle (Step S102: YES), in Step S103, the control unit 42 determines that the direction indicator information and / or the route included in at least one message received from the vehicle 10 Based on the information, it is determined whether or not the vehicle 10 is about to enter the specific road 110. When it is not determined that the vehicle 10 is about to enter the specific road 110 (step S103: NO), the control unit 42 does not open the gate of the gate device 130 in step S105.
　当該車両１０が特定道路１１０に進入しようとしていると判定された場合（ステップＳ１０３：ＹＥＳ）、ステップＳ１０４において、制御部４２は、ゲート装置１３０のゲートを開くように制御する。 When it is determined that the vehicle 10 is about to enter the specific road 110 (step S103: YES), the control unit 42 controls to open the gate of the gate device 130 in step S104.
　なお、ステップＳ１０２及びステップＳ１０３の順序は逆であってもよい。 Note that the order of step S102 and step S103 may be reversed.
　このように、本実施形態によれば、所定車両が特定道路１１０だけではなく一般道路１２０を走行する場合であっても、一般道路１２０及び特定道路１１０が交わる交差点に設けられる交通安全装置を適切に制御することにより、一般道路１２０を走行する所定車両を特定道路１１０に進入させることができる。 As described above, according to the present embodiment, even when the predetermined vehicle runs not only on the specific road 110 but also on the general road 120, the traffic safety device provided at the intersection where the general road 120 and the specific road 110 intersect can be appropriately adjusted. , The predetermined vehicle traveling on the general road 120 can enter the specific road 110.
　（その他の実施形態）
　本発明は上述した実施形態によって説明したが、この開示の一部をなす論述及び図面は、この発明を限定するものであると理解すべきではない。この開示から当業者には様々な代替実施形態、実施例及び運用技術が明らかとなろう。 (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.
　実施形態において、交通安全装置がゲート装置又は交通信号機である一例について説明した。しかしながら、交通安全装置は、各種の指示を無線で車両１０に送信する無線機であってもよい。そのような交通安全装置（無線機）は、車両１０の通行の可否を指示する信号（言い換えると、特定道路１１０への車両１０の進行／停止の指示信号）を車両１０に送信する。また、そのような交通安全装置（無線機）は、路側機４０と一体に構成されてもよい。 In the embodiment, an example has been described in which the traffic safety device is a gate device or a traffic signal. However, the traffic safety device may be a wireless device that wirelessly transmits various instructions to the vehicle 10. Such a traffic safety device (wireless device) transmits to the vehicle 10 a signal for instructing whether or not the vehicle 10 can pass (in other words, an instruction signal for advancing / stopping the vehicle 10 to the specific road 110). Further, such a traffic safety device (wireless device) may be configured integrally with the roadside device 40.
　実施形態では特に触れていないが、路側機４０は、他の路側機と通信を行ってもよい（路路間通信）。 Although not particularly described in the embodiment, the roadside device 40 may communicate with another roadside device (inter-road communication).
　実施形態では、車両１０Ａ及び路側機４０を中心に説明したが、実施形態はこれに限定されるものではない。車両及び路側機４０の少なくともいずれか１つに設けられる通信装置が提供されてもよい。通信装置は、通信部１１の機能又は通信部４１の機能を有する。 In the embodiment, the vehicle 10A and the roadside device 40 are mainly described, but the embodiment is not limited to this. A communication device provided in at least one of the vehicle 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.
　以上、図面を参照して一実施形態について詳しく説明したが、具体的な構成は上述のものに限られることはなく、要旨を逸脱しない範囲内において様々な設計変更等をすることが可能である。 As described above, one embodiment has been described in detail with reference to the drawings. However, the specific configuration is not limited to the above, and various design changes and the like can be made without departing from the gist. .
　本願は、日本国特許出願第２０１８－１６０４４１号（２０１８年８月２９日出願）の優先権を主張し、その内容の全てが本願明細書に組み込まれている。  This application claims the priority of Japanese Patent Application No. 2018-160441 (filed on Aug. 29, 2018), the entire contents of which are incorporated herein.

Claims (10)

  1. 　一般道路及び特定道路が交わる交差点に設けられる交通安全装置を制御する基地局であって、
    　前記一般道路を走行する対象車両から少なくとも１つのメッセージを受信する通信部と、
    　前記少なくとも１つのメッセージに基づいて、前記対象車両が前記特定道路を走行することが許可される所定車両であるか否か、及び前記対象車両が前記特定道路に進入しようとしているか否かを判定する制御部と、を備え、
    　前記制御部は、前記対象車両が前記所定車両であり、且つ前記対象車両が前記特定道路に進入しようとしていると判定された場合に、前記対象車両が前記特定道路に進入することを許可するよう前記交通安全装置を制御する、基地局。     A base station that controls a traffic safety device provided at an intersection where a general road and a specific road intersect,
    A communication unit that receives at least one message from a target vehicle traveling on the general road;
    Based on the at least one message, it is determined whether the target vehicle is a predetermined vehicle permitted to travel on the specific road and whether the target vehicle is about to enter the specific road. And a control unit,
    The control unit allows the target vehicle to enter the specific road when it is determined that the target vehicle is the predetermined vehicle and the target vehicle is about to enter the specific road. A base station that controls the traffic safety device.
  2. 　前記特定道路は、所定種別の車両に専用で用いる専用道路であって、
    　前記所定車両は、前記所定種別の車両を含み、
    　前記少なくとも１つのメッセージは、前記対象車両の種別を示す種別情報を含み、
    　前記制御部は、前記種別情報に基づいて、前記対象車両が前記所定車両であるか否かを判定する、請求項１に記載の基地局。     The specific road is a dedicated road exclusively used for a predetermined type of vehicle,
    The predetermined vehicle includes the vehicle of the predetermined type,
    The at least one message includes type information indicating a type of the target vehicle,
    The base station according to claim 1, wherein the control unit determines whether the target vehicle is the predetermined vehicle based on the type information.
  3. 　前記所定車両は、緊急車両を含み、
    　前記少なくとも１つのメッセージは、前記対象車両が緊急車両であるか否かを示す緊急車両情報を含み、
    　前記制御部は、前記緊急車両情報に基づいて、前記対象車両が前記所定車両であるか否かを判定する、請求項１又は２に記載の基地局。     The predetermined vehicle includes an emergency vehicle,
    The at least one message includes emergency vehicle information indicating whether the target vehicle is an emergency vehicle,
    The base station according to claim 1, wherein the control unit determines whether the target vehicle is the predetermined vehicle based on the emergency vehicle information.
  4. 　前記少なくとも１つのメッセージは、前記対象車両に設けられた方向指示器の状態を示す方向指示器情報を含み、
    　前記制御部は、前記方向指示器情報に基づいて、前記対象車両が前記特定道路に進入しようとしているか否かを判定する、請求項１乃至３のいずれか１項に記載の基地局。     The at least one message includes direction indicator information indicating a state of a direction indicator provided in the target vehicle,
    4. The base station according to claim 1, wherein the control unit determines whether the target vehicle is about to enter the specific road based on the direction indicator information. 5.
  5. 　前記少なくとも１つのメッセージは、前記車両の走行予定の経路を示す経路情報を含み、
    　前記制御部は、前記経路情報に基づいて、前記対象車両が前記特定道路に進入しようとしているか否かを判定する、請求項１乃至４のいずれか１項に記載の基地局。     The at least one message includes route information indicating a route that the vehicle is to travel;
    The base station according to claim 1, wherein the control unit determines whether the target vehicle is about to enter the specific road based on the route information.
  6. 　前記交通安全装置は、前記交差点における前記特定道路への入り口に設けられたゲートを含み、
    　前記制御部は、前記対象車両が前記所定車両であり、且つ前記対象車両が前記特定道路に進入しようとしていると判定された場合に、前記ゲートを開けるよう前記交通安全装置を制御する、請求項１乃至５のいずれか１項に記載の基地局。     The traffic safety device includes a gate provided at an entrance to the specific road at the intersection,
    The control unit controls the traffic safety device to open the gate when it is determined that the target vehicle is the predetermined vehicle and the target vehicle is about to enter the specific road. The base station according to any one of claims 1 to 5.
  7. 　前記交通安全装置は、前記交差点における前記特定道路への入り口に設けられた交通信号機であって、
    　前記制御部は、前記対象車両が前記所定車両であり、且つ前記対象車両が前記特定道路に進入しようとしていると判定された場合に、前記交通信号機によって表示される信号の切替を制御する、請求項１乃至５のいずれか１項に記載の基地局。     The traffic safety device is a traffic signal provided at the entrance to the specific road at the intersection,
    The control unit, when it is determined that the target vehicle is the predetermined vehicle and the target vehicle is about to enter the specific road, controls switching of a signal displayed by the traffic signal. Item 6. The base station according to any one of items 1 to 5.
  8. 　前記交通安全装置は、指示信号を無線で車両に送信する無線機であって、
    　前記制御部は、前記対象車両が前記所定車両であり、且つ前記対象車両が前記特定道路に進入しようとしていると判定された場合に、前記対象車両が前記特定道路に進入することを許可する指示信号を前記対象車両に送信するよう前記無線機を制御する、請求項１乃至５のいずれか１項に記載の基地局。     The traffic safety device is a wireless device that wirelessly transmits an instruction signal to a vehicle,
    The control unit, when it is determined that the target vehicle is the predetermined vehicle and the target vehicle is about to enter the specific road, an instruction for permitting the target vehicle to enter the specific road. The base station according to claim 1, wherein the base station controls the wireless device to transmit a signal to the target vehicle.
  9. 　一般道路及び特定道路が交わる交差点に設けられる交通安全装置を制御する基地局との通信を行う車両であって、
    　当該車両が一般道路を走行する状態において、当該車両が前記特定道路を走行することが許可される所定車両であるか否か及び当該車両が前記特定道路に進入しようとしているか否かを前記基地局が判定するための少なくとも１つのメッセージを送信する送信部を備える、車両。     A vehicle that communicates with a base station that controls a traffic safety device provided at an intersection where a general road and a specific road intersect,
    In a state in which the vehicle travels on a general road, the base station determines whether the vehicle is a predetermined vehicle permitted to travel on the specific road and whether the vehicle is about to enter the specific road. A vehicle comprising: a transmission unit configured to transmit at least one message for determining.
  10. 　一般道路及び特定道路が交わる交差点に設けられる交通安全装置と、
    　前記交通安全装置を制御する基地局と、を備え、
    　前記基地局は、
    　前記一般道路を走行する対象車両から少なくとも１つのメッセージを受信する通信部と、
    　前記少なくとも１つのメッセージに基づいて、前記対象車両が前記特定道路を走行することが許可される所定車両であるか否か、及び前記対象車両が前記特定道路に進入しようとしているか否かを判定する制御部と、を備え、
    　前記制御部は、前記対象車両が前記所定車両であり、且つ前記対象車両が前記特定道路に進入しようとしていると判定された場合に、前記対象車両が前記特定道路に進入することを許可するよう前記交通安全装置を制御する、道路交通システム。      Traffic safety devices installed at intersections where general roads and specific roads intersect,
    A base station that controls the traffic safety device,
    The base station comprises:
    A communication unit that receives at least one message from a target vehicle traveling on the general road;
    Based on the at least one message, it is determined whether the target vehicle is a predetermined vehicle permitted to travel on the specific road and whether the target vehicle is about to enter the specific road. And a control unit,
    The control unit allows the target vehicle to enter the specific road when it is determined that the target vehicle is the predetermined vehicle and the target vehicle is about to enter the specific road. A road traffic system for controlling the traffic safety device.
PCT/JP2019/033339 2018-08-29 2019-08-26 Base station, vehicle, and traffic communication system WO2020045355A1 (en)

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JP2014222475A (en) * 2013-05-14 2014-11-27 株式会社オートネットワーク技術研究所 Traffic light control system and on-vehicle communication device

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002541536A (en) * 1999-02-05 2002-12-03 ブレット・ホール Anti-collision system
JP2003030782A (en) * 2001-07-12 2003-01-31 Toshiba Corp Method and system for traveling exclusive road for vehicle
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JP2014222475A (en) * 2013-05-14 2014-11-27 株式会社オートネットワーク技術研究所 Traffic light control system and on-vehicle communication device

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