WO2020075839A1 - Système de communication de trafic, dispositif de bord de route et procédé - Google Patents

Système de communication de trafic, dispositif de bord de route et procédé Download PDF

Info

Publication number
WO2020075839A1
WO2020075839A1 PCT/JP2019/040197 JP2019040197W WO2020075839A1 WO 2020075839 A1 WO2020075839 A1 WO 2020075839A1 JP 2019040197 W JP2019040197 W JP 2019040197W WO 2020075839 A1 WO2020075839 A1 WO 2020075839A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
objects
information
control unit
communication system
Prior art date
Application number
PCT/JP2019/040197
Other languages
English (en)
Japanese (ja)
Inventor
忍 藤本
Original Assignee
京セラ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 京セラ株式会社 filed Critical 京セラ株式会社
Priority to JP2020551245A priority Critical patent/JP7094383B2/ja
Publication of WO2020075839A1 publication Critical patent/WO2020075839A1/fr

Links

Images

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]

Definitions

  • the present invention relates to a traffic communication system, a roadside device, and a method.
  • Non-Patent Document 1 has a roadside device that is a base station installed on the roadside and an on-vehicle device that is a mobile station installed in a vehicle. Describes a system for wireless communication.
  • ARIB STD-T109 1.3 version "700 MHz band intelligent transportation system"
  • the conventional method of using the roadside device is, for example, a method of periodically transmitting signal information of a traffic signal provided at an intersection and road shape information at the intersection from the roadside device to the onboard device.
  • an object of the present invention is to provide a traffic communication system, a roadside device, and a method that further reduce the possibility of a traffic accident.
  • the traffic communication system has a roadside device that performs wireless communication with an object passing through a road.
  • the traffic communication system receives information about a first object from the first object and receives information about a second object from the second object; And a control unit that predicts whether the first and second objects exist in a predetermined area at the same time in the future based on the information.
  • the control unit notifies at least the first and second objects of the danger notification. Control the communication unit to send a message for.
  • the roadside device performs wireless communication with an object passing through the road.
  • the roadside device receives information about a first object from the first object, and receives information about a second object from the second object, and the received information.
  • a control unit that predicts whether or not the first and second objects are present in a predetermined area at the same time in the future. When the first and second objects are predicted to be present in the predetermined area at the same time in the future, the control unit notifies at least the first and second objects of the danger notification. Control the communication unit to send a message for.
  • a method is a method using a roadside device that wirelessly communicates with an object passing through a road, the method including receiving information about the first object from the first object, Receiving information about a second object from the second object, and based on the received information, the first and second objects are present in a predetermined area at the same time in the future. Predicting whether or not the first and second objects are present in the predetermined area at the same time in the future, at least for the first and second objects. And sending a message for danger notification.
  • a traffic communication system it is possible to provide a traffic communication system, a roadside device, and a method that further reduce the possibility of a traffic accident.
  • FIG. 1 is a diagram showing an example of the overall configuration of a traffic communication system 1 according to this embodiment.
  • the traffic communication system 1 includes a plurality of vehicles 100 and a plurality of roadside devices 200.
  • vehicles 100A and 100B are illustrated as a plurality of vehicles 100
  • roadside machines 200A and 200B are illustrated as a plurality of roadside machines 200.
  • Each vehicle 100 is provided with an in-vehicle device 150 that performs wireless communication.
  • Each roadside machine 200 is installed near the road.
  • the roadside device 200 may be installed, for example, at an intersection on an ordinary road, or may be installed on the roadside of an expressway.
  • a road (general road) is a concept including a sidewalk.
  • the traffic communication system 1 performs road-vehicle communication, which is wireless communication between the roadside device 200 and the vehicle 100.
  • the traffic communication system 1 may perform inter-vehicle communication, which is wireless communication between the vehicles 100, or road-to-road communication, which is wireless communication between the roadside devices 200.
  • the wireless communication system of these wireless communication may be a wireless communication system based on the standard (ARIB STD-T109) described in Non-Patent Document 1.
  • the traffic communication system 1 further performs wireless communication between the roadside device 200 and a pedestrian terminal (hereinafter referred to as “pedestrian terminal”). That is, the roadside device 200 performs not only the wireless communication with the vehicle 100 but also the wireless communication with the pedestrian terminal.
  • the pedestrian terminal may be any terminal as long as it moves with the pedestrian, and is, for example, a smartphone, a tablet terminal, a wearable terminal (for example, a smart watch), or the like.
  • the wireless communication performed by the roadside device 200 with the vehicle 100 is referred to as “vehicle communication”, and the wireless communication performed by the roadside device 200 with the pedestrian terminal is referred to as “pedestrian communication”.
  • the communication method for vehicle communication and the communication method for pedestrian communication may be the same or different from each other.
  • the roadside device 200 is compatible with a plurality of wireless communication systems.
  • the wireless communication method for vehicle communication is ARIB STD-T109, DSRC (Dedicated Short Range Communications), or C-V2X (Cellular-to-Vehicle-Vehicle) that conforms to 3GPP (Third Generation Partnership Project) standards. is there.
  • the wireless communication system for pedestrian communication is Bluetooth (registered trademark), WLAN (Wireless Local Area Network), or the like.
  • a vehicle such as an ordinary vehicle or a light vehicle is illustrated as the vehicle 100.
  • the vehicle 100 may be any vehicle that travels on the road, and may be, for example, a bus, a motorcycle (motorcycle), a bicycle, or the like.
  • a bicycle when the vehicle-mounted device 150 is provided on the bicycle, it may be classified as a vehicle, and when the bicycle driver holds the terminal, it may be classified as a pedestrian terminal.
  • the roadside device 200A is installed on the traffic signal 300 or a pillar thereof, and operates in cooperation with the traffic signal 300.
  • the roadside device 200A may transmit information (light color switching information, etc.) regarding the traffic signal 300 to the vehicle 100 through vehicle communication.
  • Each roadside device 200 may be connected to the central device 400 via a network (communication line).
  • the central device 400 may receive, from each roadside device 200, vehicle information that the roadside device 200 has received from the vehicle 100, such as the position and moving speed of the vehicle 100.
  • the central device 400 may further receive vehicle detection information from roadside sensors installed on each road.
  • the central device 400 may collect and process various types of traffic information based on the received information, and may integrate and manage the traffic communication system 1. For example, the central device 400 transmits a control command for instructing the traffic light 300 to switch the light color, or transmits traffic information including traffic congestion information to the roadside device 200.
  • the roadside device 200 may receive information on the terminals of the vehicle 100 and pedestrians via the central device 400.
  • one of the roadside devices 200 (for example, the roadside device 200A) has one of the roadside devices (for example, the roadside device 200B) transmits the vehicle information of the vehicle 100 (for example, the vehicle 100B) transmitted to the central device 400, or the walking information
  • the vehicle information of the vehicle 100 for example, the vehicle 100B
  • the walking information The information of the person's terminal may be received via the central device 400.
  • FIG. 2 is a diagram showing an example of an operating environment of the traffic communication system 1 according to the present embodiment.
  • the vehicle 100 is passing through the first road and the pedestrian (pedestrian terminal 500) is passing through the second road.
  • the first road and the second road intersect at an intersection.
  • the roadside device 200 performs wireless communication with the vehicle 100 and wireless communication with the pedestrian terminal 500.
  • the vehicle 100 corresponds to a first object passing through the first road
  • the pedestrian terminal 500 corresponds to a second object passing along the second road.
  • FIG. 2 an example in which the roadside device 200 is installed at an intersection is shown.
  • intersection refers to an intersection of two or more roads when two or more roads intersect, and includes a crossroad, a T-junction, a three-way intersection, and the like.
  • FIG. 2 the case where the intersection is a T-junction is illustrated.
  • the angle at which two or more roads intersect is not limited to a right angle, and one road may intersect at an angle with another road.
  • the roadside device 200 receives information about the vehicle 100 from the vehicle 100 through vehicle communication. In addition, the roadside device 200 receives information about the pedestrian terminal 500 from the pedestrian terminal 500 through pedestrian communication.
  • the roadside device 200 transmits a message for avoiding the risk of a traffic accident based on the information received from the vehicle 100 and the information received from the pedestrian terminal 500. This prompts the vehicle 100 and the pedestrian terminal 500 to perform the danger avoidance operation.
  • FIG. 3 is a diagram showing a configuration example of the roadside device 200 according to the present embodiment.
  • the roadside device 200 includes a communication unit 210, a transmission / reception unit 220, a storage unit 230, and a control unit 240.
  • the communication unit 210 includes a first wireless communication unit 211 for vehicle communication and a second wireless communication unit 212 for pedestrian communication.
  • the first wireless communication unit 211 performs wireless communication with the vehicle 100 using the first wireless communication method (for example, ARIB STD-T109, DSRC, C-V2X, etc.). Under the control of the control unit 240, the first wireless communication unit 211 converts a radio signal received by the antenna 211a into a baseband signal (received signal) and outputs the baseband signal to the control unit 240. Under the control of the control unit 240, the first wireless communication unit 211 converts the baseband signal (transmission signal) output by the control unit 240 into a radio signal and transmits the radio signal from the antenna 211a.
  • the first wireless communication method for example, ARIB STD-T109, DSRC, C-V2X, etc.
  • the second wireless communication unit 212 performs wireless communication with the pedestrian terminal 500 using a second wireless communication method (for example, Bluetooth (registered trademark) or WLAN). Under the control of the control unit 240, the second wireless communication unit 212 converts the radio signal received by the antenna 212a into a baseband signal (reception signal) and outputs the baseband signal to the control unit 240. Under the control of the control unit 240, the second wireless communication unit 212 converts the baseband signal (transmission signal) output by the control unit 240 into a radio signal and transmits the radio signal from the antenna 212a.
  • a second wireless communication method for example, Bluetooth (registered trademark) or WLAN.
  • the transmission / reception unit 220 transmits / receives information to / from the central device 400 via the network under the control of the control unit 240.
  • the transmission / reception unit 220 may transmit / receive information by wireless communication (for example, cellular communication) with a network.
  • the transmission / reception unit 220 may transmit / receive information to / from the traffic signal 300.
  • the transmission / reception unit 220 may transmit / receive information to / from the roadside sensor.
  • the storage unit 230 includes at least one memory.
  • the storage unit 230 stores a program executed by the control unit 240 and information used for processing by the control unit 240.
  • the control unit 240 includes at least one processor.
  • the control unit 240 performs various controls in the roadside device 200.
  • the control unit 240 may include a baseband processor and a CPU.
  • the baseband processor performs modulation / demodulation and encoding / decoding of the baseband signal.
  • the CPU executes a program stored in the storage unit 230 to perform various types of processing.
  • the roadside device 200 configured in this manner performs wireless communication with an object passing through the road.
  • the first wireless communication unit 211 receives a first message including information about the vehicle 100 from the vehicle 100.
  • the first wireless communication unit 211 may periodically receive the first message from the vehicle 100.
  • the first message includes position information indicating the geographical position of vehicle 100.
  • the position information may be position information obtained by a GNSS (Global Navigation Satellite System) receiver provided in the vehicle 100.
  • the first message may include speed information indicating the moving speed of vehicle 100.
  • the first message may include attribute information indicating an attribute of vehicle 100.
  • GNSS Global Navigation Satellite System
  • the second wireless communication unit 212 receives, from the pedestrian terminal 500, a second message including information about the pedestrian terminal 500.
  • the second wireless communication unit 212 may periodically receive the second message from the pedestrian terminal 500.
  • the second message includes position information indicating the geographical position of the pedestrian terminal 500.
  • the position information may be position information obtained by a GNSS receiver provided in the pedestrian terminal 500.
  • the second message may include speed information indicating the moving speed of the pedestrian terminal 500.
  • the second message may include attribute information indicating attributes of the pedestrian terminal 500 (or pedestrian).
  • the control unit 240 controls the information received by the communication unit 210, specifically, the first message received by the first wireless communication unit 211 and the first message received by the second wireless communication unit 212. Based on the second message, it is predicted whether the vehicle 100 and the pedestrian terminal 500 will be present in a predetermined area at the same time in the future.
  • the predetermined area is an intersection where the first road and the second road intersect.
  • the fact that the vehicle 100 and the pedestrian terminal 500 exist in the predetermined area at the same time in the future means that the vehicle 100 and the pedestrian terminal 500 exist in the predetermined area at a certain point in time in the future.
  • the vehicle 100 and the pedestrian terminal 500 may be present in a predetermined area from a certain time point to another time point in continuous time.
  • the predetermined area may be a certain point on the road or may be a geographical area including a plurality of points on the road.
  • the control unit 240 calculates the moving speed of the vehicle 100 based on the position information included in the first message periodically received by the first wireless communication unit 211.
  • the control unit 240 calculates an expected timing at which the vehicle 100 will enter the intersection based on the current position and the moving speed of the vehicle 100.
  • the control unit 240 calculates the expected timing at which the vehicle 100 enters the intersection based on the position information and the speed information included in the first message received by the first wireless communication unit 211.
  • the control unit 240 may calculate the moving direction of the vehicle 100 and calculate the predicted timing of the vehicle 100 entering the intersection only when it is determined that the vehicle 100 is moving toward the intersection.
  • the control unit 240 also calculates the moving speed of the pedestrian terminal 500 based on the position information included in the second message that the second wireless communication unit 212 periodically receives.
  • the control unit 240 calculates the expected timing at which the pedestrian terminal 500 enters the intersection based on the current position and the moving speed of the pedestrian terminal 500.
  • the control unit 240 calculates the expected timing at which the pedestrian terminal 500 enters the intersection based on the position information and the speed information included in the second message received by the second wireless communication unit 212. Note that the control unit 240 calculates the moving direction of the pedestrian terminal 500, and only when the pedestrian terminal 500 determines that the pedestrian terminal 500 is moving toward the intersection, the estimated timing at which the pedestrian terminal 500 enters the intersection is set. It may be calculated.
  • control unit 240 may accumulate the past movement history of the target object and may calculate the predicted timing to enter the intersection in consideration of the past movement history.
  • the control unit 240 sets the vehicle 100 and the pedestrian terminal 500 to the intersection at the same time in the future. Predict to exist.
  • “overlapping” includes not only the case where the respective predicted timings completely match, but also the case where the difference between the predicted timings is within a predetermined time.
  • the control unit 240 notifies at least the vehicle 100 and the pedestrian terminal 500 a message for danger notification (
  • the communication unit 210 is controlled to transmit a “danger notification message”).
  • the vehicle 100 and the pedestrian terminal 500 can be prompted to perform the risk avoidance operation, and thus the possibility of a traffic accident can be reduced.
  • control unit 240 stops the vehicle 100 from at least one of the position information and the speed information included in the first message until the estimated timing is reached after the estimated timing is calculated ( If it is determined that the probability of not existing at the intersection has increased at the same time in the future), information indicating that the probability of avoiding the danger notified by the transmitted danger notification message has increased is transmitted to the vehicle 100 and the pedestrian terminal 500. You may.
  • the control unit 240 stops the pedestrian terminal 500 from at least one of the position information and the speed information included in the second message until the estimated timing is reached after the estimated timing is calculated ( If it is determined that the probability of not existing at the intersection has increased at the same time in the future), information indicating that the probability of avoiding the danger notified by the transmitted danger notification message has increased is transmitted to the vehicle 100 and the pedestrian terminal 500. You may.
  • the wireless communication system used by the vehicle 100 and the wireless communication system used by the pedestrian terminal 500 are different and the vehicle 100 and the pedestrian terminal 500 cannot directly communicate with each other, a plurality of wireless communication systems are used. The possibility that a traffic accident will occur can be reduced by intervening the roadside device 200 corresponding to.
  • the control unit 240 may send the danger notification message by broadcast or multicast, or may send the danger notification message by unicast. In the following, the case of transmitting the danger notification message by unicast will be mainly described.
  • control unit 240 transmits a danger notification message including information indicating the approach of the pedestrian terminal 500 (pedestrian) to the vehicle 100, and sends a danger notification message including information indicating the approach of the vehicle 100 to the pedestrian terminal 500.
  • the communication unit 210 may be controlled so as to be transmitted to. As a result, since the details of the danger can be specifically notified, an appropriate risk avoidance operation can be prompted.
  • FIG. 4 is a diagram showing an operation example of the traffic communication system 1 according to the present embodiment.
  • step S101 vehicle 100 transmits the first message to roadside device 200.
  • the first wireless communication unit 211 of the roadside device 200 receives the first message.
  • step S102 the pedestrian terminal 500 transmits the second message to the roadside device 200.
  • the second wireless communication unit 212 of the roadside device 200 receives the second message.
  • FIG. 4 illustrates an example in which the roadside device 200 simultaneously receives the first message and the second message, the timing at which the roadside device 200 receives the first message and the second message are received. The timing to perform may be different from each other.
  • step S103 the control unit 240 of the roadside device 200 determines the reliability level indicating the reliability of the information received from the object (vehicle 100, pedestrian terminal 500).
  • control unit 240 of the roadside device 200 refers to the map information stored in the storage unit 230 in advance or the map information received by the transmission / reception unit 220 from the network, and the position information included in the received message indicates the position on the road. When it is far away from, it is determined that the confidence level of the position information is low.
  • the confidence level may be two levels of “high” or “low”, or three or more levels.
  • control unit 240 of the roadside device 200 receives the message at the first timing and the second timing, based on the position, speed (and direction) determined according to the message received at the first timing. , Predict the position of the object at the second timing. Then, when the position indicated by the message received at the second timing is far from the predicted position, it is determined that the confidence level is low.
  • the control unit 240 of the roadside machine 200 calculates the offset between the position of the vehicle 100 and the central position of the road a plurality of times, and when the stability of the offset is low. , It is determined that the confidence level is low.
  • the control unit 240 of the roadside device 200 has the confidence level of It may be determined to be low.
  • step S103 may be performed after step S105.
  • step S104 the control unit 240 of the roadside device 200 corrects the position information included in the received message.
  • the control unit 240 of the roadside device 200 corrects the position information included in the received message so as to be the position on the road when the position information is slightly apart from the position on the road.
  • step S104 is a process performed as necessary and is not an essential process.
  • control unit 240 of the roadside device 200 may change the position to the original position when the position suddenly deviates from the original position (position) expected from the history of the past data (position history) and the moving speed. You may correct.
  • control unit 240 of the roadside device 200 performs relative movement based on the positions of the two vehicles.
  • the position may be corrected.
  • control unit 240 of the roadside device 200 may correct the position based on the notification.
  • step S105 the control unit 240 of the roadside device 200 predicts whether the vehicle 100 and the pedestrian terminal 500 will be present at the intersection at the same time in the future based on the received message. Note that the processing from step S105 may be performed only when it is predicted that the vehicle 100 and the pedestrian terminal 500 will be present at the intersection at the same time in the future. Hereinafter, the description will be continued assuming that the vehicle 100 and the pedestrian terminal 500 are predicted to be present at the intersection at the same time in the future.
  • step S106 the control unit 240 of the roadside device 200, for the target object (each of the vehicle 100 and the pedestrian terminal 500), the attribute of the target object, the moving speed of the target object, and the target object and the intersection.
  • a risk level indicating a high risk is determined based on at least one of the distances.
  • the risk level may be two levels of “high” or “low”, or three or more levels.
  • control unit 240 of the roadside device 200 determines that the risk level is high when the pedestrian corresponding to the pedestrian terminal 500 indicates that the pedestrian corresponding to the pedestrian terminal 500 is a traffic vulnerable person (child, elderly). You may.
  • the control unit 240 of the roadside device 200 may determine that the danger level is high when the vehicle 100 is a large vehicle (for example, a truck or a bus) as an attribute of the vehicle 100.
  • the control unit 240 of the roadside device 200 determines that the danger level is high when the moving speed of the vehicle 100 is higher than the first threshold value and / or when the moving speed of the pedestrian terminal 500 is higher than the second threshold value. You may. Here, the control unit 240 of the roadside device 200 may determine that the vehicle 100 is driving dangerously when the moving speed of the vehicle 100 is higher than the first threshold value.
  • the control unit 240 of the roadside device 200 determines that the danger level is high when the moving speed of the vehicle 100 is higher than the first threshold value and / or when the moving speed of the pedestrian terminal 500 is higher than the second threshold value. You may.
  • the control unit 240 of the roadside device 200 may determine that the danger level is high when the distance between the pedestrian terminal 500 and the intersection is shorter than the threshold value.
  • step S107 the control unit 240 of the roadside device 200 controls the first wireless communication unit 211 to transmit the danger notification message to the vehicle 100.
  • the control unit 240 of the roadside device 200 may include approach notification information indicating the approach of the pedestrian terminal 500 (pedestrian) in the danger notification message.
  • the control unit 240 of the roadside device 200 when it is determined in step S106 that the vehicle 100 is driving dangerously, transmits the information that instructs the vehicle 100 to stop or reduce the speed to the vehicle 100. May be included in the message.
  • the control unit 240 of the roadside device 200 controls the second wireless communication unit 212 to transmit the danger notification message to the pedestrian terminal 500.
  • the control unit 240 of the roadside device 200 may include approach notification information indicating the approach of the vehicle 100 in the danger notification message.
  • the approach notification information is, for example, detailed information of the vehicle 100 indicating the type of the vehicle 100, what kind of dangerous traveling the vehicle 100 is, and time information indicating when the vehicle 100 contacts the pedestrian terminal 500. It may also include position information indicating at which position the vehicle 100 contacts the pedestrian terminal 500.
  • the control unit 240 of the roadside device 200 may include risk level information indicating the risk level determined in step S106 in the risk notification message.
  • the risk level information may be a 1-bit flag indicating that the risk level is “high” or “low”, or may be an index value indicating the risk level.
  • the control unit 240 of the roadside device 200 may include trust level information indicating the trust level determined in step S103 in the danger notification message.
  • the confidence level information may be a 1-bit flag indicating that the confidence level is “high” or “low”, or may be an index value indicating the confidence level.
  • the control unit 240 of the roadside device 200 may include information (1 bit flag) indicating that the position information has been corrected in the danger notification message.
  • the control unit 240 of the roadside device 200 may lower the confidence level information (confidence level) when the position information is corrected in step S104.
  • step S109 the vehicle 100 determines whether to perform the danger avoidance operation and / or the content of the danger avoidance operation in response to receiving the danger notification message from the roadside device 200.
  • step S110 the pedestrian terminal 500 determines whether to perform the danger avoidance operation and / or the content of the danger avoidance operation in response to receiving the danger notification message from the roadside device 200.
  • each of the vehicle 100 and the pedestrian terminal 500 may change the operation at the time of receiving the danger notification message according to the danger level information included in the danger notification message. Further, each of the vehicle 100 and the pedestrian terminal 500 may change the operation at the time of receiving the danger notification message depending on the trust level information included in the danger notification message.
  • each of the vehicle 100 and the pedestrian terminal 500 may be determined to perform the risk avoidance operation only when the danger level indicated by the danger level information is high and / or the confidence level indicated by the confidence level information is high. .
  • the vehicle 100 may activate the automatic brake as a danger avoidance operation when the danger level and / or the confidence level are high.
  • the vehicle 100 may alert the driver by voice / image as a danger avoidance operation without operating the automatic brake.
  • the pedestrian terminal 500 may change the output mode of audio, video, and / or vibration according to the danger level and / or the confidence level. For example, the pedestrian terminal 500 may alert the pedestrian by a loud sound output as a danger avoidance operation when the danger level is high and / or the confidence level is high. When the risk level is low and / or the confidence level is low, the pedestrian terminal 500 may alert the pedestrian only by vibration as a risk avoidance operation.
  • step S111 the vehicle 100 performs the danger avoidance operation determined in step S109.
  • step S112 the pedestrian terminal 500 performs the risk avoidance operation determined in step S110.
  • the roadside device 200 may not include the second wireless communication unit 212.
  • the roadside machine 200 is an antenna / main body integrated roadside machine
  • it may be an antenna / main body separated roadside machine.
  • the antenna portion may be installed around the road
  • the main body portion may be installed away from the road
  • the antenna portion and the main body portion may be connected via a cable.
  • the roadside device 200 performs centralized control
  • the roadside device 200 and the central device 400 may perform distributed control.
  • the control and processing performed by the control unit 240 of the roadside device 200 in the above-described embodiment may be performed by the central device 400 instead of the roadside device 200.
  • the predetermined area is an intersection where the first road and the second road intersect
  • the predetermined area may be located on one road.
  • the control unit 240 determines whether the first vehicle and the second vehicle are in agreement with each other at the same time in the future based on the current positions, the moving speeds, and the moving directions of the first vehicle and the second vehicle. It may be predicted to exist in a predetermined area located on one road.
  • the control unit 240 may calculate the current positions, the moving speeds, and the moving directions of the first vehicle and the second vehicle based on the first messages received from the first vehicle and the second vehicle, respectively. .
  • the first vehicle and the second vehicle may be in the future at the same time.
  • the second vehicle is an oncoming vehicle of the first vehicle
  • the second vehicle collides head-on with the first vehicle in the future the first vehicle and the second vehicle are in the same future time.
  • the vehicle exists in a predetermined area located on one road.
  • control unit 240 determines that the vehicle and the pedestrian terminal are present in a predetermined area located on one road at the same time in the future based on the current position, the moving speed, and the moving direction of the vehicle and the pedestrian terminal. Then you can predict.
  • the control unit 240 may calculate the current position, the moving speed, and the moving direction of the vehicle and the pedestrian terminal based on the first message received from the vehicle and the second message received from the pedestrian terminal. For example, when a pedestrian is located in front of the vehicle on one road, when the vehicle collides with (a user of) the pedestrian terminal in the future, the vehicle and the pedestrian terminal are It can be said that it exists in a predetermined area located on the road.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Traffic Control Systems (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

L'invention concerne un système de communication de trafic comprenant un dispositif de bord de route 200 qui réalise une communication sans fil avec des objets qui se déplacent sur une route. Le dispositif de bord de route 200 : reçoit des informations relatives à un premier objet à partir du premier objet; reçoit des informations relatives à un second objet à partir du second objet; et prédit si les premier et second objets seront présents dans une zone prescrite au même instant futur sur la base des informations reçues. S'il est prédit que les premier et second objets seront présents dans la zone prescrite au même instant futur, le dispositif de bord de route 200 transmet au moins aux premier et second objets un message pour signaler un danger.
PCT/JP2019/040197 2018-10-12 2019-10-11 Système de communication de trafic, dispositif de bord de route et procédé WO2020075839A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2020551245A JP7094383B2 (ja) 2018-10-12 2019-10-11 交通通信システム、路側機、及び方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018-193867 2018-10-12
JP2018193867 2018-10-12

Publications (1)

Publication Number Publication Date
WO2020075839A1 true WO2020075839A1 (fr) 2020-04-16

Family

ID=70164115

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2019/040197 WO2020075839A1 (fr) 2018-10-12 2019-10-11 Système de communication de trafic, dispositif de bord de route et procédé

Country Status (2)

Country Link
JP (1) JP7094383B2 (fr)
WO (1) WO2020075839A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112822657A (zh) * 2020-12-31 2021-05-18 江苏鸿鹄电子科技有限公司 一种基于wlan的v2x路侧单元与行人的协同方法
CN114079880A (zh) * 2020-08-10 2022-02-22 大唐高鸿智联科技(重庆)有限公司 信息处理方法、终端、路侧节点及车联网系统
JP2022126798A (ja) * 2021-12-15 2022-08-30 阿波▲羅▼智▲聯▼（北京）科技有限公司 道路側感知システム、交通制御方法、交通制御システムおよびコンピュータプログラム
WO2024057357A1 (fr) * 2022-09-12 2024-03-21 日本電気株式会社 Dispositif d'aide à la conduite, procédé d'aide à la conduite et support d'enregistrement

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1164018A (ja) * 1997-08-27 1999-03-05 Mazda Motor Corp 車両用ナビゲーション装置
JP2006323524A (ja) * 2005-05-17 2006-11-30 Sumitomo Electric Ind Ltd 高速車感応制御システム及び高速車感応制御方法
JP2007011490A (ja) * 2005-06-28 2007-01-18 Toyota Motor Corp 道路パラメータ検出装置および道路パラメータ検出方法
JP2010039998A (ja) * 2008-08-08 2010-02-18 Toyota Motor Corp 車両用衝突危険度判定システム及び通信端末
JP2012108664A (ja) * 2010-11-16 2012-06-07 Sumitomo Electric Ind Ltd 交通信号制御装置及び交通信号制御方法
JP2015125669A (ja) * 2013-12-27 2015-07-06 日立オートモティブシステムズ株式会社 車両制御装置、車両制御装置を搭載した車両、及び、移動体検出方法
JP2018036785A (ja) * 2016-08-30 2018-03-08 住友電気工業株式会社 衝突防止装置、コンピュータプログラム及び衝突防止方法
US20180156624A1 (en) * 2016-03-17 2018-06-07 Honda Motor Co., Ltd. Vehicular communications network and methods of use and manufacture thereof

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1164018A (ja) * 1997-08-27 1999-03-05 Mazda Motor Corp 車両用ナビゲーション装置
JP2006323524A (ja) * 2005-05-17 2006-11-30 Sumitomo Electric Ind Ltd 高速車感応制御システム及び高速車感応制御方法
JP2007011490A (ja) * 2005-06-28 2007-01-18 Toyota Motor Corp 道路パラメータ検出装置および道路パラメータ検出方法
JP2010039998A (ja) * 2008-08-08 2010-02-18 Toyota Motor Corp 車両用衝突危険度判定システム及び通信端末
JP2012108664A (ja) * 2010-11-16 2012-06-07 Sumitomo Electric Ind Ltd 交通信号制御装置及び交通信号制御方法
JP2015125669A (ja) * 2013-12-27 2015-07-06 日立オートモティブシステムズ株式会社 車両制御装置、車両制御装置を搭載した車両、及び、移動体検出方法
US20180156624A1 (en) * 2016-03-17 2018-06-07 Honda Motor Co., Ltd. Vehicular communications network and methods of use and manufacture thereof
JP2018036785A (ja) * 2016-08-30 2018-03-08 住友電気工業株式会社 衝突防止装置、コンピュータプログラム及び衝突防止方法

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114079880A (zh) * 2020-08-10 2022-02-22 大唐高鸿智联科技(重庆)有限公司 信息处理方法、终端、路侧节点及车联网系统
CN112822657A (zh) * 2020-12-31 2021-05-18 江苏鸿鹄电子科技有限公司 一种基于wlan的v2x路侧单元与行人的协同方法
CN112822657B (zh) * 2020-12-31 2024-01-23 江苏鸿鹄电子科技有限公司 一种基于wlan的v2x路侧单元与行人的协同方法
JP2022126798A (ja) * 2021-12-15 2022-08-30 阿波▲羅▼智▲聯▼（北京）科技有限公司 道路側感知システム、交通制御方法、交通制御システムおよびコンピュータプログラム
WO2024057357A1 (fr) * 2022-09-12 2024-03-21 日本電気株式会社 Dispositif d'aide à la conduite, procédé d'aide à la conduite et support d'enregistrement

Also Published As

Publication number Publication date
JPWO2020075839A1 (ja) 2021-09-24
JP7094383B2 (ja) 2022-07-01

Similar Documents

Publication Publication Date Title
CN107264385B (zh) 使用车辆与目标或物体通信的合作自适应照明系统
WO2020075839A1 (fr) Système de communication de trafic, dispositif de bord de route et procédé
US9048960B2 (en) Methods and apparatus for communicating safety message information
US8902080B2 (en) Vehicle-mounted narrow-band wireless communication apparatus and roadside-to-vehicle narrow-band wireless communication system
US20130059558A1 (en) Cellular Network Based Assistant for Vehicles
US9626870B2 (en) Method for communicating within an ad hoc-type motor vehicle communication system
JP5135255B2 (ja) 安全運転支援システム
US10839688B2 (en) Application-controlled geo-beamforming
US11568741B2 (en) Communication device, control method thereof, and communication system including the same
JP2000030178A (ja) 車両デ―タの情報伝送方法および交通情報システム
CN106882143A (zh) 基于lte‑v通信的行人保护系统及方法
EP3961596A1 (fr) Procédé et appareil permettant de fournir des alertes aux usagers de la route
US20220201779A1 (en) Information processing device, information processing method, and server
KR101850254B1 (ko) 커넥티드 카 환경을 지원하기 위한 차량간 통신 시스템
CN115053276A (zh) 车到万物（v2x）辅助的本地导航
US10104678B2 (en) Wireless communication device
US11979805B2 (en) Control method, communication terminal, and communication system
US10667234B2 (en) Method and device for transferring data
US11979802B2 (en) Base station, transport communication system, and method
US20230303121A1 (en) Vehicle-to-everything (v2x) communication based on user input
WO2024070538A1 (fr) Dispositif de commande de message et procédé de commande de message
WO2022138553A1 (fr) Machine de bord de route sans fil, système de communication de trafic et procédé de commande
US11887476B2 (en) Emergency service vehicle notification and acknowledgement
JP7367043B2 (ja) 交通通信システム、路側機、サーバ、及び交通通信方法
JP6161951B2 (ja) 車両間の通信を介してメッセージを目標目的地へ転送するための方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19871525

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2020551245

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19871525

Country of ref document: EP

Kind code of ref document: A1