WO2021020306A1 - Système de communication de trafic, station de base, station mobile et véhicule - Google Patents

Système de communication de trafic, station de base, station mobile et véhicule Download PDF

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Publication number
WO2021020306A1
WO2021020306A1 PCT/JP2020/028570 JP2020028570W WO2021020306A1 WO 2021020306 A1 WO2021020306 A1 WO 2021020306A1 JP 2020028570 W JP2020028570 W JP 2020028570W WO 2021020306 A1 WO2021020306 A1 WO 2021020306A1
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WIPO (PCT)
Prior art keywords
vehicle
tunnel
gnss
communication system
message
Prior art date
Application number
PCT/JP2020/028570
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English (en)
Japanese (ja)
Inventor
淳 島村
忍 藤本
裕也 藤内
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.)
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Publication date
Priority claimed from JP2019138987A external-priority patent/JP2021021653A/ja
Priority claimed from JP2019138996A external-priority patent/JP7316138B2/ja
Application filed by 京セラ株式会社 filed Critical 京セラ株式会社
Publication of WO2021020306A1 publication Critical patent/WO2021020306A1/fr

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    • 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
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • 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

  • This disclosure relates to transportation communication systems, base stations, mobile stations, and vehicles.
  • ITS Intelligent Transport Systems
  • GNSS Global Navigation Satellite System
  • Patent Document 1 includes an air flow meter provided around the exit of the tunnel and a transmitter that transmits crosswind information detected by the air flow meter into the tunnel, and a vehicle in the tunnel has a crosswind from the transmitter. A system that suppresses the running of a vehicle based on information is described.
  • Patent Document 2 describes a vehicle equipped with an in-vehicle camera (vision sensor) used for automatic driving, which recognizes a point where the vehicle exits the tunnel, and when the vehicle approaches this point, the vehicle is in-vehicle based on an expected change in illuminance. Techniques for reducing the photosensitivity value of a camera are described.
  • the GNSS satellite transmits satellite orbit information called almanac and ephemeris.
  • satellite orbit information In order for the vehicle to acquire position information by GNSS positioning, it is necessary to acquire satellite orbit information.
  • satellite orbit information has an expiration date.
  • the operation of starting GNSS positioning without having valid satellite orbit information is called a cold start, and it takes about 30 seconds to several minutes to acquire the position information.
  • the operation of starting GNSS positioning with valid satellite orbit information is called hot start, and the acquisition of position information is completed in about a few seconds.
  • Patent Document 3 in a vehicle moving on a road in a tunnel that cannot be received from a GNSS satellite, the current position of the vehicle in the tunnel is estimated based on the moving distance calculated from the moving speed and the moving time. The technology is described.
  • the traffic communication system acquires an image taken around the exit of the tunnel from a camera provided around the exit of the tunnel through which the vehicle passes, and wirelessly communicates a message including data based on the image.
  • the base station is a base station used for a traffic communication system, and is a communication unit that performs wireless communication with a mobile station provided in a vehicle and a camera provided around the exit of a tunnel through which the vehicle passes. It is provided with a control unit that acquires an image captured around the exit of the tunnel from the above and transmits a message including data based on the captured image from the communication unit to the vehicle in the tunnel.
  • the mobile station is a mobile station provided in a vehicle in a traffic communication system, and sends a message including data based on an image captured by a camera provided around the exit of a tunnel through which the vehicle passes. It includes a communication unit that receives in the tunnel and a control unit that performs control based on the data included in the message.
  • the vehicle according to the fourth aspect includes the mobile station according to the third aspect.
  • the transportation communication system includes a base station provided around the exit of a tunnel through which a vehicle passes, and transmitting a message including positioning assistance information assisting GNSS positioning to the vehicle in the tunnel by wireless communication.
  • the vehicle is provided with a mobile station that receives the message from the base station in the tunnel and performs the GNSS positioning using the positioning auxiliary information included in the message.
  • the base station according to the sixth aspect is a base station provided around the exit of the tunnel through which the vehicle passes, and transmits a message including positioning assistance information assisting GNSS positioning to the vehicle in the tunnel by wireless communication. It has a communication unit.
  • the mobile station according to the seventh aspect is a mobile station provided in a vehicle in a transportation communication system, and is a message including positioning assistance information assisting GNSS positioning from a base station provided around the exit of a tunnel through which the vehicle passes. Is provided in the tunnel.
  • the vehicle according to the eighth aspect includes the mobile station according to the third aspect.
  • Patent Document 2 there is a method of recognizing an obstacle on the road by an in-vehicle camera, but there is a limit to the distance that the in-vehicle camera can recognize the obstacle, and there is a possibility that the in-vehicle camera may malfunction. Considering this, it cannot be said that it is sufficient as a measure to control the risk of traffic accidents around the exit of the tunnel.
  • the first embodiment aims to suppress the risk of a traffic accident around the exit of the tunnel.
  • FIG. 1 is a diagram showing a configuration of a transportation communication system 1 according to the first embodiment.
  • the traffic communication system 1 has a vehicle 100 passing through the road R and a roadside machine 200 which is a base station installed on the road side of the road R.
  • vehicles 100A and 100B are illustrated as the vehicle 100
  • roadside machines 200A and 200B are illustrated as the roadside machine 200.
  • the vehicle 100 is an example of a vehicle such as an ordinary vehicle or a light vehicle, it may be a vehicle that passes through the road R, for example, a motorcycle (motorcycle) or the like.
  • Each vehicle 100 is equipped with an in-vehicle device 150, which is a mobile station that performs wireless communication.
  • the on-board unit 150 performs road-to-vehicle communication with the roadside unit 200.
  • the roadside machine 200 is installed around the road R.
  • the roadside machine 200 may be installed at each intersection on a general road or on the roadside of an expressway, but the case where the roadside machine 200 is installed around a tunnel exit will be mainly described below.
  • the roadside unit 200A is installed on the traffic signal (traffic signal lamp) 300 or its support, and operates in cooperation with the traffic signal 300.
  • the roadside unit 200A transmits a radio signal including signal information regarding the traffic signal 300 to the vehicle 100 (vehicle-mounted unit 150).
  • wireless communication by broadcasting to an unspecified number of destinations may be used.
  • wireless communication by multicast with a specific majority as a destination may be used, or wireless communication by unicast with a specific singular as a destination may be used.
  • Each roadside unit 200 is connected to the central device 400 via a communication line.
  • This communication line may be a wired line or a wireless line.
  • a vehicle detector installed on the roadside may be connected to the central device 400 via a communication line.
  • the central device 400 receives vehicle information from each roadside unit 200, including the position and speed of the vehicle 100 received by the roadside unit 200 from the on-board unit 150.
  • the central device 400 may further receive vehicle detection information from roadside sensors installed on each road R.
  • the central device 400 collects and processes various types of traffic information based on the received information, and integrates and manages road traffic.
  • FIG. 2 is a diagram showing an example of an application scenario of the transportation communication system 1 according to the first embodiment.
  • FIG. 2 shows an example in which the road R is a one-way one-lane road, the road R may be a one-way multi-lane road or a multi-lane road capable of round-trip traffic. You may.
  • the vehicle 100 On the road R in the tunnel T, the vehicle 100 is passing toward the exit of the tunnel T.
  • the passage of the vehicle 100 includes a state in which the vehicle 100 is traveling (running) and a state in which the vehicle 100 is temporarily stopped.
  • FIG. 2 shows an example in which the vehicle 100 is a bus, the vehicle 100 may be any vehicle passing through the road R.
  • a roadside machine 200 and a camera 500 are provided around the exit of the tunnel T.
  • the exit of the tunnel T is a point where the vehicle 100 exits the tunnel T.
  • the exit of the tunnel T may be the entrance / exit of the tunnel T.
  • the area around the exit of the tunnel T means the point of the exit of the tunnel T and the area within a predetermined range from this point.
  • FIG. 2 shows an example in which the roadside machine 200 and the camera 500 are separately configured, the roadside machine 200 and the camera 500 may be integrally configured. Further, although an example in which only one camera 500 is installed is shown, a plurality of cameras 500 may be installed. The camera 500 may be called a roadside camera.
  • the camera 500 includes an image sensor and a signal processing circuit, and outputs an captured image obtained by photographing the vicinity of the exit of the tunnel T to the roadside machine 200.
  • the camera 500 may periodically output a still image or may constantly output a moving image.
  • the camera 500 is provided at a position above the road R at the exit of the tunnel T, and photographs the road R outside the tunnel T from above.
  • the camera 500 may photograph the road R from the side.
  • FIG. 2 shows an example in which the obstacle E on the road R is a pedestrian, the obstacle E on the road R may be a fallen tree, a broken vehicle, or the like.
  • the camera 500 takes an image of the obstacle E as a subject and outputs an captured image including the obstacle E to the roadside machine 200.
  • the roadside machine 200 acquires a captured image around the exit of the tunnel T from a camera 500 provided around the exit of the tunnel T through which the vehicle 100 passes.
  • the roadside unit 200 transmits a message including data based on the captured image to the vehicle 100 in the tunnel T by wireless communication.
  • the roadside machine 200 detects an obstacle E on the road R around the exit of the tunnel T based on the captured image, the roadside machine 200 transmits a message including detection data regarding the detected obstacle E.
  • the on-board unit 150 provided in the vehicle 100 receives a message from the roadside unit 200 in the tunnel T and performs control based on the data included in the message. For example, when the vehicle-mounted device 150 receives a message including the detection data, the vehicle-mounted device 150 provides the operation control for avoiding the contact of the vehicle 100 with the obstacle E and the detection data to the occupants of the vehicle 100 based on the detection data. Perform at least one of the notification controls for notification.
  • FIG. 3 is a diagram showing the configuration of the roadside machine 200 according to the first embodiment.
  • the roadside machine 200 has a communication unit 21, a control unit 22, and an interface 23.
  • the communication unit 21 performs wireless communication (that is, road-to-vehicle communication) with the on-board unit 150 provided in the vehicle 100.
  • the communication unit 21 has an antenna 21a, a reception unit 21b, and a transmission unit 21c, and performs wireless communication via the antenna 21a.
  • wireless communication by broadcasting to an unspecified number of destinations may be used.
  • wireless communication by multicast with a specific majority as a destination may be used, or wireless communication by unicast with a specific singular as a destination may be used.
  • the antenna 21a may be an omnidirectional antenna or a directional antenna having directivity.
  • the antenna 21a may be an adaptive array antenna whose directivity can be dynamically changed.
  • the antenna 21a is a directional antenna having directivity toward the inside of the tunnel T.
  • the communication unit 21 has a reception unit 21b that converts the radio signal received by the antenna 21a into received data and outputs the radio signal to the control unit 22. Further, the communication unit 21 has a transmission unit 21c that converts the transmission data output by the control unit 22 into a wireless signal and transmits it from the antenna 21a.
  • the wireless communication method of the communication unit 21 is a method compliant with the T109 standard of ARIB (Association of Radio Industries and Businesses) and a V2X (Vehicle-to-e) compliant system of 3GPP (Third Generation Partnership Project).
  • ARIB Association of Radio Industries and Businesses
  • V2X Vehicle-to-e
  • 3GPP Third Generation Partnership Project
  • a method conforming to a wireless LAN (Local Area Network) standard such as IEEE (Institute of Electrical and Electronics Engineers) 802.11 series may be used.
  • the communication unit 21 may be configured to support all of these communication standards.
  • the control unit 22 controls various functions of the roadside machine 200.
  • the control unit 22 has at least one memory 22b and at least one processor 22a electrically connected to the memory 22b.
  • the memory 22b includes a volatile memory and a non-volatile memory, and stores information used for processing in the processor 22a and a program executed by the processor 22a.
  • the memory 22b corresponds to a storage unit.
  • the processor 22a performs various processes by executing the program stored in the memory 22b.
  • the interface 23 is connected to the camera 500 by wire or wirelessly.
  • the interface 23 receives the captured image from the camera 500 and outputs the captured image to the control unit 22.
  • the interface 23 may be connected to the traffic signal 300 by wire or wirelessly.
  • the interface 23 may be connected to the centralized device 400 by wire or wirelessly.
  • the control unit 22 acquires an image taken around the exit of the tunnel T from the camera 500 provided around the exit of the tunnel T through which the vehicle 100 passes, and is based on the captured image.
  • a message including data is transmitted from the communication unit 21 to the vehicle 100 in the tunnel T.
  • the communication unit 21 transmits a message including detection data regarding the detected obstacle E.
  • FIG. 4 is a diagram showing the configuration of the vehicle 100 according to the first embodiment.
  • the vehicle 100 has a communication unit 11, a GNSS receiver 12, a notification unit 13, a drive control unit 14, and a control unit 15.
  • the communication unit 11, the GNSS receiver 12, and the control unit 15 constitute an on-board unit 150.
  • the on-board unit 150 is an example of a mobile station.
  • the communication unit 11 performs wireless communication (that is, road-to-vehicle communication) with the roadside unit 200. Specifically, the communication unit 11 has an antenna 11a, a reception unit 11b, and a transmission unit 11c, and performs wireless communication via the antenna 11a.
  • the communication unit 11 has a reception unit 11b that converts the radio signal received by the antenna 11a into received data and outputs the radio signal to the control unit 15. Further, the communication unit 11 has a transmission unit 11c that converts the transmission data output by the control unit 15 into a wireless signal and transmits it from the antenna 11a.
  • the wireless communication method of the communication unit 11 may be a method compliant with the T109 standard of ARIB, a method compliant with the V2X standard of 3GPP, and / or a method compliant with a wireless LAN standard such as the IEEE802.11 series.
  • the communication unit 11 may be configured to be compatible with all of these communication standards.
  • the GNSS receiver 12 performs positioning based on the GNSS satellite signal, and outputs GNSS position information indicating the current geographical position (latitude / longitude) of the vehicle 100 to the control unit 15.
  • the notification unit 13 notifies the driver of the vehicle 100 of the information under the control of the control unit 15.
  • the notification unit 13 has a display 13a for displaying information and a speaker 13b for outputting information by voice.
  • the drive control unit 14 controls an engine or motor as a power source, a power transmission mechanism, a brake, and the like.
  • the drive control unit 14 may perform driving control of the vehicle 100 in cooperation with the control unit 15.
  • the control unit 15 controls various functions in the vehicle 100 (vehicle-mounted device 150).
  • the control unit 15 has at least one memory 15b and at least one processor 15a electrically connected to the memory 15b.
  • the memory 15b includes a volatile memory and a non-volatile memory, and stores information used for processing in the processor 15a and a program executed by the processor 15a.
  • the processor 15a performs various processes by executing the program stored in the memory 15b.
  • the communication unit 11 receives a message in the tunnel T including data based on the captured image obtained by the camera 500 provided around the exit of the tunnel T through which the vehicle 100 passes.
  • the control unit 15 performs control based on the data included in the message received by the communication unit 11.
  • the control unit 15 determines the vehicle 100 to the obstacle E on the road R around the exit of the tunnel T based on the detection data. At least one of driving control for avoiding contact and notification control for notifying the occupant of the vehicle 100 of the detection data is performed.
  • FIG. 5 is a diagram showing the operation of the transportation communication system 1 according to the first embodiment.
  • the camera 500 photographs the vicinity of the exit of the tunnel T.
  • the camera 500 may take a picture in response to a request from the roadside machine 200.
  • the roadside unit 200 may request the camera 500 to take a picture.
  • This message may include at least one of data indicating the position of the vehicle 100 (GNSS position data), data indicating the moving speed of the vehicle 100, and data indicating the moving direction of the vehicle 100. Further, this message may include the identification information of the vehicle-mounted device 150 as the transmission source information.
  • step S102 the camera 500 outputs the captured image obtained by shooting to the roadside machine 200.
  • the camera 500 may output a still image to the roadside machine 200 periodically or in response to a request from the roadside machine 200.
  • the camera 500 may output a moving image to the roadside machine 200 at all times or in response to a request from the roadside machine 200.
  • step S103 the control unit 22 of the roadside machine 200 acquires an image captured by the camera 500 via the interface 23, and performs image recognition processing on the captured image.
  • image recognition pattern matching technology and image recognition technology based on learning such as reinforcement learning (for example, knowledge base, statistics base, neural network base) can be applied.
  • reinforcement learning for example, knowledge base, statistics base, neural network base
  • the control unit 22 of the roadside machine 200 detects the obstacle E on the road R by extracting the obstacle E in the captured image.
  • the obstacle E detected by the control unit 22 of the roadside machine 200 includes types such as a fallen tree, a broken vehicle (stopped vehicle), and a pedestrian, and the vehicle traveling normally is the obstacle E. It shall not be included in.
  • the control unit 22 of the roadside machine 200 is a multi-lane road on which the road R can make a round trip, and an oncoming vehicle traveling toward the entrance of the tunnel T is performing dangerous driving such as meandering driving. In this case, the oncoming vehicle during dangerous driving may be detected as an obstacle E.
  • the control unit 22 of the roadside machine 200 may specify the type of the detected obstacle E based on the captured image.
  • the type of obstacle E includes, for example, a fallen tree, a broken vehicle (stopped vehicle), an oncoming vehicle during dangerous traveling, a pedestrian, and the like.
  • the control unit 22 of the roadside machine 200 may specify the position of the detected obstacle E based on the captured image.
  • the position of the obstacle E may be a relative position with respect to the road R, such as the obstacle E being on the left side, the center, or the right side of the road R.
  • the control unit 22 of the roadside machine 200 may specify the movement state of the detected obstacle E based on the captured image.
  • the moving state of the obstacle E may be a state in which the obstacle E is stopped or moving.
  • the moving state of the obstacle E may include at least one of the moving speed and the moving direction of the obstacle E.
  • the control unit 22 of the roadside machine 200 may specify the size of the detected obstacle E based on the captured image.
  • the size of the obstacle E may be such that the obstacle E is large or small, or may be the range occupied by the obstacle E on the road R (for example, the entire road or the left half of the road). Good.
  • step S105 the control unit 22 of the roadside unit 200 transmits a message including detection data regarding the detected obstacle E to the vehicle 100 (vehicle-mounted unit 150).
  • the communication unit 21 is controlled so as to.
  • the control unit 22 of the roadside unit 200 transmits a message including detection data regarding the detected obstacle E only when the approach of the vehicle 100 is detected based on the message transmitted from the vehicle-mounted unit 150 to the roadside unit 200.
  • the communication unit 21 may be controlled.
  • the control unit 22 of the roadside unit 200 directs the vehicle toward the roadside unit 200 based on the message transmitted from the in-vehicle unit 150 to the roadside unit 200.
  • the message may be transmitted by unicast or multicast to the vehicle 100 in the lane through which the 100 passes.
  • FIG. 6 is a diagram showing an example of a message M transmitted from the roadside unit 200 to the vehicle-mounted unit 150.
  • the message M includes destination information and source information.
  • the destination information may be a broadcast address.
  • the message M includes the detection data regarding the obstacle E detected by the roadside machine 200.
  • the detected data includes at least one data element of the following 1) to 4).
  • the type of obstacle E includes, for example, a fallen tree, a broken vehicle (stopped vehicle), an oncoming vehicle during dangerous traveling, a pedestrian, and the like.
  • the position of the obstacle E may be a relative position with respect to the road R, such as the obstacle E being on the left side, the center, or the right side of the road R.
  • the moving state of the obstacle E may be a state in which the obstacle E is stopped or moving.
  • the moving state of the obstacle E may include at least one of the moving speed and the moving direction of the obstacle E.
  • the size of the obstacle E may be such that the obstacle E is large or small, or may be the range occupied by the obstacle E on the road R (for example, the entire road or the left half of the road). Good.
  • the message M may include position data indicating the position (latitude, longitude) of the exit of the tunnel T.
  • the communication unit 11 of the vehicle 100 receives the message M in step S105, the communication unit 11 outputs the received message M to the control unit 15.
  • step S106 when the communication unit 11 receives a message including the detection data from the roadside unit 200, the control unit 15 of the vehicle 100 (vehicle-mounted device 150) sends the detection data to the occupants of the vehicle 100 based on the detection data. Notification control is performed.
  • control unit 15 outputs the display 13a and / or the speaker so as to output the fact that the obstacle E exists on the road R around the exit of the tunnel T and at least one of the data of 1) to 4) described above.
  • Control 13b This makes it easier for the occupants of the vehicle 100, specifically the driver, to drive to avoid contact of the vehicle 100 with the obstacle E.
  • the control unit 15 receives a message including detection data from the roadside unit 200 on the road R around the exit of the tunnel T based on the detection data. Driving control is performed to avoid contact of the vehicle 100 with the obstacle E. For example, the control unit 15 performs speed control for reducing the moving speed of the vehicle 100, and steering control so as to avoid the position of the obstacle E.
  • the vehicle 100 in a situation where an obstacle E such as a fallen tree, a broken vehicle, or a pedestrian exists on the road R around the exit of the tunnel T, the vehicle 100 is placed on the obstacle E. Can reduce the risk of traffic accidents that come into contact with.
  • FIG. 7 is a diagram showing a first modification example of the operation of the transportation communication system 1 according to the first embodiment.
  • each process of steps S201 to S204 is the same as the operation shown in FIG.
  • step S205 the control unit 22 of the roadside machine 200 transmits a message including instruction data based on the detection data regarding the obstacle E.
  • the control unit 22 of the roadside unit 200 controls the communication unit 21 to transmit a message including instruction data only when the approach of the vehicle 100 is detected based on the message transmitted from the on-board unit 150 to the roadside unit 200. You may.
  • the control unit 22 of the roadside unit 200 directs the vehicle toward the roadside unit 200 based on the message transmitted from the in-vehicle unit 150 to the roadside unit 200.
  • the message may be transmitted by unicast or multicast to the vehicle 100 in the lane through which the 100 passes.
  • FIG. 8 is a diagram showing an example of a message M transmitted from the roadside unit 200 to the vehicle-mounted unit 150.
  • the message M includes destination information, source information, and instruction data.
  • the instruction data includes at least one of instruction data for executing driving control for avoiding contact of the vehicle 100 with the obstacle E and instruction data for executing notification control for notifying the occupants of the vehicle 100 of the detection data. ..
  • the instruction data for executing the driving control includes, for example, a speed control command for instructing the deceleration of the vehicle 100.
  • the instruction data for executing the driving control may include a steering control command for controlling the steering of the vehicle 100. These controls are executed based on at least one of the above-mentioned data 1) to 4).
  • the instruction data for executing the notification control As the instruction data for executing the notification control, the fact that the obstacle E exists on the road R around the exit of the tunnel T, and at least one of the above-mentioned 1) to 4) are transmitted to the display 13a and / or the speaker 13b. Includes output control commands to output.
  • the communication unit 11 of the vehicle 100 receives the message M in step S205, the communication unit 11 outputs the received message M to the control unit 15.
  • step S206 when the communication unit 11 receives a message including instruction data from the roadside unit 200, the control unit 15 of the vehicle 100 (vehicle-mounted device 150) performs control (driving control, notification control) according to the instruction data. Do.
  • FIG. 9 is a diagram showing a second modification example of the operation of the transportation communication system 1 according to the first embodiment.
  • step S301 and step S302 are the same as the operation shown in FIG.
  • step S303 the control unit 22 of the roadside machine 200 controls the communication unit 21 so as to transmit a message including image data of the captured image acquired from the camera 500 via the interface 23.
  • the image data may be the data of the captured image as it is acquired from the camera 500, or may be the data obtained by processing the captured image acquired from the camera 500.
  • the control unit 22 of the roadside unit 200 controls the communication unit 21 to transmit a message including instruction data only when the approach of the vehicle 100 is detected based on the message transmitted from the on-board unit 150 to the roadside unit 200. You may.
  • the control unit 22 of the roadside unit 200 directs the vehicle toward the roadside unit 200 based on the message transmitted from the in-vehicle unit 150 to the roadside unit 200.
  • the message may be transmitted by unicast or multicast to the vehicle 100 in the lane through which the 100 passes.
  • the communication unit 11 of the vehicle 100 receives the message M in step S303, the communication unit 11 outputs the received message M to the control unit 15.
  • step S304 when the communication unit 11 receives a message including image data from the roadside unit 200, the control unit 15 of the vehicle 100 (vehicle-mounted device 150) has a display 13a provided on the vehicle 100 based on the image data.
  • the display control for displaying the captured image of the camera 500 is performed.
  • the occupant of the vehicle 100 can visually recognize the situation around the exit of the tunnel T based on the display 13a.
  • step S305 the control unit 15 of the vehicle 100 (vehicle-mounted device 150) performs image recognition processing on the image data.
  • image recognition pattern matching technology and image recognition technology based on learning such as reinforcement learning (for example, knowledge base, statistics base, neural network base) can be applied.
  • reinforcement learning for example, knowledge base, statistics base, neural network base
  • the control unit 15 of the vehicle 100 (vehicle-mounted device 150) detects an obstacle E on the road R around the exit of the tunnel T by extracting the obstacle E in the captured image. Further, the control unit 15 of the vehicle 100 (vehicle-mounted device 150) identifies at least one detection data among the above-mentioned 1) to 4).
  • step S307 the control unit 15 of the vehicle 100 (vehicle-mounted device 150) tells the occupant of the vehicle 100 based on the detection data regarding the detected obstacle E. Performs notification control to notify the detection data.
  • control unit 15 outputs the display 13a and / or the speaker so as to output the fact that the obstacle E exists on the road R around the exit of the tunnel T and at least one of the data of 1) to 4) described above.
  • Control 13b This makes it easier for the occupants of the vehicle 100, specifically the driver, to drive to avoid contact of the vehicle 100 with the obstacle E.
  • the control unit 15 When the vehicle 100 is an autonomous driving vehicle, the control unit 15 performs driving control to avoid contact of the vehicle 100 with an obstacle E on the road R around the exit of the tunnel T based on the detection data. For example, the control unit 15 performs speed control for reducing the moving speed of the vehicle 100, and steering control so as to avoid the position of the obstacle E.
  • the second embodiment aims to facilitate GNSS positioning when the vehicle exits the tunnel.
  • the transportation communication system according to the second embodiment will be described with reference to the drawings.
  • the same or similar parts are designated by the same or similar reference numerals.
  • the second embodiment will mainly explain the differences from the first embodiment, and the description of similar or the same configuration will be omitted.
  • the diagram showing the configuration of the traffic communication system 1 according to the second embodiment is the same as the diagram showing the configuration of the traffic communication system 1 according to the first embodiment. Therefore, with reference to FIG. 1, the differences between the configuration of the transportation communication system 1 according to the second embodiment and the first embodiment will be mainly described below.
  • the vehicle 100 uses GNSS to grasp the current position of the own vehicle.
  • GPS Global Positioning System
  • GNSS Global Positioning System
  • the GNSS satellite transmits satellite orbit information called almanac and ephemeris.
  • satellite orbit information is used to know the accurate position of GNSS satellite 600.
  • Armanac is orbital information about all GNSS satellites 600 in orbit.
  • Ephemeris is information indicating the exact position and time of each GNSS satellite 600.
  • the in-vehicle device 150 confirms the GNSS satellite that can be used for GNSS positioning by the almanac, obtains accurate position and time information of the GNSS satellite from Ephemeris, and sets the clock in the own device.
  • the in-vehicle device 150 receives GNSS signals from three or more GNSS satellites, obtains the distance to each GNSS satellite based on the propagation time of these GNSS signals, and uses the triangular crossing method to determine the position (latitude / longitude) of the own device. Ask for.
  • such satellite orbit information has an expiration date.
  • the expiration date of almanac is about one week, and the expiration date of ephemeris is about one and a half hours.
  • the operation of starting GNSS positioning without having valid satellite orbit information is called a cold start, and it takes about 30 seconds to several minutes to acquire the position information.
  • the operation of starting GNSS positioning with valid satellite orbit information is called hot start, and the acquisition of position information is completed in about a few seconds.
  • FIG. 10 is a diagram showing an example of an application scenario of the transportation communication system 1 according to the second embodiment.
  • FIG. 10 shows an example in which the road R is a one-way one-lane road, the road R may be a one-way multi-lane road or a multi-lane road capable of round-trip traffic. You may.
  • the vehicle 100 On the road R in the tunnel T, the vehicle 100 is passing toward the exit of the tunnel T.
  • the passage of the vehicle 100 includes a state in which the vehicle 100 is traveling (running) and a state in which the vehicle 100 is temporarily stopped.
  • FIG. 2 shows an example in which the vehicle 100 is a bus, the vehicle 100 may be any vehicle that passes through the road R.
  • a roadside machine 200 is provided around the exit of the tunnel T.
  • the exit of the tunnel T is a point where the vehicle 100 exits the tunnel T.
  • the exit of the tunnel T may be the entrance / exit of the tunnel T.
  • the area around the exit of the tunnel T means the point of the exit of the tunnel T and the area within a predetermined range from this point.
  • the vehicle 100 uses GNSS to grasp the current position of its own vehicle, but the inside of the tunnel T is a shielded space where the GNSS signal from the GNSS satellite 600 does not reach.
  • the on-board unit 150 moves on the road R in the tunnel T that cannot be received from the GNSS satellite 600, the current position in the tunnel T is based on the moving speed and the moving time of the own vehicle. May be estimated.
  • the on-board unit 150 When the on-board unit 150 exits the tunnel T and can receive from the GNSS satellite 600, the on-board unit 150 is in a state where GNSS positioning can be restarted. At this time, if the on-board unit 150 does not have valid satellite orbit information, GNSS positioning will be started by a cold start when exiting the tunnel T. Therefore, in such a case, the position information cannot be acquired by GNSS positioning for a while after leaving the tunnel T.
  • the roadside unit 200 provided around the exit of the tunnel T transmits a message including positioning assistance information that assists GNSS positioning to the on-board unit 150 in the tunnel T by wireless communication.
  • the roadside machine 200 transmits a message including satellite orbit information as positioning auxiliary information.
  • This message may be transmitted using a method conforming to various communication standards. For example, this message is based on the T109 standard of ARIB (Association of Radio Industries and Businesses), 3GPP (Third Generation Partnership Project) V2X (Vehicle-to-Every) standard, and V2X (Vehicle-to-Every). It may be transmitted using a method compliant with a wireless LAN (Local Area Network) standard such as the Institute of Electrical and Electronics Engineers 802.11 series.
  • the roadside machine 200 receives a GNSS signal from the GNSS satellite 600, acquires satellite orbit information from the received GNSS signal, and transmits a message including the acquired satellite orbit information as positioning auxiliary information.
  • the roadside machine 200 may acquire satellite orbit information from the central device 400 or the server and transmit a message including the acquired satellite orbit information.
  • the on-board unit 150 receives a message from the roadside unit 200 in the tunnel T, and performs GNSS positioning using the satellite orbit information included in the received message. Specifically, when the in-vehicle device 150 receives a message including satellite orbit information in the tunnel T and then the in-vehicle device 150 exits the tunnel T and becomes ready to receive a GNSS signal from the GNSS satellite 600. GNSS positioning is performed based on the satellite orbit information received from the roadside unit 200 and the GNSS signal received from the GNSS satellite 600.
  • the on-board unit 150 By enabling the on-board unit 150 to acquire satellite orbit information even in the tunnel T in this way, it is guaranteed that the on-board unit 150 starts GNSS positioning by hot start when it exits the tunnel T. Position information can be acquired by GNSS positioning immediately after leaving the tunnel.
  • FIG. 11 is a diagram showing the configuration of the roadside machine 200 according to the second embodiment.
  • the roadside unit 200 includes a communication unit 21, a control unit 22, an interface 23, and a GNSS receiver 24.
  • the configuration of the roadside machine 200 according to the second embodiment will be mainly described as being different from the first embodiment, and the description of similar or the same configuration will be omitted.
  • the interface 23 is connected to the central device 400 by wire or wirelessly.
  • the interface 23 may be connected to the traffic signal 300 by wire or wirelessly.
  • the GNSS receiver 24 receives a GNSS signal from the GNSS satellite 600.
  • the GNSS receiver 24 is, for example, GPS, GLONASS (Global Navigation Satellite System), IRNSS (Indian Regional Navigation Satellite System), COMPASS, Galileo, and QZSS (Quasi-Zenith) among QZSS (Quasi-Zenith) receivers. Consists of including.
  • the GNSS receiver 24 includes a GPS receiver.
  • the control unit 22 controls the communication unit 21 so as to transmit a message including positioning assistance information that assists GNSS positioning to the vehicle 100 in the tunnel T by wireless communication. Specifically, the control unit 22 acquires satellite orbit information from the GNSS signal received from the GNSS satellite 600 by the GNSS receiver 24, generates a message including the acquired satellite orbit information as positioning auxiliary information, and generates a message. Is output to the communication unit 21. The communication unit 21 transmits a message output from the control unit 22.
  • the diagram showing the configuration of the vehicle 100 according to the second embodiment is the same as the diagram showing the configuration of the vehicle 100 according to the second embodiment. Therefore, with reference to FIG. 2, the differences between the configuration of the vehicle 100 according to the second embodiment and the first embodiment will be mainly described below, and the description of similar or the same configuration will be omitted.
  • the GNSS receiver 12 includes, for example, a receiver of at least one GNSS among GPS, GLONASS, IRNSS, COMPASS, Galileo, and QZSS.
  • the GNSS receiver 12 includes a GPS receiver.
  • the GNSS receiver 12 performs positioning based on the GNSS signal, and outputs GNSS position information indicating the current geographical position (latitude / longitude) of the vehicle 100 to the control unit 15.
  • the communication unit 11 receives a message from the roadside unit 200.
  • the control unit 15 performs GNSS positioning using the positioning auxiliary information included in the message received by the communication unit 11. Specifically, after receiving a message from the roadside unit 200 in the tunnel T, the control unit 15 exits the tunnel T and becomes ready to receive the GNSS signal from the GNSS satellite 600. GNSS positioning is performed based on the satellite orbit information received from the 200 and the GNSS signal received from the GNSS satellite 600.
  • FIG. 12 is a diagram showing the operation of the transportation communication system 1 according to the second embodiment.
  • step S401 the GNSS receiver 24 of the roadside unit 200 receives the GNSS signal from the GNSS satellite 600.
  • the vehicle 100 vehicle-mounted device 150
  • the tunnel T cannot receive the GNSS signal from the GNSS satellite 600.
  • step S402 the control unit 22 of the roadside machine 200 acquires satellite orbit information from the GNSS signal received by the GNSS receiver 24, and generates a message including the acquired satellite orbit information.
  • This message may include destination information and source information. If the message is sent by broadcast, the destination information may be a broadcast address.
  • step S403 the control unit 22 of the roadside unit 200 controls the communication unit 21 so as to transmit a message including satellite orbit information to the vehicle 100 (vehicle-mounted unit 150).
  • the control unit 22 of the roadside unit 200 transmits the communication unit 21 so as to transmit a message including satellite orbit information only when the approach of the vehicle 100 is detected based on the message transmitted from the on-board unit 150 to the roadside unit 200. You may control it.
  • the message transmitted from the in-vehicle device 150 to the roadside device 200 is at least one of data indicating the position of the vehicle 100 (GNSS position data), data indicating the moving speed of the vehicle 100, and data indicating the moving direction of the vehicle 100. May include. Further, this message may include the identification information of the vehicle-mounted device 150 as the transmission source information.
  • the control unit 22 of the roadside unit 200 passes in the direction of the roadside unit 200 based on the message transmitted from the on-board unit 150 to the roadside unit 200.
  • the message may be transmitted by unicast or multicast to the vehicle 100 on the lane.
  • step S404 the communication unit 11 of the on-board unit 150 receives the message from the roadside unit 200, and the control unit 15 of the on-board unit 150 stores the satellite orbit information included in this message.
  • the control unit 15 of the vehicle-mounted device 150 stores the satellite orbit information included in the message from the roadside unit 200 only when it does not have effective satellite orbit information when receiving the message from the roadside unit 200. May be. Alternatively, even if the control unit 15 of the on-board unit 150 has satellite orbit information that is valid when receiving the message from the roadside unit 200, the new satellite orbit included in the message from the roadside unit 200. The old satellite orbit information may be overwritten (updated) with the information.
  • step S405 when the vehicle 100 exits the tunnel T, the GNSS receiver 12 of the on-board unit 150 receives the GNSS signal from the GNSS satellite 600.
  • step S406 the control unit 15 of the vehicle-mounted device 150 performs GNSS positioning based on the satellite orbit information stored in step S404 and the GNSS signal received in step S405, thereby indicating the current position of the vehicle 100. To get.
  • the control unit 15 of the on-board unit 150 starts GNSS positioning by hot start when exiting the tunnel T, so that the acquisition of the position information is completed promptly.
  • FIG. 13 is a diagram showing an example of changing the operation of the transportation communication system 1.
  • step S501 the GNSS receiver 24 of the roadside machine 200 receives the GNSS signal from the GNSS satellite 600.
  • the vehicle 100 vehicle-mounted device 150
  • the tunnel T cannot receive the GNSS signal from the GNSS satellite 600.
  • the control unit 22 of the roadside machine 200 generates a message including the GNSS signal received by the GNSS receiver 24.
  • This message may include destination information and source information. If the message is sent by broadcast, the destination information may be a broadcast address.
  • step S502 the control unit 22 of the roadside unit 200 controls the communication unit 21 so as to transmit a message including a GNSS signal to the vehicle 100 (vehicle-mounted unit 150).
  • This message may be transmitted using a method conforming to various communication standards.
  • this message is based on the T109 standard of ARIB (Association of Radio Industries and Businesses), 3GPP (Third Generation Partnership Project) V2X (Vehicle-to-Every) standard, and V2X (Vehicle-to-Every). It may be transmitted using a method compliant with a wireless LAN (Local Area Network) standard such as the Institute of Electrical and Electronics Engineers 802.11 series.
  • the control unit 22 of the roadside unit 200 controls the communication unit 21 to transmit a message including a GNSS signal only when the approach of the vehicle 100 is detected based on the message transmitted from the on-board unit 150 to the roadside unit 200. You may.
  • the control unit 22 of the roadside unit 200 passes in the direction of the roadside unit 200 based on the message transmitted from the on-board unit 150 to the roadside unit 200.
  • the message may be transmitted by unicast or multicast to the vehicle 100 on the lane.
  • step S503 when the communication unit 11 of the vehicle-mounted device 150 receives a message from the roadside unit 200, the control unit 15 of the vehicle-mounted device 150 acquires satellite orbit information from the GNSS signal included in the message received by the communication unit 11. Store the acquired satellite orbit information.
  • the control unit 15 of the on-board unit 150 obtains satellite orbit information from the GNSS signal included in the message from the roadside unit 200 only when it does not have effective satellite orbit information when receiving the message from the roadside unit 200. It may be acquired and stored. Alternatively, even if the control unit 15 of the vehicle-mounted device 150 has satellite orbit information that is effective when receiving the message from the roadside unit 200, the control unit 15 can be used from the GNSS signal included in the message from the roadside unit 200. The old satellite orbit information may be overwritten (updated) with the acquired satellite orbit information.
  • step S504 when the vehicle 100 exits the tunnel T, the GNSS receiver 12 of the on-board unit 150 receives the GNSS signal from the GNSS satellite 600.
  • step S505 the control unit 15 of the vehicle-mounted device 150 performs GNSS positioning based on the satellite orbit information stored in step S503 and the GNSS signal received in step S504, thereby indicating the current position of the vehicle 100. To get.
  • the control unit 15 of the on-board unit 150 starts GNSS positioning by hot start when exiting the tunnel T, so that the acquisition of the position information is completed promptly.
  • a program may be provided that causes a computer to execute each process performed by the vehicle 100 (vehicle-mounted device 150) or the roadside device 200.
  • the program may be recorded on a computer-readable medium.
  • Computer-readable media can be used to install programs on a computer.
  • the computer-readable medium on which the program is recorded may be a non-transient recording medium.
  • the non-transient recording medium is not particularly limited, but may be, for example, a recording medium such as a CD-ROM or a DVD-ROM.
  • a circuit for executing each process performed by the on-board unit 150 or the roadside unit 200 may be integrated, and at least a part of the on-board unit 150 or the roadside unit 200 may be configured as a semiconductor integrated circuit (chipset, SoC).

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

Abstract

La présente invention concerne un système de communication de trafic pourvu d'une station de base qui acquiert, à partir d'une caméra installée autour de la sortie d'un tunnel à travers lequel passent des véhicules, des images capturées d'une zone autour de la sortie du tunnel, et transmet un message comprenant des données sur la base des images capturées à un véhicule à l'intérieur du tunnel par l'intermédiaire d'une communication sans fil ; et d'une station mobile qui est installée dans ledit véhicule, reçoit ledit message à l'intérieur du tunnel à partir de la station de base, et effectue une commande sur la base des données incluses dans ledit message.
PCT/JP2020/028570 2019-07-29 2020-07-22 Système de communication de trafic, station de base, station mobile et véhicule WO2021020306A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2019138987A JP2021021653A (ja) 2019-07-29 2019-07-29 交通通信システム、基地局、移動局、及び車両
JP2019-138996 2019-07-29
JP2019138996A JP7316138B2 (ja) 2019-07-29 2019-07-29 交通通信システム、基地局、移動局、及び車両
JP2019-138987 2019-07-29

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JP2003272086A (ja) * 2002-03-14 2003-09-26 Mitsubishi Heavy Ind Ltd トンネル内監視システム、プログラムおよび記録媒体
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CN115457689B (zh) * 2022-09-08 2023-10-13 安徽信息工程学院 一种高速站点检测辅助系统及其方法

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