WO2022189821A1 - 情報処理装置、及び情報処理方法 - Google Patents
情報処理装置、及び情報処理方法 Download PDFInfo
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- WO2022189821A1 WO2022189821A1 PCT/IB2021/000165 IB2021000165W WO2022189821A1 WO 2022189821 A1 WO2022189821 A1 WO 2022189821A1 IB 2021000165 W IB2021000165 W IB 2021000165W WO 2022189821 A1 WO2022189821 A1 WO 2022189821A1
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- 230000010365 information processing Effects 0.000 title claims description 39
- 238000003672 processing method Methods 0.000 title claims description 5
- 238000004891 communication Methods 0.000 claims abstract description 230
- 238000000034 method Methods 0.000 claims description 11
- 238000012545 processing Methods 0.000 claims description 10
- 230000006870 function Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 8
- 238000012544 monitoring process Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 101001093748 Homo sapiens Phosphatidylinositol N-acetylglucosaminyltransferase subunit P Proteins 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
- H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
- H04B7/06—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station
- H04B7/0686—Hybrid systems, i.e. switching and simultaneous transmission
- H04B7/0695—Hybrid systems, i.e. switching and simultaneous transmission using beam selection
- H04B7/06952—Selecting one or more beams from a plurality of beams, e.g. beam training, management or sweeping
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
- H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
- H04B7/08—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the receiving station
- H04B7/0868—Hybrid systems, i.e. switching and combining
- H04B7/088—Hybrid systems, i.e. switching and combining using beam selection
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
- H04W16/24—Cell structures
- H04W16/28—Cell structures using beam steering
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
- H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
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- H—ELECTRICITY
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- H04W76/00—Connection management
- H04W76/10—Connection setup
- H04W76/14—Direct-mode setup
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W92/00—Interfaces specially adapted for wireless communication networks
- H04W92/16—Interfaces between hierarchically similar devices
- H04W92/18—Interfaces between hierarchically similar devices between terminal devices
Definitions
- the present invention relates to an information processing device and an information processing method.
- Patent Literature 1 discloses a communication device including a communication unit that performs inter-vehicle communication with a plurality of other vehicles existing in the vicinity of one's own vehicle via an antenna unit. This communication device further includes an acquisition unit that acquires information about a plurality of other vehicles, and a control unit that controls at least one of the directivity of the antenna unit based on the information acquired by the acquisition unit.
- Patent Document 1 controls the directivity of the antenna unit with respect to other vehicles detected by the radar device.
- the directivity of the antenna unit is not controlled for other vehicles until the radar device actually detects the other vehicle, even if the other vehicle affects the future running of the own vehicle. Therefore, there is a possibility that necessary information cannot be appropriately received.
- the present invention has been made in view of such problems, and its object is to provide an information processing device and an information processing device that can appropriately receive necessary information.
- An information processing apparatus includes a communication unit that performs data communication with a second mobile unit and a server existing around a first mobile unit, and a controller that controls data communication performed by the communication unit.
- the communication unit has a normal mode and a directional mode in which data communication can be performed with a second mobile object located at a position where data communication cannot be performed in the normal mode.
- the controller receives, from the server, server data including information about a second mobile that exists in a position where data communication cannot be performed in the normal mode, and performs communication based on the information about the second mobile that is included in the server data. Controls directivity related to wireless communication of the unit.
- FIG. 1 is a configuration diagram showing a communication network according to this embodiment.
- FIG. 2A is a diagram illustrating a normal mode of the communication unit;
- FIG. 2B is a diagram for explaining directivity modes of the communication unit.
- FIG. 3 is a flow chart showing the flow of processing for inter-vehicle communication in the communication network.
- FIG. 4 is a diagram illustrating a driving scene according to this embodiment.
- FIG. 5 is a diagram illustrating a target vehicle and directional beams.
- FIG. 6 is an explanatory diagram showing switching to the normal mode.
- FIG. 7 is a diagram for explaining driving scenes to which the present embodiment can be applied.
- FIG. 8 is an explanatory diagram showing roadside units and directional beams.
- a communication network according to the present embodiment will be described with reference to FIG.
- a communication network according to the present embodiment includes a vehicle A and a vehicle B.
- FIG. Vehicle A and vehicle B are examples of moving bodies (first moving body and second moving body). Vehicle A is the own vehicle, and vehicle B is another vehicle existing around the own vehicle. Although only one vehicle B is depicted in FIG. 1, a plurality of vehicles B may be used.
- Vehicles A and B may be vehicles with automated driving functions or vehicles without automated driving functions. Also, the vehicle A and the vehicle B may be vehicles capable of switching between automatic driving and manual driving. In this embodiment, the vehicle A and the vehicle B are described as vehicles having an automatic driving function.
- the communication network further includes a roadside device 300, a base station 400, and a server 500.
- Vehicle A includes a communication unit 100 having a data communication function.
- Vehicle B includes a communication unit 200 having a data communication function.
- Each communication unit 100, 200 is composed of, for example, one or more antennas, a modem, an application processor, memory, and the like.
- the communication unit 100 and the communication unit 200 can communicate directly. Direct communication between the communication unit 100 and the communication unit 200 is hereinafter defined as direct communication. Direct communication may be expressed as vehicle-to-vehicle communication. In this embodiment, vehicle A and vehicle B can share a plurality of data such as vehicle information (vehicle A and vehicle B) through direct communication.
- the communication unit 100 and the communication unit 200 can also communicate with each other via the base station 400 and the network 410 (eg, mobile phone network, etc.).
- Base station 400 is a fixed communication device that does not move, and is an access point that covers network 410 .
- Communication between the communication units 100 and 200 via the base station 400 and the network 410 is defined as indirect communication as opposed to direct communication.
- Indirect communication Since direct communication does not go through the base station 400 and the network, it is possible to transmit data to the other party with low delay and a simple configuration. Indirect communication is used to transmit large amounts of data that cannot be transmitted by direct communication, or to transmit data that is repeatedly transmitted without changing information for a certain period of time. Indirect communication can also be used when direct communication is not possible.
- the individual communication units 100 and 200 can communicate with the roadside device 300.
- the roadside device 300 is, for example, a fixed communication device installed in road facilities on the shoulder of the road, and distributes distribution data including predetermined information to vehicles on the road.
- the roadside unit 300 is also called an RSU (roadside unit) or an ITS (intelligent transport systems) spot.
- the roadside device 300 shown in this embodiment corresponds to a transmitting station, and the communication units 100 and 200 correspond to receiving stations.
- the roadside device 300 and the communication units 100 and 200 perform downlink communication from the roadside device 300 to the communication units 100 and 200 .
- the roadside device 300 and the communication units 100 and 200 can also perform reverse uplink communication.
- the communication units 100 and 200 correspond to the transmitting station
- the roadside device 300 corresponds to the receiving station.
- Communication between the communication units 100 and 200 and the roadside device 300 is also called road-to-vehicle communication.
- the distribution data distributed from the roadside device 300 includes roadside device data indicating information on the roadside device 300 and traffic data indicating information on vehicles existing around the roadside device 300 .
- the information of the roadside device 300 includes position information of the roadside device 300 and the like.
- the vehicle information includes vehicle position information, speed information, traveling direction information, and the like.
- the communication unit 100 and the communication unit 200 communicate with the server 500 via the base station 400 and the network 410.
- the server 500 is a device that manages information about vehicles traveling on roads. Vehicle information managed by the server 500 includes basic information such as vehicle identification information, position information, speed information, and traveling direction information, as well as detailed information such as type, past trajectory, and future trajectory based on the past travel trajectory. is included.
- the server 500 distributes server data including vehicle information to vehicles on the road in response to requests from vehicles or at predetermined intervals.
- the server 500 distributes the server data via the base station 400 and the network 410 , as well as via the roadside device 300 .
- Vehicle A includes the communication unit 100, the GPS receiver 101, the map information acquisition unit 102, and the controller 110 described above.
- the communication unit 100, the GPS receiver 101, the map information acquisition unit 102, and the controller 110 constitute an information processing device that realizes the vehicle-to-vehicle communication shown in this embodiment.
- the GPS receiver 101 detects the location information of vehicle A on the ground by receiving radio waves from satellites.
- the position information of the vehicle A detected by the GPS receiver 101 includes latitude information, longitude information, and time information.
- the GPS receiver 101 outputs the detected position information of the vehicle A to the controller 110 .
- the method of detecting the position information of vehicle A is not limited to the GPS receiver 101 .
- a method called odometry may be used to estimate position.
- Odometry is a method of estimating the position of vehicle A by obtaining the amount and direction of movement of vehicle A according to the rotation angle and rotation angular velocity of vehicle A.
- FIG. GPS Global Positioning System
- GNSS Global Navigation Satellite System
- the map information acquisition unit 102 acquires map information indicating the structure of the road on which vehicle A travels.
- the map information acquisition unit 102 may own a map database that stores map information, or may acquire map information from an external map data server by cloud computing.
- the map information acquisition part 102 may acquire map information using vehicle-to-vehicle communication and road-to-vehicle communication.
- Map information includes node types that indicate intersections and branch points, node information that includes node positions, link types that are road sections that connect nodes, link lengths, the number of lanes, curvature, slopes, and other links. Contains information.
- the link information also includes road structure information such as the absolute position of lanes and the connection relationship between lanes.
- map information includes information such as traffic rules and road signs.
- the controller 110 is composed of, for example, a microcomputer.
- the controller 110 has, for example, a hardware processor such as a CPU (Central Processing Unit), a memory, and various interfaces.
- the memory and various interfaces are connected to the hardware processor via buses.
- a computer program is installed on the microcomputer to function as an information processing device.
- the microcomputer functions as a plurality of information processing circuits included in the information processing device.
- the controller 110 includes a communication control section 111 as an example of a plurality of information processing circuits.
- the communication control unit 111 controls wireless communication (data communication) performed by the communication unit 100 .
- the communication control unit 111 switches the operation mode of the communication unit 100, controls beams formed by the communication unit 100, and the like.
- the communication unit 100 has a normal mode and a directional mode as switchable operation modes. Operation modes of the communication unit 100 will be described with reference to FIGS. 2A and 2B.
- the normal mode is a mode in which wireless communication is performed within a preset range (area) without controlling the directivity of the communication unit 100 regarding wireless communication.
- the communication unit 100 specifically the antenna of the communication unit 100, forms a normal beam Bn over a predetermined range (area).
- the normal beam Bn is, for example, a beam that is evenly formed in all directions and does not have directivity in a specific direction.
- the normal beam Bn is formed in a circular range centered on the communication unit 100 and having a radius of a predetermined distance.
- the predetermined range formed by the normal beam Bn may be a circular range having a radius of a predetermined distance. It may be set to a predetermined range.
- the antenna of the communication unit 100 forms the normal beam Bn over a preset range.
- Vehicle A can communicate with vehicle B existing in the area where beam Bn is normally formed.
- An area in which communication can be performed with the communication unit 100 operating in the normal mode is called a normal communication area.
- the normal communication area basically corresponds to the area in which the normal beam Bn is formed.
- the normal communication area refers to an area in which communication with the vehicle B can be performed with communication quality equal to or higher than a certain level, and does not necessarily match the area (predetermined range) in which the normal beam Bn is formed.
- the directivity mode is a mode in which the directivity of the communication unit 100 regarding wireless communication can be controlled compared to the normal mode.
- directivity related to wireless communication is simply referred to as “directivity”.
- the antenna of communication unit 100 forms a directional beam Bd.
- the directional beam Bd is a beam formed toward a specific azimuth and has directivity with respect to the specific azimuth. Azimuth corresponds to the horizontal component of direction.
- the directional beam Bd is formed as a beam having a predetermined beam width Bd2 around a beam axis Bd1 having a predetermined azimuth angle.
- the azimuth angle of the beam axis Bd1 and the beam width Bd2 can be adjusted, respectively, so that the directivity of the communication unit 100 can be adjusted.
- the directional mode corresponds to an operation mode in which the antenna of communication unit 100 has directivity.
- Vehicle A can communicate with vehicle B existing in the area where the directional beam Bd is formed.
- the directional beam Bd is formed long in the direction along the beam axis Bd1, and its distance (axial distance) is generally longer than the radial distance of the beam Bn.
- the reception intensity in communication using the directional beam Bd is relatively higher than the reception intensity in communication using the normal beam Bn. Therefore, by using the directional beam Bd, it is possible to communicate with the vehicle B outside the normal communication area.
- the directional beam Bd is a beam that can perform data communication with the vehicle B that is located at a position where data communication cannot be performed with the normal beam Bn. That is, the directivity mode is a mode in which data communication can be performed with the vehicle B located at a position where data communication cannot be performed in the normal mode by controlling the directivity compared to the normal mode.
- Control of the directional beam Bd includes beamforming that adjusts the azimuth angle of the beam axis Bd1 and the beam width Bd2.
- the communication control unit 111 controls the directivity of the communication unit 100, that is, the directivity of the beam formed by the antenna of the communication unit 100 by beamforming.
- the communication unit 100 broadcasts the vehicle A position data including the current position information of the vehicle A, travel plan information, etc. to the surroundings of the vehicle A.
- a direct communication method is used for broadcast transmission.
- the direct communication system is, for example, the DSRC system (frequency: 5.9 GHz band) conforming to IEEE 802.11p, or the cellular V2X system conforming to the specifications of 3GPP Release 14 or later.
- the current position information is data that associates the latitude and longitude indicating the current position of vehicle A with the time when the position was obtained.
- the travel plan information is travel plan data including vehicle speed plan data in which the vehicle speed is associated with the future position where the vehicle A will travel in the future, and future travel route data.
- the future travel route data includes information on the route that the vehicle A will travel in the future.
- the future travel route data may be route information of a road on which the vehicle travels to a preset destination, or data in which a future position (latitude, longitude) and a scheduled passage time are associated based on vehicle speed plan data. good too.
- the travel plan information is data obtained by adding vehicle speed plan data to data conforming to SAE2735 (Dedicated Short Range Communications (DSRC) Message Set Dictionary) messages.
- SAE2735 Dedicated Short Range Communications (DSRC) Message Set Dictionary
- Table 1 shows an example of vehicle A position data that is broadcast.
- Vehicle A location data is package data including header and content data.
- the header of the vehicle A location data contains the identification number of the vehicle A, which is the transmission source, and identification information indicating the type of content included in the content data (for example, current location information, travel plan information, etc.). etc.) is stored.
- the content data stores current location information, which is data that associates latitude and longitude with the time when the location information was acquired, and travel plan information.
- Vehicle A position data which is package data including a header and content data, is generated by the communication control unit 111 based on data acquired from the GPS receiver 101 or the like and data prerecorded in the memory provided in the controller 110 . Vehicle A position data is transmitted from communication unit 100 and received by communication unit 200 of vehicle B.
- the communication unit 100 receives vehicle B position data transmitted from the communication unit 200 of vehicle B, and outputs the received vehicle B position data to the communication control unit 111 .
- the communication control unit 111 acquires vehicle B position data from the communication unit 100 .
- the fact that the communication unit 100 has received the vehicle B position data means that direct communication has been established between the vehicle A and the vehicle B.
- the communication control unit 111 receives server data from the server 500 that includes information on other vehicles that are located at locations where data communication cannot be performed in the normal mode.
- the communication control unit 111 controls the directivity of the communication unit 100 based on the information on other vehicles included in the server data.
- vehicle B includes the communication unit 200, the GPS receiver 201, the map information acquisition unit 202, and the controller 210 described above.
- the communication unit 200, the GPS receiver 201, the map information acquisition unit 202, and the controller 210 constitute an information processing device that realizes the vehicle-to-vehicle communication shown in this embodiment.
- the functions of the GPS receiver 201 and the map information acquisition unit 202 are the same as the functions of the GPS receiver 101 and the map information acquisition unit 102.
- the controller 210 is composed of a microcomputer equipped with a hardware processor, memory, and various interfaces.
- the controller 210 includes a communication control section 211 as an example of a plurality of information processing circuits.
- the function of the communication control unit 211 is the same as that of the communication control unit 111, and includes a function of controlling wireless communication performed by the communication unit 100, and various processes necessary for performing wireless communication such as generation of vehicle B position data. It has a data processing function to
- the processing shown in the flowchart of FIG. 3 is executed by the controller 110 of the own vehicle A (corresponding to the vehicle A in FIG. 1).
- the operation mode of the communication unit 100 is initially set to the normal mode.
- the vehicle travels through an intersection as shown in FIG.
- Self-vehicle A is traveling on a road connected to an intersection indicated by node N1.
- the current position of the own vehicle A is a position (Xa, Xb) a first distance before the intersection.
- the route on which the vehicle A will travel in the future is a route that turns left at an intersection.
- three other vehicles B1, B2, and B3 are traveling on an intersecting road passing through the intersection indicated by node N1.
- the current position of the other vehicle B1 is the position (Xb1, Yb1) after passing through the intersection.
- the current position of the other vehicle B2 is the second distance before the intersection (Xb2, Yb2)
- the current position of the other vehicle B3 is the second distance before the intersection (Xb3, Yb3).
- the second distance is less than the third distance
- the third distance is substantially the same as the first distance. It is assumed that the routes on which the other vehicles B1, B2, and B3 will travel in the future are routes that go straight through the crossroads.
- the controller 110 identifies a future travel route on which the vehicle A will travel in the future (S10).
- the controller 110 for example, acquires future travel route data included in the vehicle A position data, and identifies a future travel route from this future travel route data.
- the controller 110 estimates the possibility of crossing between own vehicle A and another vehicle (S12). When own vehicle A passes through an intersection, own vehicle A may cross other vehicles B1, B2, and B3 traveling on the cross road. The controller 110 determines whether or not the future travel route of the vehicle A includes an intersection based on the map information acquired by the map information acquisition unit 102 and the future travel route. Controller 110 determines that there is a possibility of crossing when there is an intersection. If there is a possibility of intersection, the controller 110 performs the following processing.
- the controller 110 identifies the conditions of other vehicles approaching the own vehicle A in a scene where the possibility of crossing is predicted based on the future travel route of the own vehicle A.
- the controller 110 transmits the first request data requesting the information of the approaching vehicle to the server 500 under the condition that another vehicle exists on the cross road and has a speed in the direction approaching the intersection. .
- the server 500 When the server 500 receives the first request data, it identifies the vehicle that meets the conditions. In the situation shown in FIG. 4, server 500 identifies other vehicles B2 and B3. Then, the server 500 generates approaching vehicle data including information about the identified vehicles (other vehicles B2 and B3), and transmits the approaching vehicle data to the communication unit 100 . When the communication unit 100 receives the approaching vehicle data (S14), the controller 110 acquires the approaching vehicle data.
- the approaching vehicle data includes only basic information such as vehicle identification information, position information, speed information, and traveling direction information. As described above, by sending the first request data with a condition attached, the approaching vehicle data for not only all the other vehicles in the vicinity of the own vehicle A but also the other vehicles B2 and B3 to be noticed are acquired. be able to.
- the controller 110 Based on the approaching vehicle data, the controller 110 gives priority to the other vehicles B2 and B3 included in the approaching vehicle data. Specifically, based on the current positions and velocities of the other vehicles B2 and B3 and the current position and velocity of the vehicle A, the controller 110 detects the other vehicles B2, B2, Determine priority for B3. The other vehicles B2 and B3, which are more likely to intersect with the own vehicle A, have higher priority.
- the controller 110 predicts the time when the other vehicles B2 and B3 will reach the intersection based on the current positions and speeds of the other vehicles B2 and B3. Similarly, the controller 110 predicts the time when the vehicle A will reach the intersection based on the position and speed of the vehicle A. Then, the controller 110 gives priority to the other vehicles B2 and B3 such that the smaller the time difference between the arrival times at the intersection, the higher the priority. In the example shown in FIG. 4, the other vehicle B2 passes through the intersection before the time when the own vehicle A arrives at the intersection, and the other vehicle B3 passes through the intersection at approximately the same time as the time when the own vehicle A arrives at the intersection. to reach In this case, the controller 110 determines the highest priority for the other vehicle B3 and the second priority for the other vehicle B2.
- the controller 110 transmits second request data requesting information on the other vehicles B2 and B3.
- the controller 110 transmits the second request data according to the priority determined for the other vehicles B2 and B3.
- the controller 110 may request only information about several other vehicles with high priority.
- the server 500 receives the second request data
- the server 500 creates object data including information on the other vehicles B2 and B3 and transmits this object data to the communication unit 100 .
- the communication unit 100 receives the object data (S16)
- the controller 110 acquires the object data.
- This object data includes detailed information about the other vehicles B2 and B3.
- the controller 110 determines the target vehicle by considering detailed information in addition to the current position and speed (S18).
- the detailed information includes types of other vehicles B2 and B3, past trajectories, future trajectories based on past travel trajectories, and the like.
- the controller 110 determines that the other vehicle will intersect with the own vehicle A, the controller 110 identifies the other vehicle as the target vehicle in consideration of the detailed information. In the example shown in FIG. 4, another vehicle B3 is identified as the target vehicle. Note that when the target vehicle is identified, the controller 110 may stop transmission of the second request data for other vehicles having a lower priority than the other vehicle that has received the current object data.
- the controller 110 switches the operation mode of the communication unit 100 from normal mode to directional mode.
- the controller 110 starts angle control of the directional beam Bd (S20).
- the controller 110 controls the directional beam Bd so that the directional beam Bd is directed toward another vehicle B3, which is the target vehicle. That is, the controller 110 adjusts the beam axis Bd1 of the directional beam Bd to a predetermined azimuth angle.
- the azimuth angle at which the beam axis Bd1 should be directed is the azimuth angle when the other vehicle B3 is observed from the own vehicle A, and is based on the current position of the own vehicle A and the current position of the other vehicle B3 obtained from the server 500. can be calculated using By controlling the azimuth angle of the beam axis Bd1, the directional beam Bd is adjusted to face the current position of the other vehicle B3.
- the controller 110 may start controlling the angle of the directional beam Bd on the condition that the own vehicle A approaches the intersection to such an extent that the directional beam Bd can reach the other vehicle B3 (S20 ). In this case, the controller 110 predicts the position to which the other vehicle B3 will move after identifying the other vehicle B3 and before starting the angle control of the directional beam Bd. , preferably start angle control of the directional beam Bd (S20).
- the controller 110 controls the directional beam Bd so as to follow the moving other vehicle B3.
- the current position of the other vehicle B3 is continuously identified using inter-vehicle communication with the other vehicle B3, and the azimuth angle of the directional beam Bd is determined based on the latest current position.
- the controller 110 may feedback-control the azimuth angle of the directional beam Bd so as to search for the point where the reception intensity is maximized.
- the controller 110 starts data communication with the other vehicle B3 (S22). Thereby, necessary information can be received from the other vehicle B3.
- the controller 110 monitors the other vehicle B3 (S24). Monitoring of the other vehicle B3 includes monitoring of reception intensity and monitoring of the current position of the other vehicle B3.
- the controller 110 determines whether or not the normal beam Bn satisfies the conditions for communication with the other vehicle B3. Specifically, when the reception intensity rises above a certain level, or when the current position of the other vehicle B3 is within the area of the normal beam Bn, the controller 110 determines that the above conditions are satisfied. (Yes in S26). Then, as shown in FIG. 6, the controller 110 switches the operation mode of the communication unit 100 to the normal mode (S28). On the other hand, when the controller 110 determines that the conditions are not satisfied, the controller 110 continues monitoring the other vehicle B3 (S24).
- the controller 110 of the information processing device controls the directivity of the communication unit 100 based on the information regarding other vehicles included in the server data distributed by the server 500 .
- the controller 110 can grasp information of other vehicles with which it cannot communicate.
- the directivity of the communication unit 100 can be controlled toward a desired communication target from which information on other vehicles can be obtained.
- data communication can be performed satisfactorily with the communication target, and necessary information can be appropriately received.
- the controller 110 of the information processing device identifies other vehicles that may intersect with the own vehicle as target vehicles based on the information about the other vehicles included in the server data. Accordingly, it is possible to acquire from the server the information of the target vehicle that will greatly affect the future running of the own vehicle. As a result, the directivity of the communication unit 100 can be controlled toward a desired communication target from which information on the target vehicle can be obtained. Since data communication can be performed satisfactorily with the communication target, necessary information can be properly received.
- the controller 110 of the information processing device characterizes the target vehicle based on the current position information and speed information of the own vehicle and other vehicles. By considering the current position information and speed information of the own vehicle and other vehicles, it is possible to appropriately identify a target vehicle that may intersect with the own vehicle.
- the controller 110 of the information processing device identifies the target vehicle based on the priority order determined for the other vehicles. This makes it possible to efficiently identify the vehicle for which data is received from server 500 .
- another vehicle having a route passing through an intersection included in the future route of the own vehicle is exemplified as the target vehicle.
- This other vehicle is highly likely to affect the future running of the own vehicle, so it is preferable to treat it as a target vehicle. As a result, it is possible to appropriately grasp other vehicles that may affect the future running of the own vehicle.
- the controller 110 of the information processing device controls the directivity of the communication unit 100 based on the position information of the target vehicle, which is server data. Thereby, the controller 110 can appropriately recognize the position of the target vehicle.
- the controller 110 of the information processing device controls the directivity of the communication unit 100 toward the target vehicle.
- the own vehicle can reliably perform data communication with the target vehicle, so that information on the target vehicle can be directly received.
- the communication unit 100 When the communication unit 100 operates in a normal mode without directivity, it may not be possible to perform good data communication with a desired communication target depending on the communication distance and line of sight. However, by switching the operation mode of the communication unit 100 to the directional mode, it is possible to form a directional beam. As a result, the directivity of the communication unit 100 can be controlled with respect to a desired communication target, so that data communication can be performed satisfactorily with the communication target. As a result, necessary information can be appropriately received.
- the scene of driving through an intersection was exemplified as a situation to be aware of.
- the situation to be careful of is a scene in which there is another vehicle that may affect the future travel of the own vehicle, such as when the own vehicle and another vehicle intersect.
- it may be a scene in which the own vehicle A traveling in the driving lane La changes lanes to the overtaking lane Lb and overtakes.
- the other vehicle B traveling in the overtaking lane Lb may cross with the own vehicle A, so there is a high possibility that it will affect future travel.
- the other vehicle B which has a route that runs in the overtaking lane Lb of the road on which the vehicle A is running, is specified as the target vehicle.
- the scene in which overtaking is performed may be a situation in which overtaking is performed using the oncoming lane instead of changing lanes to the overtaking lane.
- the controller 110 determines that the own vehicle will overtake, it is preferable to perform processing to identify the target vehicle. For example, the controller 110 determines that the own vehicle will overtake when an operation signal permitting overtaking by a passenger is detected. Alternatively, based on the map information and the data of the preceding vehicle, the controller 110, on the condition that there is an obstacle ahead of the own vehicle in the driving lane or the presence of a preceding vehicle that is slower than the own vehicle, It may be determined autonomously that the host vehicle will overtake. In this way, when the host vehicle overtakes, the target vehicle can be specified at an appropriate timing by performing processing for specifying the target vehicle with the overtaking of the host vehicle as a trigger.
- the controller 110 controls the directional beam Bd so that the directional beam Bd is directed toward the target vehicle.
- the gist of the subject vehicle communicating with the subject vehicle is to acquire information about the subject vehicle that intersects with the subject vehicle.
- inter-vehicle communication with the target vehicle may not be possible depending on the communication environment, such as when there is an obstacle between the target vehicle and the vehicle. be.
- the controller 110 may control the directional beam Bd toward the roadside device 300 . For example, based on data distributed from the server 500, the controller 110 can determine whether the roadside device 300 transmits distribution data including information about the target vehicle. Further, it is possible to acquire the position information of the roadside device 300 to which the directional beam Bd should be directed from the distributed data.
- the controller 110 of the information processing device may control the directivity of the communication unit 100 toward the roadside device 300 that transmits the distribution data including information about the target vehicle.
- data communication can be reliably performed with the roadside device 300, so information on the target vehicle can be appropriately received. That is, instead of the target vehicle itself, the controller 110 may treat the roadside device 300 that transmits distribution data including information about the target vehicle as the target vehicle.
- the directivity of the communication unit 100 is controlled based on the information regarding the target vehicle included in the server data distributed by the server 500, as in the information processing apparatus. .
- the directivity of the communication unit 100 can be controlled toward a desired communication target from which information on the target vehicle can be obtained. Since data communication can be performed satisfactorily with the communication target, necessary information can be properly received.
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Traffic Control Systems (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
Description
100 通信部
101 GPS受信機
102 地図情報取得部
110 コントローラ
111 通信制御部
B 車両、他車両(第2移動体、情報処理装置)
200 通信部
201 GPS受信機
202 地図情報取得部
210 コントローラ
211 通信制御部
300 路側機
400 基地局
410 ネットワーク
500 サーバ
Claims (11)
- 第1移動体に搭載され、前記第1移動体の周囲に存在する第2移動体、及び所定のデータを配信するサーバとデータ通信を行う通信部と、
前記通信部によって行われるデータ通信を制御するコントローラと、を備え、
前記通信部は、
通常モードと、
前記通常モードと比べて無線通信に関する指向性を制御することで、前記通常モードではデータ通信を行うことができない位置に存在する前記第2移動体とデータ通信を行うことができる指向性モードと、を備え、
前記コントローラは、
前記サーバから、前記通常モードではデータ通信を行うことができない位置に存在する前記第2移動体の情報を含むサーバデータを受信し、
前記サーバデータに含まれる前記第2移動体の情報に基づいて、前記通信部の無線通信に関する指向性を制御する
情報処理装置。 - 前記コントローラは、
前記サーバデータに含まれる前記第2移動体に関する情報に基づいて、前記第1移動体と交錯する可能性がある前記第2移動体を対象移動体として特定し、
前記対象移動体の情報に基づいて、前記通信部の無線通信に関する指向性を制御する
請求項1記載の情報処理装置。 - 前記第2移動体に関する情報は、前記第2移動体の現在の位置情報及び速度情報を含み、
前記コントローラは、
前記第2移動体の現在の位置情報及び速度情報と、前記第1移動体の現在の位置情報及び速度情報とに基づいて、前記対象移動体を特定する
請求項2記載の情報処理装置。 - 前記コントローラは、
前記第2移動体の現在の位置情報及び速度情報と、前記第1移動体の現在の位置情報及び速度情報とに基づいて、前記第1移動体と交錯する可能性がある前記第2移動体に対して優先順位を決定し、前記優先順位に基づいて前記対象移動体を特定する
請求項3記載の情報処理装置。 - 前記対象移動体は、
前記第1移動体が将来走行する経路に含まれる交差点を通過する経路を有する前記第2移動体、又は
前記第1移動体が走行する道路の追い越し車線を走行する経路を有する前記第2移動体である
請求項2から4いずれか一項記載の情報処理装置。 - 前記コントローラは、
前記対象移動体の位置情報に基づいて、前記通信部の無線通信に関する指向性を制御する
請求項2から5いずれか一項記載の情報処理装置。 - 前記コントローラは、
前記対象移動体に向けて前記通信部の無線通信に関する指向性を制御する
請求項6記載の情報処理装置。 - 前記コントローラは、
前記第1移動体が追い越しを行うか否かを判定し、
前記第1移動体が追い越しを行うと判定した場合に、前記対象移動体を特定する処理を行う
請求項2から4いずれか一項記載の情報処理装置。 - 前記通信部は、
前記通常モードにおいては、全方位にビームを形成し、
前記指向性モードにおいては、指向性を有するビームを形成し、
前記コントローラは、
前記通信部の無線通信に関する指向性を制御する場合、前記ビームの指向性を制御する
請求項1から8いずれか一項記載の情報処理装置。 - 前記通信部は、前記第1移動体が走行する道路周辺に設けられた路側機とデータ通信が可能であり、
前記コントローラは、
前記対象移動体の情報を含む配信データを送信する前記路側機に向けて、前記通信部の無線通信に関する指向性を制御する
請求項3から6いずれか一項記載の情報処理装置。 - 第1移動体に搭載され、前記第1移動体の周囲に存在する第2移動体、及び所定のデータを配信するサーバとデータ通信を行う通信部と、
前記通信部によって行われるデータ通信を制御するコントローラと、を備え、
前記通信部は、
通常モードと、
前記通常モードと比べて指向性を制御することで、前記通常モードではデータ通信を行うことができない位置に存在する前記第2移動体とデータ通信を行うことができる指向性モードと、を備える情報処理装置の情報処理方法において、
前記サーバから、前記通常モードではデータ通信を行うことができない位置に存在する前記第2移動体の情報を含むサーバデータを受信し、
前記サーバデータに含まれる前記第2移動体の情報に基づいて、前記通信部の無線通信に関する指向性を制御する
情報処理方法。
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JP2009534918A (ja) * | 2006-04-20 | 2009-09-24 | パナソニック株式会社 | 指向性を有するアンテナを用いて無線送信する方法および装置 |
JP2010056948A (ja) * | 2008-08-28 | 2010-03-11 | Sanyo Electric Co Ltd | 通信方法および無線装置 |
JP2011191946A (ja) * | 2010-03-12 | 2011-09-29 | Mitsubishi Electric Corp | 車載通信装置および通信方法 |
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