WO2023068116A1 - Dispositif de communication embarqué dans un véhicule, dispositif terminal, procédé de communication, procédé de traitement d'informations et système de communication - Google Patents

Dispositif de communication embarqué dans un véhicule, dispositif terminal, procédé de communication, procédé de traitement d'informations et système de communication Download PDF

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Publication number
WO2023068116A1
WO2023068116A1 PCT/JP2022/037950 JP2022037950W WO2023068116A1 WO 2023068116 A1 WO2023068116 A1 WO 2023068116A1 JP 2022037950 W JP2022037950 W JP 2022037950W WO 2023068116 A1 WO2023068116 A1 WO 2023068116A1
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WIPO (PCT)
Prior art keywords
vehicle
pedestrian
notification
unit
terminal device
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PCT/JP2022/037950
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English (en)
Japanese (ja)
Inventor
佑介 日永田
浩二 長田
雅博 宇野
Original Assignee
ソニーグループ株式会社
ソニーセミコンダクタソリューションズ株式会社
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Publication of WO2023068116A1 publication Critical patent/WO2023068116A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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

Definitions

  • the present invention relates to an in-vehicle communication device, a terminal device, a communication method, an information processing method, and a communication system.
  • a vehicle-mounted device mounted on a vehicle transmits vehicle position information to a pedestrian's mobile information terminal.
  • a technology is known in which a portable information terminal transmits pedestrian position information to an on-board device when vehicle position information is received from the on-board device.
  • the conventional technology described above cannot always alert pedestrians appropriately to the approach of the vehicle.
  • the vehicle-mounted device and the pedestrian's mobile information terminal merely notify each other of their position information, the pedestrian is appropriately alerted to the approach of the vehicle. can be difficult to do.
  • the present disclosure proposes an in-vehicle communication device, a terminal device, a communication method, an information processing method, and a communication system that can appropriately warn pedestrians of approaching vehicles.
  • An in-vehicle communication device includes a detection unit that is mounted on a vehicle and detects a pedestrian present around the vehicle, and a transmission unit that transmits a notification to the pedestrian to the pedestrian's terminal device. and wherein the detecting unit transmits a search signal for detecting the terminal device, and the transmitting unit receives a response notification indicating a response to the search signal from the terminal device, the vehicle sends a detection notification indicating that the pedestrian has been detected by.
  • FIG. 2 is a diagram for explaining an overview of information processing according to an embodiment of the present disclosure
  • FIG. It is a block diagram which shows the structural example of the vehicle control system which concerns on the same embodiment. It is a figure which shows the example of the sensing area
  • 1 is a hardware configuration diagram showing an example of a computer that implements functions of an information processing apparatus; FIG.
  • FIG. 1 is a diagram for explaining an overview of information processing according to an embodiment of the present disclosure.
  • FIG. 1 is a top view of a road.
  • FIG. 1 shows a vehicle 1 approaching from behind a pedestrian carrying a terminal device 200 .
  • the vehicle 1 is equipped with a vehicle control system 11, which will be described later.
  • the information processing shown in FIG. 1 is realized by the communication system 2.
  • the communication system 2 has a vehicle control system 11 and a terminal device 200 .
  • the vehicle control system 11 and the terminal device 200 are connected via a predetermined network N so as to be able to communicate wirelessly.
  • the communication system 2 shown in FIG. 1 may include any number of vehicle control systems 11 and any number of terminal devices 200 .
  • the vehicle control system 11 is a communication device mounted on the vehicle 1.
  • Vehicle control system 11 includes radar 52 capable of detecting the presence of an object.
  • the vehicle control system 11 includes, as the radar 52, a millimeter wave radar device capable of detecting the distance, direction, speed, etc. of an object based on reflected waves reflected from the object.
  • the radar 52 is not limited to a millimeter-wave radar device, and may be a radar device that transmits radio waves of other wavelengths.
  • FIG. 1 describes a case where the radar 52 is a millimeter wave radar device.
  • the vehicle 1 is approaching the pedestrian carrying the terminal device 200 while repeatedly transmitting radar signals (step S1).
  • Radar 52 continues to repeatedly transmit radar signals while sweeping the antenna beam.
  • the terminal device 200 is a communication device held by a pedestrian.
  • Terminal device 200 includes a radar receiver capable of receiving radio waves transmitted by radar 52 (and signals carried by the radio waves).
  • the terminal device 200 includes a millimeter wave radar receiver capable of receiving radio waves from a millimeter wave radar device.
  • the terminal device 200 may be a tablet, smartphone, or the like held by the pedestrian.
  • the terminal device 200 may also be a wearable device (eyewear device) such as a glasses-type HMD worn on the head of a pedestrian.
  • FIG. 1 illustrates a case where the terminal device 200 is a smart phone.
  • the radar 52 of the vehicle control system 11 transmits a search signal for detecting the terminal device 200 existing around the vehicle 1 .
  • the search signal may be the same type of signal as the radar signal, or may be a different type of signal from the radar signal.
  • the radar 52 of the vehicle control system 11 uses the search signal only for detecting the terminal device 200, and uses the search signal for imaging other objects by the radar 52. You can choose not to use it.
  • FIG. 1 illustrates a case where the search signal is a different type of signal from the radar signal.
  • the pedestrian's terminal device 200 detects the search signal transmitted from the vehicle control system 11 (step S2). Specifically, the millimeter wave radar receiver of terminal device 200 detects the search signal. For example, the millimeter wave radar receiver of the terminal device 200 receives radio waves carrying search signals. Subsequently, the terminal device 200 determines whether or not the reception level (also referred to as intensity) of the radio waves received by the millimeter wave radar receiver exceeds the first threshold. When the terminal device 200 determines that the reception level of radio waves exceeds the first threshold, it determines that the search signal has been detected.
  • the reception level also referred to as intensity
  • the terminal device 200 when the terminal device 200 detects the search signal, the terminal device 200 outputs an approach notification indicating that the vehicle 1 is approaching.
  • the terminal device 200 includes a speaker, and outputs sound corresponding to the approach notification from the speaker.
  • the terminal device 200 may have a vibration function (also referred to as a vibration function) and output vibration corresponding to the approach notification.
  • the terminal device 200 when the terminal device 200 detects the search signal, it transmits a response signal indicating a response to the search signal to the vehicle control system 11 (step S3).
  • the terminal device 200 includes a radar transmitter capable of transmitting radio waves (and signals carried by radio waves), and transmits radio waves carrying response signals obtained by amplifying search signals.
  • the terminal device 200 may transmit radio waves carrying a response signal obtained by modulating the received signal in order to convey information that a pedestrian is present.
  • the vehicle control system 11 detects the response signal transmitted from the terminal device 200. Specifically, the radar 52 of the vehicle control system 11 detects the response signal. For example, radar 52 of vehicle control system 11 receives radio waves carrying response signals. Subsequently, the vehicle control system 11 determines whether or not the reception level (also referred to as intensity) of the radio waves received by the radar 52 exceeds the second threshold. When the vehicle control system 11 determines that the reception level of radio waves exceeds the second threshold, it determines that the response signal has been detected.
  • the reception level also referred to as intensity
  • the vehicle control system 11 detects the presence of a pedestrian based on the response signal. Subsequently, when detecting the presence of a pedestrian, the vehicle control system 11 notifies the driver of the vehicle 1 of the presence of the pedestrian. For example, the vehicle control system 11 notifies the driver of the presence of a pedestrian by superimposing text or an image indicating a warning of the presence of a pedestrian on the imaging image of the radar 52 . Alternatively, the vehicle control system 11 may notify the driver by outputting a warning sound.
  • the vehicle control system 11 transmits a detection signal indicating that the pedestrian has been detected by the vehicle 1 to the terminal device 200.
  • the radar 52 of the vehicle control system 11 transmits radio waves carrying detection signals.
  • radar 52 of vehicle control system 11 may transmit radio waves carrying a detection signal that is a modulation of the received signal to convey information that a pedestrian has been detected by vehicle 1 .
  • the terminal device 200 detects the detection signal transmitted from the vehicle control system 11 . Specifically, the millimeter wave radar receiver of the terminal device 200 detects the detection signal. For example, the millimeter wave radar receiver of the terminal device 200 receives radio waves carrying detection signals. Subsequently, the terminal device 200 determines whether or not the reception level (also referred to as intensity) of the radio waves received by the millimeter wave radar receiver exceeds the third threshold. When the terminal device 200 determines that the reception level of radio waves exceeds the third threshold, it determines that the detection signal has been detected.
  • the reception level also referred to as intensity
  • the terminal device 200 when the terminal device 200 detects the detection signal, the terminal device 200 outputs a detection notification indicating that the pedestrian has been detected by the vehicle 1 .
  • the terminal device 200 includes a speaker, and outputs sound corresponding to the detection notification from the speaker.
  • the terminal device 200 may have a vibration function (also referred to as a vibration function) and output vibration corresponding to the detection notification.
  • the vehicle control system 11 transmits a search signal for detecting the terminal device 200 of the pedestrian. Further, the vehicle control system 11 transmits a detection notification indicating that a pedestrian has been detected by the vehicle 1 when receiving a response notification indicating a response to the search signal from the terminal device 200 .
  • the vehicle control system 11 can output an approach notification (first notification) indicating that the vehicle 1 is approaching to pedestrians. . Subsequently, when the vehicle control system 11 receives a response notification from the terminal device 200, the vehicle control system 11 transmits a detection notification to the pedestrian, indicating that the pedestrian has been detected by the vehicle 1 (detection notification ( second notification) can be output. As a result, the vehicle control system 11 can notify the pedestrian that the approaching vehicle 1 is a safe vehicle that recognizes the pedestrian as an object to be avoided. can help determine that In addition, the vehicle control system 11 can appropriately warn pedestrians to prepare for the approach of the vehicle 1 with peace of mind because a safe vehicle is approaching.
  • the vehicle control system 11 can appropriately alert pedestrians to the approach of the vehicle 1 .
  • the vehicle control system 11 can output two notifications to the pedestrian, it is possible to ensure communication between the pedestrian and the vehicle 1 regarding the approach of the vehicle. Therefore, the vehicle control system 11 can more reliably suppress the occurrence of traffic accidents between the vehicle 1 and pedestrians.
  • the terminal device 200 detects the search signal transmitted from the vehicle control system 11 mounted on the vehicle 1 . Also, the terminal device 200 outputs an approach notification indicating that the vehicle 1 is approaching when the search signal is detected. Also, when the search signal is detected, the terminal device 200 transmits a response notification indicating a response to the search signal to the vehicle control system 11 . Further, when the terminal device 200 receives a detection notification from the vehicle control system 11 indicating that the pedestrian has been detected by the vehicle 1, the terminal device 200 outputs the detection notification.
  • the terminal device 200 when the terminal device 200 receives a search signal from the vehicle control system 11, the terminal device 200 outputs an approach notification (first notification) indicating that the vehicle 1 is approaching. can be notified that the vehicle 1 is approaching. Subsequently, when the terminal device 200 receives a detection notification from the vehicle control system 11, the terminal device 200 outputs a detection notification (second notification) indicating that the pedestrian has been detected by the vehicle 1. On the other hand, it is possible to notify that a pedestrian has been detected by the vehicle 1 . As a result, the terminal device 200 can notify the pedestrian that the approaching vehicle 1 is a safe vehicle that recognizes the pedestrian as an object to be avoided, so that the terminal device 200 is in a safe state.
  • the terminal device 200 can help determine that In addition, since a safe vehicle is approaching, the terminal device 200 can warn the pedestrian appropriately to prepare for the approach of the vehicle 1 with peace of mind. Therefore, the terminal device 200 can alert pedestrians appropriately to the approach of the vehicle 1 . In addition, since the terminal device 200 can output two notifications to the pedestrian, it is possible to ensure communication between the pedestrian and the vehicle 1 regarding the approach of the vehicle. Therefore, the terminal device 200 can more reliably suppress the occurrence of traffic accidents between the vehicle 1 and pedestrians.
  • the vehicle control system 11 and the terminal device 200 each include a device capable of detecting radio waves, and transmit and receive signals using radio waves as carrier waves for search signals, response signals, and detection signals.
  • the carrier wave of the signal is not limited to radio waves.
  • each of the vehicle control system 11 and the terminal device 200 includes a device (eg, a camera, an optical beacon, etc.) capable of detecting light (eg, visible light, infrared light, etc.), a search signal, a response signal, and a detection signal.
  • a signal may be transmitted and received using light as a carrier wave.
  • each of the vehicle control system 11 and the terminal device 200 includes a device (for example, a microphone, an ultrasonic sensor, etc.) capable of detecting sound waves (for example, sound waves in the audible range, ultrasonic waves, etc.), and a search signal, a response, and the like. Signals may be transmitted and received using sound waves as the carrier for the signals and detection signals.
  • a device for example, a microphone, an ultrasonic sensor, etc.
  • a pedestrian in this specification refers to a person who is moving on the road without using a vehicle.
  • pedestrians include those walking, running, wheelchairs, and bicyclists.
  • FIG. 2 is a block diagram showing a configuration example of a vehicle control system 11, which is an example of an in-vehicle communication device to which the present technology is applied.
  • the vehicle control system 11 is provided in the vehicle 1 and performs processing related to driving support and automatic driving of the vehicle 1.
  • the vehicle control system 11 includes a vehicle control ECU (Electronic Control Unit) 21, a communication unit 22, a map information accumulation unit 23, a position information acquisition unit 24, an external recognition sensor 25, an in-vehicle sensor 26, a vehicle sensor 27, a storage unit 28, a driving It has a support/automatic driving control unit 29, a DMS (Driver Monitoring System) 30, an HMI (Human Machine Interface) 31, and a vehicle control unit 32.
  • vehicle control ECU Electronic Control Unit
  • communication unit 22 includes a communication unit 22, a map information accumulation unit 23, a position information acquisition unit 24, an external recognition sensor 25, an in-vehicle sensor 26, a vehicle sensor 27, a storage unit 28, a driving It has a support/automatic driving control unit 29, a DMS (Driver Monitoring System) 30, an HMI (Human Machine Interface) 31, and a vehicle control unit 32.
  • Vehicle control ECU 21, communication unit 22, map information storage unit 23, position information acquisition unit 24, external recognition sensor 25, in-vehicle sensor 26, vehicle sensor 27, storage unit 28, driving support/automatic driving control unit 29, driver monitoring system ( DMS) 30 , human machine interface (HMI) 31 , and vehicle control unit 32 are connected via a communication network 41 so as to be able to communicate with each other.
  • the communication network 41 is, for example, a CAN (Controller Area Network), LIN (Local Interconnect Network), LAN (Local Area Network), FlexRay (registered trademark), Ethernet (registered trademark), and other digital two-way communication standards. It is composed of a communication network, a bus, and the like.
  • the communication network 41 may be used properly depending on the type of data to be transmitted.
  • CAN may be applied to data related to vehicle control
  • Ethernet may be applied to large-capacity data.
  • each part of the vehicle control system 11 performs wireless communication assuming relatively short-range communication such as near field communication (NFC (Near Field Communication)) or Bluetooth (registered trademark) without going through the communication network 41. may be connected directly using NFC (Near Field Communication) or Bluetooth (registered trademark)
  • the vehicle control ECU 21 is composed of various processors such as a CPU (Central Processing Unit) and an MPU (Micro Processing Unit).
  • the vehicle control ECU 21 controls the functions of the entire vehicle control system 11 or a part thereof.
  • the vehicle control ECU 21 corresponds to, for example, a calculator.
  • the vehicle control ECU 21 calculates the distance from the vehicle 1 to the pedestrian based on the position of the pedestrian detected by the recognition section 73 .
  • the vehicle control ECU 21 calculates the distance from the vehicle 1 to the pedestrian based on the position information of the pedestrian detected by the recognition section 73 and the position information of the vehicle 1 estimated by the self-position estimation section 71 .
  • the vehicle control ECU 21 corresponds to, for example, a transmitter.
  • the vehicle control ECU 21 transmits a detection notification indicating that the pedestrian has been detected by the vehicle 1 to the terminal device 200. do.
  • the vehicle control ECU 21 controls the radar 52 included in the external recognition sensor 25 to transmit a detection signal indicating that the vehicle 1 has detected a pedestrian.
  • the radar 52 included in the external recognition sensor 25 transmits a detection signal using radio waves as carrier waves to the terminal device 200 under the control of the vehicle control ECU 21 .
  • the vehicle control ECU 21 may control the radar 52 included in the external recognition sensor 25 so as to transmit a distance notification regarding the distance from the vehicle to the pedestrian along with the detection notification. Further, for example, the vehicle control ECU 21 may control the LiDAR 53 included in the external recognition sensor 25 or the headlights mounted on the vehicle 1 so as to transmit a detection signal using light as a carrier wave. Further, the vehicle control ECU 21 may control, for example, an ultrasonic sensor 54 included in the external recognition sensor 25 so as to transmit a detection signal using sound waves as carrier waves.
  • the vehicle control ECU 21 transmits a safety notice to encourage pedestrians to walk on the road ahead of the vehicle.
  • the vehicle control ECU 21 controls the radar 52 included in the external recognition sensor 25 so as to transmit a safety signal that encourages pedestrians to walk on the road ahead of the vehicle 1 .
  • a radar 52 included in the external recognition sensor 25 transmits a safety signal using radio waves as carrier waves to the terminal device 200 under the control of the vehicle control ECU 21 .
  • the vehicle control ECU 21 may control the LiDAR 53 included in the external recognition sensor 25 or the headlights mounted on the vehicle 1 so as to transmit a safety signal using light as a carrier wave.
  • the vehicle control ECU 21 may control, for example, an ultrasonic sensor 54 included in the external recognition sensor 25 so as to transmit a safety signal using sound waves as carrier waves.
  • the vehicle control ECU 21 notifies the presence of the pedestrian to the driver of the vehicle 1 when the recognition unit 73 detects the position of the pedestrian.
  • the vehicle control ECU 21 controls the HMI 31 so as to superimpose a character or image indicating a warning of the presence of a pedestrian on the imaging image of the radar 52 .
  • the vehicle control ECU 21 controls the HMI 31 to output a warning sound.
  • the HMI 31 outputs a notification under the control of the vehicle control ECU 21 .
  • the communication unit 22 communicates with various devices inside and outside the vehicle, other vehicles, servers, base stations, etc., and transmits and receives various data. At this time, the communication unit 22 can perform communication using a plurality of communication methods.
  • the communication unit 22 is, for example, a wireless communication system such as 5G (5th generation mobile communication system), LTE (Long Term Evolution), DSRC (Dedicated Short Range Communications), via a base station or access point, on the external network communicates with a server (hereinafter referred to as an external server) located in the external network.
  • the external network with which the communication unit 22 communicates is, for example, the Internet, a cloud network, or a provider's own network.
  • the communication method that the communication unit 22 performs with the external network is not particularly limited as long as it is a wireless communication method that enables digital two-way communication at a communication speed of a predetermined value or more and a distance of a predetermined value or more.
  • the communication unit 22 can communicate with terminals existing in the vicinity of the own vehicle using P2P (Peer To Peer) technology.
  • Terminals in the vicinity of one's own vehicle are, for example, terminals worn by pedestrians, bicycles, and other moving bodies that move at relatively low speeds, terminals installed at fixed locations in stores, etc., or MTC (Machine Type Communication) terminal.
  • the communication unit 22 can also perform V2X communication.
  • V2X communication is, for example, vehicle-to-vehicle communication with other vehicles, vehicle-to-infrastructure communication with roadside equipment, etc., vehicle-to-home communication , and communication between the vehicle and others, such as vehicle-to-pedestrian communication with a terminal or the like possessed by a pedestrian.
  • the communication unit 22 can receive from the outside a program for updating the software that controls the operation of the vehicle control system 11 (Over The Air).
  • the communication unit 22 can also receive map information, traffic information, information around the vehicle 1, and the like from the outside.
  • the communication unit 22 can transmit information about the vehicle 1, information about the surroundings of the vehicle 1, and the like to the outside.
  • the information about the vehicle 1 that the communication unit 22 transmits to the outside includes, for example, data indicating the state of the vehicle 1, recognition results by the recognition unit 73, and the like.
  • the communication unit 22 performs communication corresponding to a vehicle emergency call system such as e-call.
  • the communication unit 22 receives electromagnetic waves transmitted by a road traffic information communication system (VICS (Vehicle Information and Communication System) (registered trademark)) such as radio wave beacons, optical beacons, and FM multiplex broadcasting.
  • VICS Vehicle Information and Communication System
  • radio wave beacons such as radio wave beacons, optical beacons, and FM multiplex broadcasting.
  • the communication with the inside of the vehicle that can be performed by the communication unit 22 will be described schematically.
  • the communication unit 22 can communicate with each device in the vehicle using, for example, wireless communication.
  • the communication unit 22 performs wireless communication with devices in the vehicle using a communication method such as wireless LAN, Bluetooth, NFC, and WUSB (Wireless USB) that enables digital two-way communication at a communication speed higher than a predetermined value. can be done.
  • the communication unit 22 can also communicate with each device in the vehicle using wired communication.
  • the communication unit 22 can communicate with each device in the vehicle by wired communication via a cable connected to a connection terminal (not shown).
  • the communication unit 22 performs digital two-way communication at a predetermined communication speed or higher through wired communication such as USB (Universal Serial Bus), HDMI (High-Definition Multimedia Interface) (registered trademark), and MHL (Mobile High-definition Link). can communicate with each device in the vehicle.
  • USB Universal Serial Bus
  • HDMI High-Definition Multimedia Interface
  • MHL Mobile High-definition Link
  • equipment in the vehicle refers to equipment that is not connected to the communication network 41 in the vehicle, for example.
  • in-vehicle devices include mobile devices and wearable devices possessed by passengers such as drivers, information devices that are brought into the vehicle and temporarily installed, and the like.
  • the map information accumulation unit 23 accumulates one or both of the map obtained from the outside and the map created by the vehicle 1. For example, the map information accumulation unit 23 accumulates a three-dimensional high-precision map, a global map covering a wide area, and the like, which is lower in accuracy than the high-precision map.
  • High-precision maps are, for example, dynamic maps, point cloud maps, vector maps, etc.
  • the dynamic map is, for example, a map consisting of four layers of dynamic information, quasi-dynamic information, quasi-static information, and static information, and is provided to the vehicle 1 from an external server or the like.
  • a point cloud map is a map composed of a point cloud (point cloud data).
  • a vector map is, for example, a map adapted to ADAS (Advanced Driver Assistance System) and AD (Autonomous Driving) by associating traffic information such as lane and traffic signal positions with a point cloud map.
  • the point cloud map and the vector map may be provided from an external server or the like, and based on the sensing results of the camera 51, radar 52, LiDAR 53, etc., as a map for matching with a local map described later. It may be created by the vehicle 1 and stored in the map information storage unit 23 . Further, when a high-precision map is provided from an external server or the like, in order to reduce the communication capacity, map data of, for example, several hundred meters square, regarding the planned route that the vehicle 1 will travel from now on, is acquired from the external server or the like. .
  • the position information acquisition unit 24 receives GNSS signals from GNSS (Global Navigation Satellite System) satellites and acquires the position information of the vehicle 1 .
  • the acquired position information is supplied to the driving support/automatic driving control unit 29 .
  • the location information acquisition unit 24 is not limited to the method using GNSS signals, and may acquire location information using beacons, for example.
  • the external recognition sensor 25 includes various sensors used for recognizing situations outside the vehicle 1 and supplies sensor data from each sensor to each part of the vehicle control system 11 .
  • the type and number of sensors included in the external recognition sensor 25 are arbitrary.
  • the external recognition sensor 25 corresponds to, for example, a detection unit.
  • the external recognition sensor 25 includes a camera 51, a radar 52, a LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) 53, and an ultrasonic sensor 54.
  • the configuration is not limited to this, and the external recognition sensor 25 may be configured to include one or more types of sensors among the camera 51 , radar 52 , LiDAR 53 , and ultrasonic sensor 54 .
  • the numbers of cameras 51 , radars 52 , LiDARs 53 , and ultrasonic sensors 54 are not particularly limited as long as they are realistically installable in the vehicle 1 .
  • the type of sensor provided in the external recognition sensor 25 is not limited to this example, and the external recognition sensor 25 may be provided with other types of sensors. An example of the sensing area of each sensor included in the external recognition sensor 25 will be described later.
  • the radar 52 included in the external recognition sensor 25 transmits radar signals for detecting pedestrians present around the vehicle 1 .
  • Radar 52 included in external recognition sensor 25 also transmits a search signal for detecting terminal device 200 .
  • the radar 52 included in the external recognition sensor 25 receives the reflected wave of the pedestrian.
  • the LiDAR 53 or the ultrasonic sensor 54 included in the external recognition sensor 25 may transmit a search signal for detecting the terminal device 200 instead of the radar 52, and may receive reflected waves of pedestrians. .
  • the external recognition sensor 25 detects a response signal transmitted from the terminal device 200 .
  • the radar 52 included in the external recognition sensor 25 detects the response signal.
  • radar 52 of external recognition sensor 25 receives radio waves carrying response signals.
  • the external recognition sensor 25 determines whether or not the reception level (also referred to as intensity) of the radio waves received by the radar 52 exceeds the second threshold.
  • the external recognition sensor 25 determines that the reception level of radio waves exceeds the second threshold, it determines that the response signal has been detected.
  • a camera 51 or LiDAR 53 included in the external recognition sensor 25 may receive light carrying a response signal.
  • an ultrasonic sensor 54 included in the external recognition sensor 25 may receive sound waves carrying response signals.
  • the imaging method of the camera 51 is not particularly limited.
  • cameras of various shooting methods such as a ToF (Time Of Flight) camera, a stereo camera, a monocular camera, and an infrared camera, which are shooting methods capable of distance measurement, can be applied to the camera 51 as necessary.
  • the camera 51 is not limited to this, and may simply acquire a photographed image regardless of distance measurement.
  • the external recognition sensor 25 can include an environment sensor for detecting the environment with respect to the vehicle 1.
  • the environment sensor is a sensor for detecting the environment such as weather, climate, brightness, etc., and can include various sensors such as raindrop sensors, fog sensors, sunshine sensors, snow sensors, and illuminance sensors.
  • the external recognition sensor 25 includes a microphone used for detecting the sound around the vehicle 1 and the position of the sound source.
  • the in-vehicle sensor 26 includes various sensors for detecting information inside the vehicle, and supplies sensor data from each sensor to each part of the vehicle control system 11 .
  • the types and number of various sensors included in the in-vehicle sensor 26 are not particularly limited as long as they are the types and number that can be realistically installed in the vehicle 1 .
  • the in-vehicle sensor 26 can include one or more sensors among cameras, radar, seating sensors, steering wheel sensors, microphones, and biosensors.
  • the camera provided in the in-vehicle sensor 26 for example, cameras of various shooting methods capable of distance measurement, such as a ToF camera, a stereo camera, a monocular camera, and an infrared camera, can be used.
  • the camera included in the in-vehicle sensor 26 is not limited to this, and may simply acquire a photographed image regardless of distance measurement.
  • the biosensors included in the in-vehicle sensor 26 are provided, for example, on a seat, a steering wheel, or the like, and detect various biometric information of a passenger such as a driver.
  • the vehicle sensor 27 includes various sensors for detecting the state of the vehicle 1, and supplies sensor data from each sensor to each section of the vehicle control system 11.
  • the types and number of various sensors included in the vehicle sensor 27 are not particularly limited as long as the types and number are practically installable in the vehicle 1 .
  • the vehicle sensor 27 includes a speed sensor, an acceleration sensor, an angular velocity sensor (gyro sensor), and an inertial measurement unit (IMU (Inertial Measurement Unit)) integrating them.
  • the vehicle sensor 27 includes a steering angle sensor that detects the steering angle of the steering wheel, a yaw rate sensor, an accelerator sensor that detects the amount of operation of the accelerator pedal, and a brake sensor that detects the amount of operation of the brake pedal.
  • the vehicle sensor 27 includes a rotation sensor that detects the number of rotations of an engine or a motor, an air pressure sensor that detects tire air pressure, a slip rate sensor that detects a tire slip rate, and a wheel speed sensor that detects the rotational speed of a wheel.
  • a sensor is provided.
  • the vehicle sensor 27 includes a battery sensor that detects the remaining battery level and temperature, and an impact sensor that detects external impact.
  • the storage unit 28 includes at least one of a nonvolatile storage medium and a volatile storage medium, and stores data and programs.
  • the storage unit 28 is used as, for example, EEPROM (Electrically Erasable Programmable Read Only Memory) and RAM (Random Access Memory), and storage media include magnetic storage devices such as HDD (Hard Disc Drive), semiconductor storage devices, optical storage devices, And a magneto-optical storage device can be applied.
  • the storage unit 28 stores various programs and data used by each unit of the vehicle control system 11 .
  • the storage unit 28 includes an EDR (Event Data Recorder) and a DSSAD (Data Storage System for Automated Driving), and stores information on the vehicle 1 before and after an event such as an accident and information acquired by the in-vehicle sensor 26.
  • EDR Event Data Recorder
  • DSSAD Data Storage System for Automated Driving
  • the driving support/automatic driving control unit 29 controls driving support and automatic driving of the vehicle 1 .
  • the driving support/automatic driving control unit 29 includes an analysis unit 61 , an action planning unit 62 and an operation control unit 63 .
  • the analysis unit 61 analyzes the vehicle 1 and its surroundings.
  • the analysis unit 61 includes a self-position estimation unit 71 , a sensor fusion unit 72 and a recognition unit 73 .
  • the self-position estimation unit 71 estimates the self-position of the vehicle 1 based on the sensor data from the external recognition sensor 25 and the high-precision map accumulated in the map information accumulation unit 23. For example, the self-position estimation unit 71 generates a local map based on sensor data from the external recognition sensor 25, and estimates the self-position of the vehicle 1 by matching the local map and the high-precision map.
  • the position of the vehicle 1 is based on, for example, the center of the rear wheel versus axle.
  • a local map is, for example, a three-dimensional high-precision map created using techniques such as SLAM (Simultaneous Localization and Mapping), an occupancy grid map, or the like.
  • the three-dimensional high-precision map is, for example, the point cloud map described above.
  • the occupancy grid map is a map that divides the three-dimensional or two-dimensional space around the vehicle 1 into grids (lattice) of a predetermined size and shows the occupancy state of objects in grid units.
  • the occupancy state of an object is indicated, for example, by the presence or absence of the object and the existence probability.
  • the local map is also used, for example, by the recognizing unit 73 for detection processing and recognition processing of the situation outside the vehicle 1 .
  • the self-position estimation unit 71 may estimate the self-position of the vehicle 1 based on the position information acquired by the position information acquisition unit 24 and the sensor data from the vehicle sensor 27.
  • the sensor fusion unit 72 combines a plurality of different types of sensor data (for example, image data supplied from the camera 51 and sensor data supplied from the radar 52) to perform sensor fusion processing to obtain new information.
  • Methods for combining different types of sensor data include integration, fusion, federation, and the like.
  • the recognition unit 73 executes a detection process for detecting the situation outside the vehicle 1 and a recognition process for recognizing the situation outside the vehicle 1 .
  • the recognition unit 73 corresponds to, for example, a detection unit. For example, when the external recognition sensor 25 detects a response signal, the recognition unit 73 detects the pedestrian's position based on the response signal and the reflected wave detected by the external recognition sensor 25 .
  • the recognition unit 73 performs detection processing and recognition processing of the situation outside the vehicle 1 based on information from the external recognition sensor 25, information from the self-position estimation unit 71, information from the sensor fusion unit 72, and the like. .
  • the recognition unit 73 performs detection processing and recognition processing of objects around the vehicle 1 .
  • Object detection processing is, for example, processing for detecting the presence or absence, size, shape, position, movement, and the like of an object.
  • Object recognition processing is, for example, processing for recognizing an attribute such as the type of an object or identifying a specific object.
  • detection processing and recognition processing are not always clearly separated, and may overlap.
  • the recognition unit 73 detects objects around the vehicle 1 by clustering the point cloud based on sensor data from the radar 52 or the LiDAR 53 or the like for each cluster of point groups. As a result, presence/absence, size, shape, and position of objects around the vehicle 1 are detected.
  • the recognizing unit 73 detects the movement of objects around the vehicle 1 by performing tracking that follows the movement of the cluster of points classified by clustering. As a result, the speed and traveling direction (movement vector) of the object around the vehicle 1 are detected.
  • the recognition unit 73 detects or recognizes vehicles, people, bicycles, obstacles, structures, roads, traffic lights, traffic signs, road markings, etc. based on image data supplied from the camera 51 . Further, the recognition unit 73 may recognize types of objects around the vehicle 1 by performing recognition processing such as semantic segmentation.
  • the recognition unit 73 based on the map accumulated in the map information accumulation unit 23, the estimation result of the self-position by the self-position estimation unit 71, and the recognition result of the object around the vehicle 1 by the recognition unit 73, Recognition processing of traffic rules around the vehicle 1 can be performed. Through this processing, the recognition unit 73 can recognize the position and state of traffic lights, the content of traffic signs and road markings, the content of traffic restrictions, the lanes in which the vehicle can travel, and the like.
  • the recognition unit 73 can perform recognition processing of the environment around the vehicle 1 .
  • the surrounding environment to be recognized by the recognition unit 73 includes the weather, temperature, humidity, brightness, road surface conditions, and the like.
  • the action plan section 62 creates an action plan for the vehicle 1.
  • the action planning unit 62 creates an action plan by performing route planning and route following processing.
  • global path planning is the process of planning a rough route from the start to the goal. This route planning is called trajectory planning, and in the planned route, trajectory generation (local path planning) that can proceed safely and smoothly in the vicinity of the vehicle 1 in consideration of the motion characteristics of the vehicle 1. It also includes the processing to be performed.
  • Route following is the process of planning actions to safely and accurately travel the route planned by route planning within the planned time.
  • the action planning unit 62 can, for example, calculate the target speed and the target angular speed of the vehicle 1 based on the result of this route following processing.
  • the motion control unit 63 controls the motion of the vehicle 1 in order to implement the action plan created by the action planning unit 62.
  • the operation control unit 63 controls a steering control unit 81, a brake control unit 82, and a drive control unit 83 included in the vehicle control unit 32, which will be described later, so that the vehicle 1 can control the trajectory calculated by the trajectory plan. Acceleration/deceleration control and direction control are performed so as to advance.
  • the operation control unit 63 performs cooperative control aimed at realizing ADAS functions such as collision avoidance or shock mitigation, follow-up driving, vehicle speed maintenance driving, collision warning of own vehicle, and lane deviation warning of own vehicle.
  • the operation control unit 63 performs cooperative control aimed at automatic driving in which the vehicle autonomously travels without depending on the operation of the driver.
  • the DMS 30 performs driver authentication processing, driver state recognition processing, etc., based on sensor data from the in-vehicle sensor 26 and input data input to the HMI 31, which will be described later.
  • As the state of the driver to be recognized for example, physical condition, wakefulness, concentration, fatigue, gaze direction, drunkenness, driving operation, posture, etc. are assumed.
  • the DMS 30 may perform authentication processing for passengers other than the driver and processing for recognizing the state of the passenger. Further, for example, the DMS 30 may perform recognition processing of the situation inside the vehicle based on the sensor data from the sensor 26 inside the vehicle. Conditions inside the vehicle to be recognized include temperature, humidity, brightness, smell, and the like, for example.
  • the HMI 31 inputs various data, instructions, etc., and presents various data to the driver.
  • HMI31 is equivalent to an input part, for example.
  • HMI 31 receives a predetermined operation by the driver of vehicle 1 .
  • the HMI 31 notifies the presence of the pedestrian to the driver of the vehicle 1 when the recognition unit 73 detects the position of the pedestrian.
  • the HMI 31 outputs information corresponding to the notification.
  • the HMI 31 comprises an input device for human input of data.
  • the HMI 31 generates an input signal based on data, instructions, etc. input from an input device, and supplies the input signal to each section of the vehicle control system 11 .
  • the HMI 31 includes operators such as a touch panel, buttons, switches, and levers as input devices.
  • the HMI 31 is not limited to this, and may further include an input device capable of inputting information by a method other than manual operation using voice, gestures, or the like.
  • the HMI 31 may use, as an input device, a remote control device using infrared rays or radio waves, or an external connection device such as a mobile device or wearable device corresponding to the operation of the vehicle control system 11 .
  • the presentation of data by HMI31 will be briefly explained.
  • the HMI 31 generates visual information, auditory information, and tactile information for the passenger or outside the vehicle.
  • the HMI 31 performs output control for controlling the output, output content, output timing, output method, and the like of each generated information.
  • the HMI 31 generates and outputs visual information such as an operation screen, a status display of the vehicle 1, a warning display, an image such as a monitor image showing the situation around the vehicle 1, and information indicated by light.
  • the HMI 31 also generates and outputs information indicated by sounds such as voice guidance, warning sounds, warning messages, etc., as auditory information.
  • the HMI 31 generates and outputs, as tactile information, information given to the passenger's tactile sense by force, vibration, movement, or the like.
  • a display device that presents visual information by displaying an image by itself or a projector device that presents visual information by projecting an image can be applied.
  • the display device displays visual information within the passenger's field of view, such as a head-up display, a transmissive display, or a wearable device with an AR (Augmented Reality) function. It may be a device.
  • the HMI 31 can also use a display device provided in the vehicle 1 such as a navigation device, an instrument panel, a CMS (Camera Monitoring System), an electronic mirror, a lamp, etc., as an output device for outputting visual information.
  • Audio speakers, headphones, and earphones can be applied as output devices for the HMI 31 to output auditory information.
  • a haptic element using haptic technology can be applied as an output device for the HMI 31 to output tactile information.
  • a haptic element is provided at a portion of the vehicle 1 that is in contact with a passenger, such as a steering wheel or a seat.
  • the vehicle control unit 32 controls each unit of the vehicle 1.
  • the vehicle control section 32 includes a steering control section 81 , a brake control section 82 , a drive control section 83 , a body system control section 84 , a light control section 85 and a horn control section 86 .
  • the steering control unit 81 detects and controls the state of the steering system of the vehicle 1 .
  • the steering system includes, for example, a steering mechanism including a steering wheel, an electric power steering, and the like.
  • the steering control unit 81 includes, for example, a steering ECU that controls the steering system, an actuator that drives the steering system, and the like.
  • the brake control unit 82 detects and controls the state of the brake system of the vehicle 1 .
  • the brake system includes, for example, a brake mechanism including a brake pedal, an ABS (Antilock Brake System), a regenerative brake mechanism, and the like.
  • the brake control unit 82 includes, for example, a brake ECU that controls the brake system, an actuator that drives the brake system, and the like.
  • the drive control unit 83 detects and controls the state of the drive system of the vehicle 1 .
  • the drive system includes, for example, an accelerator pedal, a driving force generator for generating driving force such as an internal combustion engine or a driving motor, and a driving force transmission mechanism for transmitting the driving force to the wheels.
  • the drive control unit 83 includes, for example, a drive ECU that controls the drive system, an actuator that drives the drive system, and the like.
  • the body system control unit 84 detects and controls the state of the body system of the vehicle 1 .
  • the body system includes, for example, a keyless entry system, smart key system, power window device, power seat, air conditioner, air bag, seat belt, shift lever, and the like.
  • the body system control unit 84 includes, for example, a body system ECU that controls the body system, an actuator that drives the body system, and the like.
  • the light control unit 85 detects and controls the states of various lights of the vehicle 1 .
  • Lights to be controlled include, for example, headlights, backlights, fog lights, turn signals, brake lights, projections, bumper displays, and the like.
  • the light control unit 85 includes a light ECU that controls the light, an actuator that drives the light, and the like.
  • the horn control unit 86 detects and controls the state of the car horn of the vehicle 1 .
  • the horn control unit 86 includes, for example, a horn ECU for controlling the car horn, an actuator for driving the car horn, and the like.
  • FIG. 3 is a diagram showing an example of sensing areas by the camera 51, radar 52, LiDAR 53, ultrasonic sensor 54, etc. of the external recognition sensor 25 in FIG. 3 schematically shows the vehicle 1 viewed from above, the left end side being the front end (front) side of the vehicle 1, and the right end side being the rear end (rear) side of the vehicle 1.
  • a sensing area 101F and a sensing area 101B are examples of sensing areas of the ultrasonic sensor 54.
  • FIG. The sensing area 101 ⁇ /b>F covers the periphery of the front end of the vehicle 1 with a plurality of ultrasonic sensors 54 .
  • the sensing area 101B covers the periphery of the rear end of the vehicle 1 with a plurality of ultrasonic sensors 54 .
  • the sensing results in the sensing area 101F and the sensing area 101B are used, for example, for parking assistance of the vehicle 1 and the like.
  • Sensing areas 102F to 102B show examples of sensing areas of the radar 52 for short or medium range.
  • the sensing area 102F covers the front of the vehicle 1 to a position farther than the sensing area 101F.
  • the sensing area 102B covers the rear of the vehicle 1 to a position farther than the sensing area 101B.
  • the sensing area 102L covers the rear periphery of the left side surface of the vehicle 1 .
  • the sensing area 102R covers the rear periphery of the right side surface of the vehicle 1 .
  • the sensing result in the sensing area 102F is used, for example, to detect vehicles, pedestrians, etc. existing in front of the vehicle 1.
  • the sensing result in the sensing area 102B is used for the rear collision prevention function of the vehicle 1, for example.
  • the sensing results in the sensing area 102L and the sensing area 102R are used, for example, to detect an object in a blind spot on the side of the vehicle 1, or the like.
  • Sensing areas 103F to 103B show examples of sensing areas by the camera 51 .
  • the sensing area 103F covers the front of the vehicle 1 to a position farther than the sensing area 102F.
  • the sensing area 103B covers the rear of the vehicle 1 to a position farther than the sensing area 102B.
  • the sensing area 103L covers the periphery of the left side surface of the vehicle 1 .
  • the sensing area 103R covers the periphery of the right side surface of the vehicle 1 .
  • the sensing results in the sensing area 103F can be used, for example, for recognition of traffic lights and traffic signs, lane departure prevention support systems, and automatic headlight control systems.
  • a sensing result in the sensing area 103B can be used for parking assistance and a surround view system, for example.
  • Sensing results in the sensing area 103L and the sensing area 103R can be used, for example, in a surround view system.
  • the sensing area 104 shows an example of the sensing area of the LiDAR53.
  • the sensing area 104 covers the front of the vehicle 1 to a position farther than the sensing area 103F.
  • the sensing area 104 has a narrower lateral range than the sensing area 103F.
  • the sensing results in the sensing area 104 are used, for example, to detect objects such as surrounding vehicles.
  • a sensing area 105 shows an example of a sensing area of the long-range radar 52 .
  • the sensing area 105 covers the front of the vehicle 1 to a position farther than the sensing area 104 .
  • the sensing area 105 has a narrower lateral range than the sensing area 104 .
  • the sensing results in the sensing area 105 are used, for example, for ACC (Adaptive Cruise Control), emergency braking, and collision avoidance.
  • ACC Adaptive Cruise Control
  • emergency braking emergency braking
  • collision avoidance collision avoidance
  • the sensing regions of the cameras 51, the radar 52, the LiDAR 53, and the ultrasonic sensors 54 included in the external recognition sensor 25 may have various configurations other than those shown in FIG. Specifically, the ultrasonic sensor 54 may also sense the sides of the vehicle 1 , and the LiDAR 53 may sense the rear of the vehicle 1 . Moreover, the installation position of each sensor is not limited to each example mentioned above. Also, the number of each sensor may be one or plural.
  • FIG. 4 is a block diagram showing a configuration example of the terminal device 200 according to the embodiment of the present disclosure. As shown in FIG. 4 , terminal device 200 includes communication section 210 , detection section 220 , output section 230 , input section 240 and control section 250 .
  • the communication unit 210 communicates with other devices (for example, the vehicle control system 11) to transmit and receive various data. At this time, the communication unit 210 can perform communication using a plurality of communication methods, like the communication unit 22 of the vehicle control system 11 described above.
  • the detection unit 220 is a sensor that detects various physical information of the terminal device 200, such as a camera, radar (including radar receiver and radar transmitter), microphone, ultrasonic sensor, and the like.
  • the detection unit 220 detects the search signal transmitted from the vehicle control system 11 .
  • Detector 220 receives a search signal from vehicle control system 11 .
  • the detector 220 includes a millimeter wave radar receiver.
  • a millimeter-wave radar receiver of the detection unit 220 receives radio waves carrying a search signal.
  • the detection unit 220 determines whether or not the reception level (also referred to as intensity) of the radio waves received by the millimeter wave radar receiver exceeds a first threshold. If the detection unit 220 determines that the reception level of radio waves exceeds the first threshold, it determines that the search signal has been detected.
  • the detection unit 220 detects a detection signal transmitted from the vehicle control system 11 .
  • the detector 220 receives a detection signal from the vehicle control system 11 .
  • a millimeter-wave radar receiver of the detection unit 220 receives radio waves carrying detection signals.
  • the detection unit 220 determines whether or not the reception level of the radio wave received by the millimeter wave radar receiver exceeds the third threshold. If the detection unit 220 determines that the reception level of radio waves exceeds the third threshold, it determines that the detection signal has been detected.
  • a camera included in detector 220 may receive light carrying the detection signal.
  • a microphone or an ultrasonic sensor included in the detection unit 220 may receive sound waves carrying detection signals.
  • the detection unit 220 detects a safety signal transmitted from the vehicle control system 11 .
  • the detector 220 receives safety signals from the vehicle control system 11 .
  • a millimeter-wave radar receiver of the detector 220 receives radio waves carrying safety signals.
  • the detection unit 220 determines whether or not the reception level of the radio wave received by the millimeter wave radar receiver exceeds the fourth threshold. If the detection unit 220 determines that the reception level of radio waves exceeds the fourth threshold, it determines that the safety signal has been detected.
  • a camera included in detector 220 may receive light carrying a safety signal.
  • a microphone or an ultrasonic sensor included in the detector 220 may receive sound waves carrying the safety signal.
  • the output unit 230 outputs various information.
  • the output unit 230 has a function of displaying information.
  • the output unit 230 is provided in the terminal device 200 and displays various information.
  • the output unit 230 is implemented by, for example, a liquid crystal display or an organic EL (Electro-Luminescence) display.
  • the output unit 230 may have a function of outputting audio.
  • the output unit 230 has a speaker that outputs audio.
  • the output unit 230 may have a function of outputting vibration.
  • the output unit 230 has a vibrator that outputs vibration.
  • the output unit 230 corresponds to, for example, an approach notification output unit.
  • the output unit 230 outputs an approach notification indicating that the vehicle 1 is approaching when the detection unit 220 detects the search signal.
  • the output unit 230 corresponds to, for example, a detection notification output unit.
  • the output unit 230 when the detection unit 220 detects the detection signal, the output unit 230 outputs a detection notification indicating that the pedestrian has been detected by the vehicle 1 .
  • the detection unit 220 receives the detection notification from the vehicle control system 11 as well as a distance signal regarding the distance from the vehicle 1 to the pedestrian, the output unit 230 outputs a signal that varies depending on the distance from the vehicle to the pedestrian.
  • a detection notification may be output depending on the output mode.
  • the output unit 230 uses an output mode (e.g., strong vibration, loud sound, fast light blinking pattern, red color, etc.) to draw attention to the pedestrian more strongly as the distance from the vehicle 1 to the pedestrian is shorter. Output detection notifications.
  • an output mode e.g., strong vibration, loud sound, fast light blinking pattern, red color, etc.
  • the output unit 230 corresponds to, for example, a safety notification output unit.
  • the output unit 230 outputs a safety notification prompting the pedestrian to walk on the road ahead of the vehicle 1 .
  • the output unit 230 corresponds to, for example, a danger notification output unit.
  • the control unit 250 corresponds to, for example, a determination unit. For example, the control unit 250 determines whether or not the detection notification has been received within a predetermined period of time from the transmission time of the response notification. When the control unit 250 determines that the detection notification has not been received, the output unit 230 outputs a danger notification indicating that the vehicle 1 may not recognize the pedestrian.
  • the speaker of the output unit 230 outputs sounds corresponding to approach notifications, detection notifications, safety notifications, or danger notifications.
  • the vibrator of the output unit 230 may output vibration corresponding to an approach notification, a detection notification, a safety notification, or a danger notification.
  • the output unit 230 may have a function of outputting light such as visible light and infrared light.
  • the output unit 230 has a light source (light) that outputs light.
  • the light source of the output unit 230 may output a blinking pattern of light corresponding to each of proximity notification, detection notification, safety notification, or danger notification.
  • the display of the output unit 230 may display characters, graphics, or images corresponding to approach notification, detection notification, safety notification, or danger notification, respectively. may be displayed.
  • the vibrator of the output unit 230 responds to approach notification, detection notification, safety notification, or danger notification from the approach direction of the vehicle 1. You may output a vibration that
  • the speaker of the output unit 230 may output sounds corresponding to the approach notification, detection notification, safety notification, or danger notification from the approach direction of the vehicle 1 .
  • the input unit 240 accepts various inputs.
  • the input unit 240 accepts a pedestrian's operation.
  • the input unit 240 receives a pedestrian's voice input via a voice sensor such as a microphone.
  • the input unit 240 accepts various operations by a pedestrian's speech.
  • the input unit 240 may accept an operation to the terminal device 200 other than the pedestrian's utterance (voice) as an operation input by the pedestrian.
  • the input unit 240 may receive, via the communication unit 210, information regarding the pedestrian's operation using a remote controller (remote controller).
  • the input unit 240 may also have buttons provided on the terminal device 200 or a keyboard and mouse connected to the terminal device 200 .
  • the input unit 240 may have a touch panel capable of realizing functions equivalent to those of a remote controller, keyboard, or mouse.
  • input section 240 receives various types of information via the display (output section 230).
  • the input unit 240 receives various operations from the pedestrian via the display screen using a touch panel function realized by various sensors. That is, the input unit 240 receives various operations from the pedestrian via the display of the terminal device 200 (output unit 230). For example, the input unit 240 receives a pedestrian's operation via the display of the terminal device 200 (output unit 230).
  • the control unit 250 comprehensively controls the operation of the terminal device 200 using, for example, a CPU, a GPU (Graphics Processing Unit), and a RAM built into the terminal device 200 .
  • the control unit 250 causes the output unit 230 to output a notification received from the vehicle control system 11 .
  • control unit 250 transmits a response notification indicating a response to the search signal to the vehicle control system 11 .
  • control section 250 controls detection section 220 to transmit a response signal indicating a response to the search signal.
  • the control unit 250 controls the detection unit 220 to transmit radio waves carrying a response signal obtained by amplifying the search signal.
  • the control unit 250 may control the detection unit 220 to transmit radio waves carrying a response signal modulated from the received signal to convey information that a pedestrian is present.
  • Detector 220 transmits a response signal to vehicle control system 11 under the control of controller 250 .
  • FIG. 5 is a sequence diagram showing the flow of processing in the communication system 2 according to the embodiment of the present disclosure.
  • the external recognition sensor 25 of the vehicle control system 11 transmits a search signal for detecting the terminal device 200 (step S101).
  • the detection unit 220 of the terminal device 200 receives the search signal from the vehicle control system 11 .
  • the output unit 230 of the terminal device 200 outputs an approach notification indicating that the vehicle is approaching when the detection unit 220 receives the search signal (step S102).
  • control unit 250 of the terminal device 200 transmits a response notification indicating a response to the search signal to the vehicle control system 11 when the detection unit 220 receives the search signal.
  • control section 250 controls detection section 220 to transmit a response signal indicating a response to the search signal.
  • Detector 220 transmits a response signal to vehicle control system 11 under the control of controller 250 .
  • the external recognition sensor 25 of the vehicle control system 11 receives the reflected wave and the response signal.
  • the recognition unit 73 of the vehicle control system 11 detects the position of the pedestrian based on the reflected wave and the response signal received by the external recognition sensor 25 (step S103).
  • the HMI 31 of the vehicle control system 11 notifies the presence of the pedestrian to the driver of the vehicle 1 when the recognition unit 73 detects the position of the pedestrian (step S104). Specifically, the HMI 31 outputs information corresponding to the notification.
  • the vehicle control ECU 21 of the vehicle control system 11 notifies the terminal device 200 of detection of the pedestrian by the vehicle 1.
  • a notification is sent (step S105). Specifically, the vehicle control ECU 21 controls the external recognition sensor 25 to transmit a detection signal indicating that the vehicle 1 has detected a pedestrian.
  • the external recognition sensor 25 transmits a detection signal to the terminal device 200 under the control of the vehicle control ECU 21 .
  • the detection unit 220 of the terminal device 200 receives the detection signal from the vehicle control system 11 .
  • the output unit 230 of the terminal device 200 outputs a detection notification corresponding to the detection signal when the detection unit 220 receives the detection signal (step S106).
  • the driver of the vehicle 1 inputs a predetermined operation to the HMI 31 of the vehicle control system 11 when, for example, the driver of the vehicle 1 decides to let the pedestrian lead in a pedestrian crossing without traffic lights.
  • the HMI 31 of the vehicle control system 11 receives a predetermined operation from the driver of the vehicle 1 (step S107).
  • the vehicle control ECU 21 of the vehicle control system 11 transmits to the terminal device 200 a safety notification prompting the pedestrian to walk on the road ahead of the vehicle 1 (step S108).
  • the vehicle control ECU 21 controls the external recognition sensor 25 to transmit a safety signal that prompts the pedestrian to walk on the road ahead of the vehicle 1 .
  • the external recognition sensor 25 transmits a safety signal to the terminal device 200 under control of the vehicle control ECU 21 .
  • the detection unit 220 of the terminal device 200 receives the safety signal from the vehicle control system 11.
  • the output unit 230 of the terminal device 200 outputs a safety notice corresponding to the safety signal when the detection unit 220 receives the safety signal (step S109).
  • the in-vehicle communication device (the vehicle control system 11 in the embodiment) according to the present disclosure includes the detection section (the external recognition sensor 25 in the embodiment) and the transmission section (the vehicle control ECU 21 in the embodiment).
  • the detection unit is mounted on the vehicle and detects a pedestrian present around the vehicle.
  • a transmission part transmits the notification to a pedestrian with respect to a pedestrian's terminal device (terminal device 200 in embodiment).
  • the detection unit transmits a search signal for detecting a terminal device.
  • the transmitting unit transmits a detection notification indicating that the pedestrian has been detected by the vehicle when receiving a response notification indicating a response to the search signal from the terminal device.
  • the in-vehicle communication device can output an approach notification (first notification) indicating that the vehicle is approaching to the pedestrian by transmitting the search signal. Subsequently, when receiving a response notification from the terminal device, the in-vehicle communication device transmits a detection notification to the pedestrian, thereby notifying the pedestrian that the pedestrian has been detected by the vehicle (second detection notification). notification) can be output. As a result, the in-vehicle communication device can notify the pedestrian that the approaching vehicle is a safe vehicle that recognizes the pedestrian as an object to be avoided. can help you decide. In addition, since a safe vehicle is approaching, the in-vehicle communication device can alert pedestrians appropriately to prepare for the approach of the vehicle.
  • the in-vehicle communication device can alert pedestrians appropriately to the approach of the vehicle.
  • the in-vehicle communication device can output two notifications to the pedestrian, it is possible to ensure communication between the pedestrian and the vehicle regarding the approach of the vehicle. Therefore, the in-vehicle communication device can more reliably suppress the occurrence of traffic accidents between vehicles and pedestrians.
  • the in-vehicle communication device further includes a calculation unit (vehicle control ECU 21 in the embodiment).
  • the calculator calculates the distance from the vehicle to the pedestrian based on the position of the pedestrian detected by the detector.
  • the transmission unit transmits a distance notification regarding the distance from the vehicle to the pedestrian together with the detection notification.
  • the in-vehicle communication device can output a detection notification to a pedestrian, for example, in an output mode according to the distance from the vehicle to the pedestrian.
  • the in-vehicle communication device can detect pedestrians through output modes (e.g., strong vibration, loud sound, fast flashing pattern of light, red color, etc.) that call attention to pedestrians more strongly as the distance from the vehicle to the pedestrian is shorter. Notifications can be output. Therefore, the in-vehicle communication device can alert the pedestrian appropriately according to the distance from the vehicle to the pedestrian.
  • output modes e.g., strong vibration, loud sound, fast flashing pattern of light, red color, etc.
  • the in-vehicle communication device further includes an input unit (HMI 31 in the embodiment).
  • the input unit receives a predetermined operation by the driver of the vehicle (vehicle 1 in the embodiment).
  • the transmission unit transmits a safety notification prompting the pedestrian to walk on the road ahead of the vehicle when the input unit receives a predetermined operation.
  • the in-vehicle communication device can prevent a situation in which, for example, the driver wants the pedestrian to cross first at an intersection without traffic lights, but the driver does not get the message and ends up meeting with the pedestrian.
  • the in-vehicle communication device can send safety notifications to pedestrians via the pedestrian device to encourage pedestrians to walk on the road ahead of the vehicle, ensuring communication between pedestrians and vehicles. can be done.
  • the terminal device includes a detection unit (detection unit 220 in the embodiment), an approach notification output unit (output unit 230 in the embodiment), and a transmission unit (in the embodiment a control unit 250) and a detection notification output unit (output unit 230 in the embodiment).
  • the detection unit detects a search signal transmitted from an in-vehicle communication device mounted in the vehicle.
  • the approach notification output unit outputs an approach notification indicating that the vehicle is approaching when the detection unit detects the search signal.
  • the transmitting unit transmits a response notification indicating a response to the search signal to the vehicle-mounted communication device when the detecting unit detects the search signal.
  • the detection notification output unit outputs a detection notification when receiving a detection notification indicating that a pedestrian has been detected by the vehicle from the in-vehicle communication device.
  • the terminal device when the terminal device receives the search signal from the vehicle-mounted communication device, the terminal device outputs an approach notification (first notification) indicating that the vehicle is approaching. It can notify you that you are approaching. Subsequently, when the terminal device receives the detection notification from the in-vehicle communication device, the terminal device outputs a detection notification (second notification) indicating that the pedestrian has been detected by the vehicle. can be notified that a pedestrian has been detected. As a result, the terminal device can notify the pedestrian that the approaching vehicle is a safe vehicle that recognizes the pedestrian as an object to avoid, so that the terminal device can determine that its own state is safe. can help you decide.
  • the terminal device can alert the pedestrian appropriately to prepare for the approach of the vehicle with peace of mind. Therefore, the terminal device can appropriately warn pedestrians of approaching vehicles. In addition, since the terminal device can output two notifications to the pedestrian, it is possible to ensure communication between the pedestrian and the vehicle regarding the approach of the vehicle. Therefore, the terminal device can more reliably suppress the occurrence of traffic accidents between vehicles and pedestrians.
  • the detection notification output unit outputs the detection notification in a different output mode according to the distance from the vehicle to the pedestrian when receiving the distance notification regarding the distance from the vehicle to the pedestrian from the in-vehicle communication device together with the detection notification. Output.
  • the terminal device can output the detection notification to the pedestrian, for example, in an output mode according to the distance from the vehicle to the pedestrian.
  • the terminal device outputs a detection notification in an output mode (e.g., strong vibration, loud sound, fast light pattern, red color, etc.) that draws attention to the pedestrian more strongly as the distance from the vehicle to the pedestrian is shorter. can do. Therefore, the terminal device can alert the pedestrian appropriately according to the distance from the vehicle to the pedestrian.
  • an output mode e.g., strong vibration, loud sound, fast light pattern, red color, etc.
  • the terminal device further includes a safety notification output unit (output unit 230 in the embodiment).
  • the safety notification output unit outputs a safety notification when receiving from the in-vehicle communication device a safety notification urging the pedestrian to walk on the road ahead of the vehicle.
  • the terminal device can prevent a situation in which, for example, the driver wants the pedestrian to cross first at an intersection without a traffic light, but the driver does not get the message and ends up meeting with the pedestrian.
  • the terminal device can send safety notifications to pedestrians via the pedestrian device to encourage pedestrians to walk on the road ahead of vehicles, thereby ensuring communication between pedestrians and vehicles. can.
  • the terminal device further includes a determination unit (control unit 250 in the embodiment) and a danger notification output unit (output unit 230 in the embodiment).
  • the determination unit determines whether or not the detection notification has been received during a period from the transmission time of the response notification to the time when the predetermined time has elapsed.
  • the danger notification output unit outputs a danger notification indicating that the vehicle may not recognize the pedestrian.
  • the danger notification output unit outputs the danger notification when the determination unit determines that the detection notification has not been received.
  • the terminal device if the terminal device does not receive the detection notification within a predetermined period of time, the terminal device outputs a danger notification indicating that the vehicle may not recognize the pedestrian. , that the approaching vehicle is a dangerous vehicle that may not recognize pedestrians. Also, the terminal can help determine one's condition as dangerous because a dangerous vehicle is approaching. In addition, the terminal device alerts pedestrians appropriately to prepare for the approach of the vehicle more carefully than when a safe vehicle is approaching, because a dangerous vehicle is approaching. can be done. Therefore, the terminal device can appropriately warn pedestrians of approaching vehicles.
  • FIG. 6 is a hardware configuration diagram showing an example of a computer 1000 that reproduces the functions of information processing devices such as the vehicle control system 11 and the terminal device 200. As shown in FIG. Hereinafter, the vehicle control system 11 and the terminal device 200 according to the embodiment will be described as an example.
  • the computer 1000 has a CPU 1100 , a RAM 1200 , a ROM (Read Only Memory) 1300 , a HDD (Hard Disk Drive) 1400 , a communication interface 1500 and an input/output interface 1600 . Each part of computer 1000 is connected by bus 1050 .
  • the CPU 1100 operates based on programs stored in the ROM 1300 or HDD 1400 and controls each section. For example, the CPU 1100 loads programs stored in the ROM 1300 or HDD 1400 into the RAM 1200 and executes processes corresponding to various programs.
  • the ROM 1300 stores a boot program such as BIOS (Basic Input Output System) executed by the CPU 1100 when the computer 1000 is started, and programs dependent on the hardware of the computer 1000.
  • BIOS Basic Input Output System
  • the HDD 1400 is a computer-readable recording medium that non-temporarily records programs executed by the CPU 1100 and data used by such programs.
  • HDD 1400 is a recording medium that records a communication program corresponding to the communication method according to the present disclosure or an information processing program corresponding to the information processing method, which are examples of program data 1450 .
  • a communication interface 1500 is an interface for connecting the computer 1000 to an external network 1550 (for example, the Internet).
  • CPU 1100 receives data from another device via communication interface 1500, and transmits data generated by CPU 1100 to another device.
  • the input/output interface 1600 is an interface for connecting the input/output device 1650 and the computer 1000 .
  • the CPU 1100 receives data from input devices such as a keyboard and mouse via the input/output interface 1600 .
  • the CPU 1100 also transmits data to an output device such as a display, speaker, or printer via the input/output interface 1600 .
  • the input/output interface 1600 may function as a media interface for reading a program or the like recorded on a predetermined recording medium.
  • Media include, for example, optical recording media such as DVD (Digital Versatile Disc) and PD (Phase change rewritable disk), magneto-optical recording media such as MO (Magneto-Optical disk), tape media, magnetic recording media, semiconductor memories, etc. is.
  • the CPU 1100 of the computer 1000 executes the information processing program loaded on the RAM 1200 to control the vehicle control unit 32 or the control unit. 250 functions are reproduced.
  • the HDD 1400 also stores a communication program corresponding to the communication method according to the present disclosure, an information processing program corresponding to the information processing method, and data in the storage unit.
  • CPU 1100 reads and executes program data 1450 from HDD 1400 , as another example, these programs may be obtained from another device via external network 1550 .
  • a detection unit that is mounted on a vehicle and detects a pedestrian present around the vehicle; a transmission unit that transmits a notification to the pedestrian to the terminal device of the pedestrian; with The detection unit is transmitting a search signal for detecting the terminal device; The transmission unit transmitting a detection notification indicating that the pedestrian has been detected by the vehicle when a response notification indicating a response to the search signal is received from the terminal device; In-vehicle communication device.
  • a detection unit that detects a search signal transmitted from an in-vehicle communication device mounted in a vehicle; an approach notification output unit that outputs an approach notification indicating that the vehicle is approaching when the search signal is detected by the detection unit; a transmission unit configured to transmit a response notification indicating a response to the search signal to the in-vehicle communication device when the search signal is detected by the detection unit; a detection notification output unit that outputs the detection notification when a detection notification indicating that a pedestrian has been detected by the vehicle is received from the in-vehicle communication device; terminal device.
  • the detection notification output unit is When a distance notification relating to the distance from the vehicle to the pedestrian is received from the in-vehicle communication device together with the detection notification, the detection notification is output in a different output mode according to the distance from the vehicle to the pedestrian. do, The terminal device according to (4) above. (6) (4) or (5) above, further comprising a safety notification output unit that outputs the safety notification when a safety notification urging the pedestrian to walk on the road ahead of the vehicle is received from the in-vehicle communication device; Terminal equipment as described.
  • a determination unit that determines whether or not the detection notification is received within a predetermined time period from the transmission time of the response notification; a danger notification output unit that outputs a danger notification indicating that the vehicle may not recognize the pedestrian; further comprising The danger notification output unit outputting the danger notification when the determination unit determines that the detection notification has not been received;
  • the terminal device according to any one of (4) to (6).
  • An information processing method executed by a pedestrian terminal device Detecting a search signal transmitted from an in-vehicle communication device mounted on a vehicle, outputting an approach notification indicating that the vehicle is approaching when the search signal is detected; transmitting a response notification indicating a response to the search signal to the in-vehicle communication device when the search signal is detected; outputting the detection notification when a detection notification indicating that a pedestrian has been detected by the vehicle is received from the in-vehicle communication device; Information processing methods.
  • a communication system comprising an in-vehicle communication device mounted on a vehicle and a pedestrian terminal device,
  • the in-vehicle communication device A first detection unit that is mounted on a vehicle and detects a pedestrian present around the vehicle; a first transmission unit that transmits a notification to the pedestrian to the terminal device of the pedestrian; with The first detection unit is transmitting a search signal for detecting the terminal device; The first transmission unit, transmitting a detection notification indicating that the pedestrian has been detected by the vehicle when a response notification indicating a response to the search signal is received from the terminal device;
  • the terminal device a second detection unit that detects a search signal transmitted from an in-vehicle communication device mounted in a vehicle; an approach notification output unit that outputs an approach notification indicating that the vehicle is approaching when the search signal is detected by the second detection unit; a second transmission unit configured to transmit a response notification indicating a response to the search signal to the in-vehicle communication device when the search signal is detected by the second detection unit; a detection notification

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un dispositif de communication embarqué dans un véhicule (11) comprenant : une unité de détection (25) qui est montée sur un véhicule (1) et qui détecte un piéton présent autour du véhicule (1) ; et une unité de transmission (21) servant à transmettre une notification pour le piéton à un dispositif terminal (100) du piéton. L'unité de détection (25) émet un signal de recherche pour détecter le dispositif terminal (100). Lors de la réception, en provenance du dispositif terminal (100), d'une notification de réponse indiquant une réponse au signal de recherche, l'unité de transmission (21) transmet une notification de détection indiquant que le piéton a été détecté par le véhicule (1).
PCT/JP2022/037950 2021-10-20 2022-10-12 Dispositif de communication embarqué dans un véhicule, dispositif terminal, procédé de communication, procédé de traitement d'informations et système de communication WO2023068116A1 (fr)

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JP2021171737A JP2023061664A (ja) 2021-10-20 2021-10-20 車載通信装置、端末装置、通信方法、情報処理方法及び通信システム
JP2021-171737 2021-10-20

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