WO2023112194A1 - Vehicle-mounted communication device, roadside machine communication device, and road-to-vehicle communication system - Google Patents

Vehicle-mounted communication device, roadside machine communication device, and road-to-vehicle communication system Download PDF

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Publication number
WO2023112194A1
WO2023112194A1 PCT/JP2021/046227 JP2021046227W WO2023112194A1 WO 2023112194 A1 WO2023112194 A1 WO 2023112194A1 JP 2021046227 W JP2021046227 W JP 2021046227W WO 2023112194 A1 WO2023112194 A1 WO 2023112194A1
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WIPO (PCT)
Prior art keywords
vehicle
communication device
information
unit
transmission
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PCT/JP2021/046227
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French (fr)
Japanese (ja)
Inventor
真裕 中司
康明 瀧本
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三菱電機株式会社
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Priority to JP2023567379A priority Critical patent/JP7462858B2/en
Priority to PCT/JP2021/046227 priority patent/WO2023112194A1/en
Publication of WO2023112194A1 publication Critical patent/WO2023112194A1/en

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • 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]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Definitions

  • This application relates to an in-vehicle communication device, a roadside communication device, and a road-to-vehicle communication system.
  • V2V vehicle-to-vehicle communication
  • V2X non-vehicles
  • the radio wave management means acquires information from the vehicle via the operation center connected to the roadside unit communication device, so that traffic such as intersections It is known that radio wave congestion can be suppressed by transmitting and receiving radio wave management notifications according to traffic conditions, such as reducing the frequency of V2V communication under heavy traffic conditions and lowering transmission power (for example, patent Reference 1).
  • An object of the present invention is to provide an in-vehicle communication device, a roadside device communication device, and a road-to-vehicle communication system using these devices.
  • the vehicle-mounted communication device disclosed in the present application is mounted on a vehicle and performs transmission and reception with a roadside device communication device installed around the road and other vehicles, and transmits vehicle information of the vehicle to the roadside device communication device and other vehicles.
  • the roadside unit communication device disclosed in the present application is attached to a roadside unit installed around a road, and performs transmission and reception with an in-vehicle communication device mounted on a vehicle traveling on the road, and receives vehicle information from the vehicle.
  • a sensor for detecting the presence of a vehicle
  • a peripheral information acquisition unit for acquiring information detected by the sensor and estimating vehicle-specific information that can identify the vehicle;
  • Vehicle transmission control for transmitting vehicle transmission control information for instructing the in-vehicle communication device to stop transmission to other vehicles according to the result of determination by the vehicle identification unit that vehicle identification unit matches vehicle specific information and a proxy information notification unit that transmits information of the vehicle and other vehicles to the vehicle while transmission is stopped.
  • each vehicle can receive messages with high urgency and high reliability even if pressure on the V2X communication band is suppressed in an area with a large number of vehicles.
  • FIG. 1 is a schematic diagram of a system configuration showing an example of a road-to-vehicle communication system according to Embodiment 1;
  • FIG. 2 is a diagram illustrating a communication state in an area with heavy traffic according to Embodiment 1;
  • FIG. 1 is a schematic diagram of a system configuration showing an example of a road-to-vehicle communication system according to Embodiment 1;
  • FIG. 1 is a diagram for explaining a road-to-vehicle communication system according to Embodiment 1;
  • FIG. 1 is a functional block diagram of an in-vehicle communication device according to Embodiment 1;
  • FIG. 2 is a hardware configuration diagram of an in-vehicle communication device according to Embodiment 1;
  • FIG. 2 is a functional block diagram of a roadside device communication device according to Embodiment 1;
  • FIG. 2 is a hardware configuration diagram of a roadside device communication device according to Embodiment 1;
  • FIG. 4 is a flowchart for explaining the operation of the vehicle-mounted communication device according to Embodiment 1;
  • 4 is a flowchart for explaining the operation of the roadside device communication device according to Embodiment 1;
  • 9 is a flowchart for explaining the operation of the vehicle-mounted communication device according to Embodiment 2;
  • 9 is a flowchart for explaining the operation of the roadside device communication device according to Embodiment 2;
  • FIG. 1 is a schematic diagram of a system configuration showing an example of a road-to-vehicle communication system according to Embodiment 1.
  • a vehicle is equipped with an in-vehicle communication device 1, and a roadside device communication device 2 is attached to an infrastructure device such as a traffic light or a railroad crossing.
  • the in-vehicle communication device 1 outputs a V2V signal for performing vehicle-to-vehicle communication (V2V). Further, it outputs a V2I signal for performing road-to-vehicle communication (V2I) with the roadside device communication device 2 .
  • the roadside device communication device 2 transmits an I2V signal (Infrastructure to Vehicle) to the vehicle-mounted communication device 1 .
  • I2V signal Infrastructure to Vehicle
  • a sensor 21 such as a camera installed in the roadside device communication device 2 can sense surrounding vehicles in the sensing range P1 to P4 (see FIG. 4), and the sensed surrounding vehicles are mounted on the vehicle.
  • a control signal for stopping V2V transmission of the communication device 1 is transmitted from the roadside device communication device 2 to the in-vehicle communication device 1, and while the sensed vehicle exists within the sensing range, information on other vehicles that cannot be obtained due to the transmission stop. as proxy information.
  • Each vehicle to which the proxy information should be transmitted is specified based on the vehicle-specific information obtained from each vehicle and the vehicle-specific information estimated based on the output of the sensor 21 . The configuration and operation of such a road-to-vehicle system will be sequentially described below.
  • FIG. 5 is a functional block diagram of the in-vehicle communication device 1. As shown in FIG.
  • the in-vehicle communication device 1 includes a transmitter 100 , a transmission controller 101 , a vehicle information provider 102 , a receiver 103 and an external information processor 104 . Each function will be described in detail below.
  • the transmission unit 100 communicates with the roadside unit communication device 2, the in-vehicle communication device of another vehicle, or the server of the external network X via vehicle-to-vehicle communication (V2V), road-to-vehicle communication (V2I), base station communication (V2N), or the like.
  • V2X (such as V2I, V2V or V2N (Vehicle to Network)) messages.
  • the message is, for example, vehicle information including vehicle position, driving direction, driving speed, vehicle surroundings information, presence/absence of vehicle failure, and vehicle specific information such as vehicle width, vehicle length, and license plate.
  • the transmission control unit 101 stops the operation of the transmission unit 100 based on the transmission stop vehicle transmission control information received from the roadside device communication device 2 via the road-to-vehicle communication (I2V). Further, the position for resuming transmission is determined based on the sensor information of the roadside unit communication device 2 in the proxy information received by the receiving unit 103 described later, and when the vehicle reaches the determined position, the operation of the transmitting unit 100 is performed. resume. Alternatively, the operation of the transmission unit 100 may be restarted by receiving vehicle transmission information (restart) from the roadside device communication device 2 .
  • the vehicle information providing unit 102 provides the above-described vehicle information of the host vehicle to the transmitting unit 100 and the vehicle-external information processing unit 104, which will be described later, for transmission as a message.
  • the receiving unit 103 receives V2X from the onboard communication device 1 of another vehicle, the roadside communication device 2, or an external network X (communication between the onboard communication device and the roadside communication device through base station communication) via V2V, I2V, or the like.
  • a message (V2I, V2V, V2N, etc.) is received and provided to the transmission control unit 101 and the information processing unit 104 outside the vehicle.
  • the message includes the following information (1) to (5) as an example.
  • Vehicle transmission control information which is information for controlling transmission or stopping of the transmission unit 100
  • Vehicle-specific information sensed by the roadside unit communication device 2 vehicle width, vehicle length, license plate, etc.
  • Sensor information of the roadside unit communication device 2 sensing ranges P1 to P4, and information on the presence or absence of the own vehicle within the sensing range
  • the external information processing unit 104 executes an application for estimating the position of other vehicles and road surrounding conditions from the other vehicle information or proxy information received by the receiving unit 103 and the own vehicle information provided by the vehicle information providing unit 102. do. This notifies the driver or fellow passengers of danger information outside the vehicle, and recognizes the situation outside the vehicle in the case of automatic driving.
  • FIG. 6 is a hardware configuration diagram of an in-vehicle communication device. It has a memory 110 , a processor 111 , a wireless communication interface (I/F) 112 and an in-vehicle network I/F 113 .
  • I/F wireless communication interface
  • the memory 110 includes volatile memory such as random access memory (RAM) and nonvolatile memory (ROM) such as flash memory as auxiliary storage devices.
  • RAM random access memory
  • ROM nonvolatile memory
  • a hard disk auxiliary storage device may be provided instead of the flash memory.
  • the ROM stores programs to be executed by the processor, and the RAM temporarily stores part of the execution programs and data necessary for execution.
  • the processor 111 operates each function described above by executing a plurality of or a single program input from the memory 110 .
  • the wireless communication I/F 112 is a wireless communication interface that performs communication between vehicles, between roads and vehicles, or with an external network X
  • the in-vehicle network I/F 113 is an ECU (Electronic Control Unit) or a camera mounted on the vehicle, a LiDAR (Light Detection And Ranging), GPS (Global Positioning System), and other sensors.
  • ECU Electronic Control Unit
  • LiDAR Light Detection And Ranging
  • GPS Global Positioning System
  • FIG. 7 is a functional block diagram of the roadside device communication device 2.
  • the roadside device communication device 2 includes a transmission section 200 , a reception section 201 , a surrounding information provision section 202 , a vehicle identification section 203 , a vehicle transmission control section 204 and a proxy information notification section 205 . Each function will be described in detail below.
  • the transmission unit 200 transmits V2I messages to vehicles around the roadside device communication device 2 via road-to-vehicle communication (I2V) or the like.
  • the receiving unit 201 receives V2X (V2I, V2V, V2N, etc.) messages from vehicles surrounding the roadside communication device 2 via V2V, I2V, and the like.
  • the message includes vehicle-specific information (vehicle width, vehicle length, license plate, etc.) transmitted from each vehicle.
  • the peripheral information providing unit 202 transmits the road peripheral sensing information acquired by the sensor 21 (camera, LiDAR, millimeter wave, etc.) provided in the roadside device communication device 2 and the vehicle specific information of the road peripheral vehicle to the vehicle identification unit 203, which will be described later. It is provided to the vehicle transmission control unit 204 and the proxy information notification unit 205 .
  • the vehicle identification unit 203 compares the vehicle specific information received from the receiving unit 201 with the vehicle specific information of the road surrounding vehicles provided by the surrounding information providing unit 202, and determines whether or not they match. A determination result is provided to the vehicle transmission control unit 204 .
  • the transmission unit 200 transmits vehicle transmission control information (stop). Along with this, the proxy information notification unit 205 is notified.
  • the proxy information notification unit 205 selects proxy information to be notified to the vehicle from the road surroundings sensing information provided by the surroundings information providing unit 202, and transmits the selected proxy information from the transmission unit 200.
  • the transmission timing may be the timing at which the transmission notification of the vehicle transmission control information (stop) is obtained from the vehicle transmission control unit 204 . Note that the transmission cycle may be changed arbitrarily.
  • the proxy information transmission stop timing may be the timing when the vehicle identified by the vehicle identification unit 203 no longer exists in the road surroundings sensing information. Further, when the specified vehicle no longer exists, transmission of vehicle transmission control information (resume) may be transmitted to the selected vehicle in the same manner as transmission of vehicle transmission control information (stop).
  • FIG. 8 is a hardware configuration diagram of the roadside device communication device 2. As shown in FIG. It is composed of a memory 210 , a processor 211 , a wireless communication I/F 212 and a sensor 21 .
  • the memory 210 includes a volatile memory such as a RAM and a ROM such as a flash memory as auxiliary storage devices.
  • a volatile memory such as a RAM
  • a ROM such as a flash memory as auxiliary storage devices.
  • a hard disk auxiliary storage device may be provided instead of the flash memory.
  • the ROM stores programs to be executed by the processor, and the RAM temporarily stores part of the execution programs and data necessary for execution.
  • the processor 211 operates each function described above by executing a plurality of or a single program input from the memory 210 .
  • the wireless communication I/F 212 is a wireless communication interface that communicates between vehicles, between roads and vehicles, or with an external network X.
  • the sensor 21 is for detecting the surroundings of the road using a camera, LiDAR, millimeter waves, or the like. It is.
  • FIG. 9 is a flowchart showing the basic operation of the in-vehicle communication device 1 when stopping transmission of V2V messages from vehicles within the sensing ranges P1 to P4.
  • the transmission unit 100 of the in-vehicle communication device 1 performs vehicle-to-vehicle communication (V2V) and road-to-vehicle communication (V2I) periodically, for example, at intervals of 100 ms, to surrounding vehicles or roadside equipment 2, Transmits vehicle information including vehicle-specific information of the own vehicle. Then, the receiving unit 103 receives other vehicle information. Using the received other vehicle information, the external information processing unit 104 determines whether or not the own vehicle is in a dangerous situation based on the positional relationship and relative speed between the own vehicle and the other vehicle. When it is determined that the situation is dangerous, it issues a warning to the driver or intervenes in driving to manage safe driving (step S1).
  • V2V vehicle-to-vehicle communication
  • V2I road-to-vehicle communication
  • the receiving unit 103 When the receiving unit 103 receives the vehicle transmission control information (stop transmission) from the roadside device communication device 2 (step S2), it stops the transmitting unit 100 (step S3).
  • the transmission control unit 101 stores vehicle IDs and transmission times of messages transmitted during a certain period of time in the past, and the transmission control unit 101 stores the vehicle IDs and transmission times of the messages received from the roadside unit communication device 2. and the reception time match the stored vehicle ID and the transmission time, and when a matching reception message is received, it is determined that the transmission is stopped based on the vehicle transmission control information (transmission stop) in the received message. good too.
  • the coincidence of times may include an error of several seconds.
  • the vehicle ID is a communication ID assigned to each vehicle during V2X communication.
  • V2X transmission is also stopped by other vehicles, so proxy information is obtained from the roadside communication device 2.
  • the receiving unit 103 receives the proxy information and provides it to the external information processing unit 104 (step S5).
  • the information processing unit 104 outside the vehicle performs the same operation as in step S1 using the proxy information (step S6).
  • the transmission control unit 101 sets the position outside the sensing range of the roadside unit communication device as the V2X transmission restart position.
  • the transmission control unit 101 determines whether or not the in-vehicle communication device 1 has moved to the transmission restart position (step S7).
  • the position information of the in-vehicle communication device 1 at this time is based on the vehicle information of the own vehicle provided from the vehicle information providing unit 102 .
  • the transmission section is restarted. While the vehicle is traveling in the area within the sensing range where the roadside unit communication device 2 is located, the processing from step S4 to step S7 is repeated. Further, instead of the transmission control unit 101 determining whether or not the in-vehicle communication device 1 has moved to the transmission restart position, the vehicle transmission control information (restart) transmitted from the roadside communication device is received to restart transmission. You can judge.
  • the method of determining the vehicle transmission control information (resume) as the information of the own vehicle may be determined in the same manner as the reception of the vehicle transmission control information (stop).
  • the peripheral information providing unit 202 of the roadside device communication device 2 estimates the vehicle specific information of each vehicle in the sensing range of the intersection area, for example.
  • the vehicle-specific information among the vehicle-specific information, the vehicle width, vehicle length, vehicle position information, and license plate are recognized and estimated from an image acquired by a sensor 21 such as a camera or LiDAR (step S11).
  • the receiving unit 201 acquires the vehicle-specific information transmitted by the in-vehicle communication device 1 via V2I (step S12). It is determined whether or not the vehicle-specific information estimated in step S11 and the vehicle-specific information obtained in step S12 match (step S13). An example of the determination method is shown below. (1) If the vehicle information includes license plate information, it is determined whether the license plate numbers match. (2) If the vehicle information does not include license plate information, determine whether the vehicle width, vehicle length, and position information match. Cases where the license plate is not included in the vehicle specific information include cases where the license plate cannot be recognized by the camera sensor of the roadside unit communication device 2 due to bad weather, and cases where the vehicle cannot transmit the license plate information due to security concerns. Conceivable.
  • the roadside unit communication device 2 transmits the vehicle transmission control information (stop transmission) to the vehicle transmission control information (stop transmission) via I2V.
  • the vehicle ID selected in step S14 and the reception time information of the vehicle ID are added and broadcasted (step S14). This is because the vehicle ID is a communication ID on the V2X communication protocol and may change depending on the communication status (the number of connections and the usage status of the ID). Therefore, as described in the operation of the vehicle-mounted communication device 1, the vehicle transmission control information for stopping transmission is transmitted by the roadside unit communication device so that the vehicle can determine whether it is information transmitted to the own vehicle.
  • the selected vehicle ID and reception time are added to the vehicle transmission control information.
  • Proxy information to be notified to the vehicle is selected from the road surrounding sensing information provided by the surrounding information providing unit 202 (step S15), and the selected information is transmitted to the vehicle-mounted communication device 1 via the transmitting unit 200 (step S16). . It is detected whether the vehicle has moved out of the sensing area (step S17), and the processing from step S15 to step S17 is repeated until the vehicle moves.
  • each vehicle receives a message with a high degree of urgency and reliability based on the proxy information.
  • the roadside communication device 2 identifies the vehicle to which proxy information is transmitted from the roadside communication device 2, but in the present embodiment, the onboard communication device 1 identifies the vehicle. A flow chart for this is shown in FIG.
  • the receiving unit 103 of the vehicle-mounted communication device 1 receives the estimated vehicle-specific information from the roadside device communication device 2 via road-to-vehicle communication (I2V), and provides it to the transmission control unit 101 (step S21).
  • I2V road-to-vehicle communication
  • the transmission control unit 101 determines whether the estimated vehicle-specific information provided from the roadside device communication device 2 matches the vehicle information provided from the vehicle information providing unit 102 (step S22). Similar to the first embodiment, the determination method is as follows. (1) If the vehicle information includes license plate information, it is determined whether the license plate numbers match. (2) If the vehicle information does not include license plate information, determine whether the vehicle width, vehicle length, and position information match. A case where the license plate is not included in the vehicle-specific information may be a case where the license plate cannot be recognized by the camera sensor of the roadside unit communication device 2 due to bad weather.
  • the transmission control unit 101 transmits match information indicating a match with the vehicle specific information to the roadside unit communication device via the transmission unit 100 (step S23). At that time, the vehicle ID and transmission time of the V2I message are stored. After that, the procedure after step S2 is executed. If they do not match, the process ends.
  • the peripheral information providing unit 202 estimates vehicle specific information of each vehicle in the sensing range of the intersection area, for example.
  • the vehicle-specific information among the vehicle-specific information, the vehicle width, vehicle length, vehicle position information, and license plate are recognized and estimated from an image acquired by a sensor 21 such as a camera or LiDAR (step S11).
  • the vehicle transmission control unit 204 transmits the estimated vehicle-specific information provided by the peripheral information providing unit 202 to the vehicle-mounted communication device 1 via the transmission unit 200 (step S31).
  • the receiving unit 201 receives the match information determined by the in-vehicle communication device 1 and provides it to the vehicle transmission control unit 204 (step S32). At that time, the vehicle ID and reception time of the V2I message are stored. After that, the procedure after step S14 is executed.
  • the estimated vehicle specific information including the license plate information can be sent from the roadside device communication device 2.
  • the vehicle can be identified with certainty, and highly reliable road-to-vehicle communication can be executed. Further, by allowing the vehicle to carry out the vehicle identification processing, the processing can be distributed, and the processing amount of the roadside communication device can be suppressed.

Abstract

In the case of intersections in large cities, the increase in V2V communications due to the increased number of vehicles constricts the V2I and I2V communication bands of a roadside machine communication device (2) mounted on a traffic signal. This may cause problems such as the inability of vehicles to acquire information from the roadside machine communication device (2). Therefore, in a sensing range in which a sensor (21) provided to the roadside machine communication device (2) can sense nearby vehicles, a control signal for stopping the V2V transmission of a vehicle-mounted communication device (1) in each nearby vehicle is transmitted from the roadside machine communication device (2) to the vehicle-mounted communication device (1), and information about other vehicles that cannot be obtained due to said stoppage is transmitted to each vehicle as proxy information.

Description

車載通信装置、路側機通信装置および路車間通信システムIn-vehicle communication device, roadside device communication device and road-to-vehicle communication system
　本願は、車載通信装置、路側機通信装置および路車間通信システムに関するものである。 This application relates to an in-vehicle communication device, a roadside communication device, and a road-to-vehicle communication system.
　交通量の多い大都市の交差点など、車両数が多いエリアの場合、車載装置からの車車間通信（Ｖ２Ｖ：Vehicle to Vehicle）が増大することで車と車以外との通信（Ｖ２Ｘ：Vehicle to X）の通信帯域を圧迫する問題が生ずる。これにより、路側機通信装置から車に対して送信される緊急度および信頼度の高いメッセージを適切なタイミングで受信できず、車両内の運転者または同乗者が必要とするタイミングで交通情報あるいは道路周辺情報などを入手できないことがある。 In areas with a large number of vehicles, such as intersections in large cities with heavy traffic, vehicle-to-vehicle communication (V2V) from in-vehicle equipment increases, thereby increasing communication between vehicles and non-vehicles (V2X). ), a problem arises that puts pressure on the communication band. As a result, messages with high urgency and reliability sent from the roadside unit communication device to the vehicle cannot be received at appropriate timing, and the driver or passenger in the vehicle cannot receive traffic information or road information at the timing required by the driver or passenger. You may not be able to obtain information about the surrounding area.
　これに対し、Ｖ２Ｖと、Ｖ２Ｉ（Vehicle to Infrastructure）を組合せた通信システムにおいて、路側機通信装置に接続されたオペレーションセンターを介して電波管理手段が車両からの情報を取得することで、交差点など交通量が多い状況下でＶ２Ｖの通信頻度を下げたり、送信電力を下げるなどの交通状況に応じた電波管理通知の送受信を行うことで、電波の混雑を抑制できることが知られている（例えば、特許文献１参照）。 On the other hand, in a communication system that combines V2V and V2I (Vehicle to Infrastructure), the radio wave management means acquires information from the vehicle via the operation center connected to the roadside unit communication device, so that traffic such as intersections It is known that radio wave congestion can be suppressed by transmitting and receiving radio wave management notifications according to traffic conditions, such as reducing the frequency of V2V communication under heavy traffic conditions and lowering transmission power (for example, patent Reference 1).
特開２０１１－８７１７４号公報JP 2011-87174 A
　しかし、上述のような従来の通信システムにおいては、Ｖ２Ｖの通信抑制を行う結果、Ｖ２Ｖで得られる交通情報または道路周辺情報などの伝達が損なわれる問題がある。 However, in the conventional communication system as described above, as a result of suppressing V2V communication, there is a problem that transmission of traffic information or roadside information obtained by V2V is impaired.
　本願は、上述のような問題を解決するためになされたもので、車両数の多いエリアにおけるＶ２Ｘの通信帯域の圧迫を抑制しても、各車両が緊急度および信頼度の高いメッセージを受信できる車載通信装置、路側機通信装置およびこれらを使用した路車間通信システムを提供することを目的とする。 The present application was made to solve the above-mentioned problems, and even if V2X communication band pressure is suppressed in areas with a large number of vehicles, each vehicle can receive messages with high urgency and reliability. An object of the present invention is to provide an in-vehicle communication device, a roadside device communication device, and a road-to-vehicle communication system using these devices.
　本願に開示される車載通信装置は、車両に搭載され、路上周囲に設置された路側機通信装置および他の車両と送受信を行うものであって、車両の車両情報を路側機通信装置および他の車両に送信する送信部、路側機通信装置から受信した車両送信制御情報を受信する受信部、受信された車両送信制御情報に基づいて他の車両への送信を停止する送信制御部、を備え、送信が停止されている期間、路側機通信装置から送信された車両と他の車両の情報を受信部で受信することを特徴とする。 The vehicle-mounted communication device disclosed in the present application is mounted on a vehicle and performs transmission and reception with a roadside device communication device installed around the road and other vehicles, and transmits vehicle information of the vehicle to the roadside device communication device and other vehicles. A transmission unit that transmits to the vehicle, a reception unit that receives vehicle transmission control information received from the roadside unit communication device, and a transmission control unit that stops transmission to other vehicles based on the received vehicle transmission control information, It is characterized in that the information of the vehicle and other vehicles transmitted from the roadside unit communication device is received by the receiving unit during the period in which the transmission is stopped.
　本願に開示される路側機通信装置は、道路周囲に設置された路側機に取り付けられ、道路を走行する車両に搭載された車載通信装置と送受信を行うものであって、車両から車両情報を受信する受信部、車両の存在を検出するセンサ、センサの検出情報を取得し、車両を識別できる車両固有情報を推測する周辺情報取得部、推測された推測車両固有情報と前記車載通信装置から受信した車両固有情報の一致を判定する車両特定部、車両特定部で一致と判定された結果に応じて車載通信装置の他の車両への送信の停止を指示する車両送信制御情報を送信する車両送信制御部、送信が停止されている期間、車両と他の車両の情報を車両に送信する代理情報通知部、を備えたことを特徴とする。 The roadside unit communication device disclosed in the present application is attached to a roadside unit installed around a road, and performs transmission and reception with an in-vehicle communication device mounted on a vehicle traveling on the road, and receives vehicle information from the vehicle. a sensor for detecting the presence of a vehicle; a peripheral information acquisition unit for acquiring information detected by the sensor and estimating vehicle-specific information that can identify the vehicle; Vehicle transmission control for transmitting vehicle transmission control information for instructing the in-vehicle communication device to stop transmission to other vehicles according to the result of determination by the vehicle identification unit that vehicle identification unit matches vehicle specific information and a proxy information notification unit that transmits information of the vehicle and other vehicles to the vehicle while transmission is stopped.
　本願に開示される車載通信装置および路側機通信装置によれば、車両数の多いエリアにおけるＶ２Ｘの通信帯域の圧迫を抑制しても、各車両が緊急度および信頼度の高いメッセージを受信できる。 According to the in-vehicle communication device and the roadside device communication device disclosed in the present application, each vehicle can receive messages with high urgency and high reliability even if pressure on the V2X communication band is suppressed in an area with a large number of vehicles.
実施の形態１に係る路車間通信システムの一例を示すシステム構成の概略図である。1 is a schematic diagram of a system configuration showing an example of a road-to-vehicle communication system according to Embodiment 1; FIG. 実施の形態１に係る交通量の多いエリアでの通信状態を説明する図である。FIG. 2 is a diagram illustrating a communication state in an area with heavy traffic according to Embodiment 1; FIG. 実施の形態１に係る路車間通信システムの一例を示すシステム構成の概略図である。1 is a schematic diagram of a system configuration showing an example of a road-to-vehicle communication system according to Embodiment 1; FIG. 実施の形態１に係る路車間通信システムを説明する図である。1 is a diagram for explaining a road-to-vehicle communication system according to Embodiment 1; FIG. 実施の形態１に係る車載通信装置の機能ブロック図である。1 is a functional block diagram of an in-vehicle communication device according to Embodiment 1; FIG. 実施の形態１に係る車載通信装置のハードウエア構成図である。2 is a hardware configuration diagram of an in-vehicle communication device according to Embodiment 1; FIG. 実施の形態１に係る路側機通信装置の機能ブロック図である。2 is a functional block diagram of a roadside device communication device according to Embodiment 1; FIG. 実施の形態１に係る路側機通信装置のハードウエア構成図である。2 is a hardware configuration diagram of a roadside device communication device according to Embodiment 1; FIG. 実施の形態１に係る車載通信装置の動作を説明するフローチャートである。4 is a flowchart for explaining the operation of the vehicle-mounted communication device according to Embodiment 1; 実施の形態１に係る路側機通信装置の動作を説明するフローチャートである。4 is a flowchart for explaining the operation of the roadside device communication device according to Embodiment 1; 実施の形態２に係る車載通信装置の動作を説明するフローチャートである。9 is a flowchart for explaining the operation of the vehicle-mounted communication device according to Embodiment 2; 実施の形態２に係る路側機通信装置の動作を説明するフローチャートである。9 is a flowchart for explaining the operation of the roadside device communication device according to Embodiment 2;
　以下、本願に係る路車間通信システムの好適な実施の形態について、図面を参照して説明する。なお、同一内容および相当部については同一符号を配し、その詳しい説明は省略する。以降の実施形態も同様に、同一符号を付した構成について重複した説明は省略する。 A preferred embodiment of the road-to-vehicle communication system according to the present application will be described below with reference to the drawings. The same reference numerals are assigned to the same contents and corresponding parts, and detailed description thereof will be omitted. In the following embodiments as well, redundant descriptions of the configurations denoted by the same reference numerals will be omitted.
実施の形態１．
<本実施の形態の路車間通信システムの概要>
　図１は、実施の形態１に係る路車間通信システムの一例を示すシステム構成の概略図である。図において、車両には、車載通信装置１が搭載され、信号機または踏切などのインフラ装置に、路側機通信装置２が取付けられている。車載通信装置１は、車車間通信（Ｖ２Ｖ）を行うためのＶ２Ｖ信号を出力する。さらに路側機通信装置２と路車間通信（Ｖ２Ｉ）を行うためのＶ２Ｉ信号を出力する。一方、路側機通信装置２は、車載通信装置１にＩ２Ｖ信号（Infrastructure to Vehicle）を送信する。 Embodiment 1.
<Overview of road-to-vehicle communication system according to the present embodiment>
FIG. 1 is a schematic diagram of a system configuration showing an example of a road-to-vehicle communication system according to Embodiment 1. FIG. In the figure, a vehicle is equipped with an in-vehicle communication device 1, and a roadside device communication device 2 is attached to an infrastructure device such as a traffic light or a railroad crossing. The in-vehicle communication device 1 outputs a V2V signal for performing vehicle-to-vehicle communication (V2V). Further, it outputs a V2I signal for performing road-to-vehicle communication (V2I) with the roadside device communication device 2 . On the other hand, the roadside device communication device 2 transmits an I2V signal (Infrastructure to Vehicle) to the vehicle-mounted communication device 1 .
　図２に示すような大都市の交差点の場合、車両数の増加によるＶ２Ｖ通信の増大により、Ｖ２Ｖの通信帯域を圧迫することに加え、信号機に取り付けられた路側機通信装置２のＶ２Ｉ、Ｉ２Ｖの通信帯域を圧迫する。このため、他車両から、あるいは路側機通信装置２から、情報を得ることに遅延が生じたり、取得できないなどの問題が生じる恐れがある。このため、図３に示すように、路側機通信装置２に備え付けられたカメラなどのセンサ２１が、周辺車両をセンシングできるセンシング範囲Ｐ１～Ｐ４（図４参照）において、センシングされた周辺車両の車載通信装置１のＶ２Ｖの送信を停止する制御信号を路側機通信装置２から車載通信装置１に送信するとともに、センシングされた車両がセンシング範囲内に存在する間、送信停止により取得できない他車両の情報を代理情報として、送信するシステム構成とする。代理情報を送信すべき各車両の特定は、各車両から取得した車両固有情報と、センサ２１の出力に基づいて推定した車両固有情報に基づいて行う。このような路車間システムの構成と動作を以下に順次説明する。 In the case of an intersection in a large city as shown in FIG. 2, an increase in V2V communication due to an increase in the number of vehicles puts pressure on the V2V communication band. Compress the communication band. For this reason, there is a possibility that problems such as a delay in obtaining information from other vehicles or from the roadside unit communication device 2 or failure to obtain information may occur. Therefore, as shown in FIG. 3, a sensor 21 such as a camera installed in the roadside device communication device 2 can sense surrounding vehicles in the sensing range P1 to P4 (see FIG. 4), and the sensed surrounding vehicles are mounted on the vehicle. A control signal for stopping V2V transmission of the communication device 1 is transmitted from the roadside device communication device 2 to the in-vehicle communication device 1, and while the sensed vehicle exists within the sensing range, information on other vehicles that cannot be obtained due to the transmission stop. as proxy information. Each vehicle to which the proxy information should be transmitted is specified based on the vehicle-specific information obtained from each vehicle and the vehicle-specific information estimated based on the output of the sensor 21 . The configuration and operation of such a road-to-vehicle system will be sequentially described below.
<車載通信装置１の機能>
　図５は、車載通信装置１の機能ブロック図である。車載通信装置１は、送信部１００、送信制御部１０１、車両情報提供部１０２、受信部１０３、および車外情報処理部１０４を備える。以下各機能を詳細に説明する。 <Functions of in-vehicle communication device 1>
FIG. 5 is a functional block diagram of the in-vehicle communication device 1. As shown in FIG. The in-vehicle communication device 1 includes a transmitter 100 , a transmission controller 101 , a vehicle information provider 102 , a receiver 103 and an external information processor 104 . Each function will be described in detail below.
　送信部１００は、車車間通信（Ｖ２Ｖ）、路車間通信（Ｖ２Ｉ）、基地局通信（Ｖ２Ｎ）などを介して、路側機通信装置２、他車両の車載通信装置あるいは外部ネットワークＸのサーバなどに、Ｖ２Ｘ（Ｖ２Ｉ、Ｖ２ＶまたはＶ２Ｎ（Vehicle to Network）など）のメッセージを送信する。メッセージは、例えば、車両位置、走行方向、走行速度、車外周辺情報、車両故障の有無などの情報、および車幅、車長、ナンバープレートなどの車両固有情報を含む車両情報である。 The transmission unit 100 communicates with the roadside unit communication device 2, the in-vehicle communication device of another vehicle, or the server of the external network X via vehicle-to-vehicle communication (V2V), road-to-vehicle communication (V2I), base station communication (V2N), or the like. , V2X (such as V2I, V2V or V2N (Vehicle to Network)) messages. The message is, for example, vehicle information including vehicle position, driving direction, driving speed, vehicle surroundings information, presence/absence of vehicle failure, and vehicle specific information such as vehicle width, vehicle length, and license plate.
　送信制御部１０１は、路側機通信装置２から路車間通信（Ｉ２Ｖ）を介して受信した送信停止の車両送信制御情報に基づいて送信部１００の動作を停止する。また、後述する受信部１０３が受信した、代理情報内の路側機通信装置２のセンサ情報に基づいて送信再開する位置を決定し、車両が決定された位置に到達すると、送信部１００の動作を再開する。あるいは路側機通信装置２の車両送信情報（再開）を受信したことにより送信部１００の動作を再開してもよい。 The transmission control unit 101 stops the operation of the transmission unit 100 based on the transmission stop vehicle transmission control information received from the roadside device communication device 2 via the road-to-vehicle communication (I2V). Further, the position for resuming transmission is determined based on the sensor information of the roadside unit communication device 2 in the proxy information received by the receiving unit 103 described later, and when the vehicle reaches the determined position, the operation of the transmitting unit 100 is performed. resume. Alternatively, the operation of the transmission unit 100 may be restarted by receiving vehicle transmission information (restart) from the roadside device communication device 2 .
　車両情報提供部１０２は、メッセージで送信するための、上述した自車両の車両情報を送信部１００、および後述する車外情報処理部１０４に提供する。 The vehicle information providing unit 102 provides the above-described vehicle information of the host vehicle to the transmitting unit 100 and the vehicle-external information processing unit 104, which will be described later, for transmission as a message.
　受信部１０３は、Ｖ２Ｖ、Ｉ２Ｖなどを介して、他車両の車載通信装置１、路側機通信装置２、あるいは外部ネットワークＸ（基地局通信による車載通信装置と路側通信装置の通信）などから、Ｖ２Ｘ（Ｖ２Ｉ、Ｖ２ＶまたはＶ２Ｎなど）のメッセージを受信し、送信制御部１０１および車外情報処理部１０４に提供する。メッセージには例として以下の（１）から（５）の情報を含む。
（１）他車両情報（位置情報、走行方向、走行速度、車両センサ情報、危険車両情報、緊急車情報など）
（２）代理情報（周辺車両情報（位置、走行方向、速度など）、路側機通信装置２のセンサ情報、危険車両情報、緊急車情報など）
（３）送信部１００の送信または停止を制御するための情報である車両送信制御情報
（４）路側機通信装置２がセンシングした自車両固有情報（車幅、車長、ナンバープレート等）
（５）路側機通信装置２のセンサ情報（センシング範囲Ｐ１～Ｐ４、およびセンシング範囲内の自車両の有無の情報） The receiving unit 103 receives V2X from the onboard communication device 1 of another vehicle, the roadside communication device 2, or an external network X (communication between the onboard communication device and the roadside communication device through base station communication) via V2V, I2V, or the like. A message (V2I, V2V, V2N, etc.) is received and provided to the transmission control unit 101 and the information processing unit 104 outside the vehicle. The message includes the following information (1) to (5) as an example.
(1) Other vehicle information (location information, driving direction, driving speed, vehicle sensor information, dangerous vehicle information, emergency vehicle information, etc.)
(2) Proxy information (surrounding vehicle information (position, traveling direction, speed, etc.), sensor information of the roadside unit communication device 2, dangerous vehicle information, emergency vehicle information, etc.)
(3) Vehicle transmission control information, which is information for controlling transmission or stopping of the transmission unit 100 (4) Vehicle-specific information sensed by the roadside unit communication device 2 (vehicle width, vehicle length, license plate, etc.)
(5) Sensor information of the roadside unit communication device 2 (sensing ranges P1 to P4, and information on the presence or absence of the own vehicle within the sensing range)
　車外情報処理部１０４は、受信部１０３が受信した他車両情報または代理情報と、車両情報提供部１０２が提供する自車両の車両情報とから、他車両位置および道路周辺状況を推測するアプリケーションを実行する。これにより、車外の危険情報の運転手または同乗者への通知、自動運転であれば、車外状況の認知を行う。 The external information processing unit 104 executes an application for estimating the position of other vehicles and road surrounding conditions from the other vehicle information or proxy information received by the receiving unit 103 and the own vehicle information provided by the vehicle information providing unit 102. do. This notifies the driver or fellow passengers of danger information outside the vehicle, and recognizes the situation outside the vehicle in the case of automatic driving.
<車載通信装置１のハードウエア構成>
　図６は、車載通信装置のハードウエア構成図である。メモリ１１０、プロセッサ１１１、無線通信インターフェース（Ｉ／Ｆ）１１２、車内ネットワークＩ／Ｆ１１３を備える。 <Hardware configuration of in-vehicle communication device 1>
FIG. 6 is a hardware configuration diagram of an in-vehicle communication device. It has a memory 110 , a processor 111 , a wireless communication interface (I/F) 112 and an in-vehicle network I/F 113 .
　メモリ１１０は、ランダムアクセスメモリ（ＲＡＭ）等の揮発性メモリと、フラッシュメモリ等の不揮発性メモリ（ＲＯＭ）を補助記憶装置として具備する。フラッシュメモリの代わりにハードディスクの補助記憶装置を具備してもよい。ＲＯＭにはプロセッサで実行させるプログラムを記憶し、ＲＡＭには、実行ブログラムの一部および実行に必要なデータを一時的に記憶する。 The memory 110 includes volatile memory such as random access memory (RAM) and nonvolatile memory (ROM) such as flash memory as auxiliary storage devices. A hard disk auxiliary storage device may be provided instead of the flash memory. The ROM stores programs to be executed by the processor, and the RAM temporarily stores part of the execution programs and data necessary for execution.
　プロセッサ１１１は、メモリ１１０から入力した複数または単一のプログラムを実行することにより、上述した各機能を動作させる。 The processor 111 operates each function described above by executing a plurality of or a single program input from the memory 110 .
　無線通信Ｉ／Ｆ１１２は、車車間、路車間、または外部ネットワークＸと通信を行う無線通信インターフェースであり、車内ネットワークＩ／Ｆ１１３は、車両に搭載されているＥＣＵ（Electronic Control Unit）あるいはカメラ、ＬｉＤＡＲ（Light Detection And Ranging）、ＧＰＳ（Global Positioning System）などのセンサと通信するための有線通信インターフェースである。 The wireless communication I/F 112 is a wireless communication interface that performs communication between vehicles, between roads and vehicles, or with an external network X, and the in-vehicle network I/F 113 is an ECU (Electronic Control Unit) or a camera mounted on the vehicle, a LiDAR (Light Detection And Ranging), GPS (Global Positioning System), and other sensors.
<路側機通信装置２の機能>
　図７は、路側機通信装置２の機能ブロック図である。路側機通信装置２は、送信部２００、受信部２０１、周辺情報提供部２０２、車両特定部２０３、車両送信制御部２０４、代理情報通知部２０５を備える。以下各機能を詳細に説明する。 <Functions of the roadside device communication device 2>
FIG. 7 is a functional block diagram of the roadside device communication device 2. As shown in FIG. The roadside device communication device 2 includes a transmission section 200 , a reception section 201 , a surrounding information provision section 202 , a vehicle identification section 203 , a vehicle transmission control section 204 and a proxy information notification section 205 . Each function will be described in detail below.
　送信部２００は、路車間通信（Ｉ２Ｖ）などを介して、路側機通信装置２の周辺の車両に、Ｖ２Ｉメッセージを送信する。受信部２０１は、Ｖ２Ｖ、Ｉ２Ｖなどを介して路側機通信装置２の周辺車両からＶ２Ｘ（Ｖ２Ｉ、Ｖ２Ｖ、Ｖ２Ｎなど）メッセージを受信する。メッセージには、各車両から送信される車両固有情報（車幅、車長、ナンバープレート等）が含まれる。 The transmission unit 200 transmits V2I messages to vehicles around the roadside device communication device 2 via road-to-vehicle communication (I2V) or the like. The receiving unit 201 receives V2X (V2I, V2V, V2N, etc.) messages from vehicles surrounding the roadside communication device 2 via V2V, I2V, and the like. The message includes vehicle-specific information (vehicle width, vehicle length, license plate, etc.) transmitted from each vehicle.
　周辺情報提供部２０２は、路側機通信装置２が備えたセンサ２１（カメラ、ＬｉＤＡＲ、ミリ波など）が取得した道路周辺センシング情報、道路周辺車両の車両固有情報を、後述する車両特定部２０３，車両送信制御部２０４、代理情報通知部２０５に提供する。 The peripheral information providing unit 202 transmits the road peripheral sensing information acquired by the sensor 21 (camera, LiDAR, millimeter wave, etc.) provided in the roadside device communication device 2 and the vehicle specific information of the road peripheral vehicle to the vehicle identification unit 203, which will be described later. It is provided to the vehicle transmission control unit 204 and the proxy information notification unit 205 .
　車両特定部２０３は、受信部２０１から受信した車両固有情報と周辺情報提供部２０２が提供する道路周辺車両の車両固有情報とを比較し、一致するか否かを判定する。判定結果を車両送信制御部２０４に提供する。 The vehicle identification unit 203 compares the vehicle specific information received from the receiving unit 201 with the vehicle specific information of the road surrounding vehicles provided by the surrounding information providing unit 202, and determines whether or not they match. A determination result is provided to the vehicle transmission control unit 204 .
　車両送信制御部２０４は、車両特定部２０３で比較した車両固有情報が一致するとの判定結果を受信した場合、送信部２００から車両送信制御情報（停止）を送信する。これと共に、代理情報通知部２０５に通知する。 When the vehicle transmission control unit 204 receives the determination result that the vehicle specific information compared by the vehicle identification unit 203 matches, the transmission unit 200 transmits vehicle transmission control information (stop). Along with this, the proxy information notification unit 205 is notified.
　代理情報通知部２０５は、周辺情報提供部２０２が提供した道路周辺センシング情報から車両へ通知する代理情報を選択し、選択された代理情報を送信部２００から送信する。送信タイミングは、車両送信制御部２０４から車両送信制御情報（停止）の送信通知を取得したタイミングとしてもよい。なお、送信周期は任意に変更してもよい。代理情報の送信停止タイミングは、道路周辺センシング情報に車両特定部２０３が特定した車両が存在しなくなったタイミングとしてもよい。また、特定した車両が存在しなくなったタイミングで、車両送信制御情報（再開）の送信を車両送信制御情報（停止）の送信と同様な方法で、選択した車両に送信してもよい。 The proxy information notification unit 205 selects proxy information to be notified to the vehicle from the road surroundings sensing information provided by the surroundings information providing unit 202, and transmits the selected proxy information from the transmission unit 200. The transmission timing may be the timing at which the transmission notification of the vehicle transmission control information (stop) is obtained from the vehicle transmission control unit 204 . Note that the transmission cycle may be changed arbitrarily. The proxy information transmission stop timing may be the timing when the vehicle identified by the vehicle identification unit 203 no longer exists in the road surroundings sensing information. Further, when the specified vehicle no longer exists, transmission of vehicle transmission control information (resume) may be transmitted to the selected vehicle in the same manner as transmission of vehicle transmission control information (stop).
<路側機通信装置２のハードウエア構成>
　図８は、路側機通信装置２のハードウエア構成図である。メモリ２１０、プロセッサ２１１、無線通信Ｉ／Ｆ２１２、センサ２１から構成される。 <Hardware configuration of the roadside device communication device 2>
FIG. 8 is a hardware configuration diagram of the roadside device communication device 2. As shown in FIG. It is composed of a memory 210 , a processor 211 , a wireless communication I/F 212 and a sensor 21 .
　メモリ２１０は、ＲＡＭ等の揮発性メモリと、フラッシュメモリ等のＲＯＭを補助記憶装置として具備する。フラッシュメモリの代わりにハードディスクの補助記憶装置を具備してもよい。ＲＯＭにはプロセッサで実行させるプログラムを記憶し、ＲＡＭには、実行ブログラムの一部および実行に必要なデータを一時的に記憶する。 The memory 210 includes a volatile memory such as a RAM and a ROM such as a flash memory as auxiliary storage devices. A hard disk auxiliary storage device may be provided instead of the flash memory. The ROM stores programs to be executed by the processor, and the RAM temporarily stores part of the execution programs and data necessary for execution.
　プロセッサ２１１は、メモリ２１０から入力した複数または単一のプログラムを実行することにより、上述した各機能を動作させる。 The processor 211 operates each function described above by executing a plurality of or a single program input from the memory 210 .
　無線通信Ｉ／Ｆ２１２は、車車間、路車間、または外部ネットワークＸと通信を行う無線通信インターフェースであり、センサ２１は、上述した通り、カメラ、ＬｉＤＡＲ、ミリ波などで道路周辺を検知するためのものである。 The wireless communication I/F 212 is a wireless communication interface that communicates between vehicles, between roads and vehicles, or with an external network X. As described above, the sensor 21 is for detecting the surroundings of the road using a camera, LiDAR, millimeter waves, or the like. It is.
<路車間通信システムにおける車載通信装置１の動作>
　次に、上述した車載通信装置１と路側機通信装置２を使用した路車間通信システムの動作を説明する。図９は、センシング範囲Ｐ１～Ｐ４内にある車両のＶ２Ｖメッセージの送信を停止する場合の車載通信装置１の基本的な動作を表すフローチャートである。 <Operation of vehicle-mounted communication device 1 in road-to-vehicle communication system>
Next, the operation of the road-to-vehicle communication system using the vehicle-mounted communication device 1 and the roadside device communication device 2 described above will be described. FIG. 9 is a flowchart showing the basic operation of the in-vehicle communication device 1 when stopping transmission of V2V messages from vehicles within the sensing ranges P1 to P4.
　車載通信装置１の送信部１００が、例えば１００ｍｓ間隔など、周期的に車車間通信（Ｖ２Ｖ）、路車間通信（Ｖ２Ｉ）を行うことを介して、周囲の車両または路側機通信装置２に対し、自車の車両固有情報を含む車両情報を送信する。そして、受信部１０３で他車両情報を受信する。受信した他車両情報を用いて、車外情報処理部１０４が自車両と他車両との位置関係および相対速度などに基づいて、自車両が危険な状況か否かを判断する。危険な状況と判断した場合、運転者に警告を発し、または運転に介入することで、安全な運転を管理している（ステップＳ１）。 The transmission unit 100 of the in-vehicle communication device 1 performs vehicle-to-vehicle communication (V2V) and road-to-vehicle communication (V2I) periodically, for example, at intervals of 100 ms, to surrounding vehicles or roadside equipment 2, Transmits vehicle information including vehicle-specific information of the own vehicle. Then, the receiving unit 103 receives other vehicle information. Using the received other vehicle information, the external information processing unit 104 determines whether or not the own vehicle is in a dangerous situation based on the positional relationship and relative speed between the own vehicle and the other vehicle. When it is determined that the situation is dangerous, it issues a warning to the driver or intervenes in driving to manage safe driving (step S1).
　受信部１０３が路側機通信装置２からの車両送信制御情報（送信停止）を受信した場合（ステップＳ２）、送信部１００を停止する（ステップＳ３）。送信停止の判断は、例えば、送信制御部１０１で過去一定期間の送信メッセージの車両ＩＤと送信時刻を記憶しておき、路側機通信装置２から受信したメッセージに含まれる車両送信制御対象の車両ＩＤと受信時刻が、記憶した車両ＩＤと送信時刻と一致するかを判定し、一致した受信メッセージを受信した場合に、その受信メッセージ内の車両送信制御情報（送信停止）により送信停止と判断してもよい。なお、時刻の一致には、数秒の誤差を含んでもよい。ここで、車両ＩＤとは、Ｖ２Ｘ通信時に各車に割り振られる通信ＩＤである。 When the receiving unit 103 receives the vehicle transmission control information (stop transmission) from the roadside device communication device 2 (step S2), it stops the transmitting unit 100 (step S3). For example, the transmission control unit 101 stores vehicle IDs and transmission times of messages transmitted during a certain period of time in the past, and the transmission control unit 101 stores the vehicle IDs and transmission times of the messages received from the roadside unit communication device 2. and the reception time match the stored vehicle ID and the transmission time, and when a matching reception message is received, it is determined that the transmission is stopped based on the vehicle transmission control information (transmission stop) in the received message. good too. Note that the coincidence of times may include an error of several seconds. Here, the vehicle ID is a communication ID assigned to each vehicle during V2X communication.
　路側機通信装置２が配設された交差点など交通量の多いエリアでは、他車両もＶ２Ｘ送信が停止しているため、路側機通信装置２から代理情報を取得する。この場合、代理情報を受信部１０３が受信し、車外情報処理部１０４に提供する（ステップＳ５）。車外情報処理部１０４は、代理情報を用いてステップＳ１と同様の動作を行う（ステップＳ６）。送信制御部１０１は、受信部１０３が受信した、代理情報内の路側機通信装置２のセンサ情報に基づいて、路側機通信装置のセンシング範囲から外れる位置をＶ２Ｘ送信再開位置とする。車載通信装置１が送信再開位置まで移動したか否かを送信制御部１０１が判断する（ステップＳ７）。この際の車載通信装置１の位置情報は、車両情報提供部１０２から提供される自車両の車両情報に基づく。送信再開位置まで移動したと判断した場合、送信部の再開を行う。車両が路側機通信装置２のあるセンシング範囲内のエリアを走行中は、ステップＳ４からステップＳ７の処理を繰り返し行う。また、車載通信装置１が送信再開位置まで移動したか否かを送信制御部１０１が判断する代わりに、路側機通信装置から送信された車両送信制御情報（再開）を受信することで送信再開と判断してもよい。車両送信制御情報（再開）を自車両の情報と判断する方法は、車両送信制御情報（停止）の受信と同様な方法で判断してもよい。 In areas with heavy traffic such as intersections where the roadside communication device 2 is installed, V2X transmission is also stopped by other vehicles, so proxy information is obtained from the roadside communication device 2. In this case, the receiving unit 103 receives the proxy information and provides it to the external information processing unit 104 (step S5). The information processing unit 104 outside the vehicle performs the same operation as in step S1 using the proxy information (step S6). Based on the sensor information of the roadside unit communication device 2 in the proxy information received by the receiving unit 103, the transmission control unit 101 sets the position outside the sensing range of the roadside unit communication device as the V2X transmission restart position. The transmission control unit 101 determines whether or not the in-vehicle communication device 1 has moved to the transmission restart position (step S7). The position information of the in-vehicle communication device 1 at this time is based on the vehicle information of the own vehicle provided from the vehicle information providing unit 102 . When it is determined that the transmission restart position has been reached, the transmission section is restarted. While the vehicle is traveling in the area within the sensing range where the roadside unit communication device 2 is located, the processing from step S4 to step S7 is repeated. Further, instead of the transmission control unit 101 determining whether or not the in-vehicle communication device 1 has moved to the transmission restart position, the vehicle transmission control information (restart) transmitted from the roadside communication device is received to restart transmission. You can judge. The method of determining the vehicle transmission control information (resume) as the information of the own vehicle may be determined in the same manner as the reception of the vehicle transmission control information (stop).
<路車間通信システムにおける路側機通信装置２の動作>
　次に路側機通信装置２の基本的な動作を、図１０のフローチャートを用いて説明する。路側機通信装置２の周辺情報提供部２０２が、例えば交差点エリアのセンシング範囲にある各車両の車両固有情報を推測する。推測方法の一例としては、車両固有情報のうち、車幅、車長、車両位置情報、およびナンバープレートは、カメラまたはＬｉＤＡＲなど、センサ２１で取得した画像から認識し、推測する（ステップＳ１１）。 <Operation of roadside unit communication device 2 in road-to-vehicle communication system>
Next, the basic operation of the roadside device communication device 2 will be explained using the flowchart of FIG. The peripheral information providing unit 202 of the roadside device communication device 2 estimates the vehicle specific information of each vehicle in the sensing range of the intersection area, for example. As an example of the estimation method, among the vehicle-specific information, the vehicle width, vehicle length, vehicle position information, and license plate are recognized and estimated from an image acquired by a sensor 21 such as a camera or LiDAR (step S11).
　また、車載通信装置１がＶ２Ｉを介して送信する車両固有情報を受信部２０１が取得する（ステップＳ１２）。ステップＳ１１で推測した車両固有情報とステップＳ１２の車両固有情報が一致するか否かを判定する（ステップＳ１３）。判定方法の一例を以下に示す。
（１）車両情報にナンバープレートの情報が含まれている場合、ナンバープレートの番号が一致するかを判定する。
（２）車両情報にナンバープレートの情報が含まれない場合、車幅、車長、位置情報が一致するかを判定する。車両固有情報にナンバープレートが含まれない場合とは、天候不良で路側機通信装置２のカメラセンサでナンバープレートが認識できない場合、セキュリティなどの関係から車両がナンバープレートの情報を送信できない場合などが考えられる。 Further, the receiving unit 201 acquires the vehicle-specific information transmitted by the in-vehicle communication device 1 via V2I (step S12). It is determined whether or not the vehicle-specific information estimated in step S11 and the vehicle-specific information obtained in step S12 match (step S13). An example of the determination method is shown below.
(1) If the vehicle information includes license plate information, it is determined whether the license plate numbers match.
(2) If the vehicle information does not include license plate information, determine whether the vehicle width, vehicle length, and position information match. Cases where the license plate is not included in the vehicle specific information include cases where the license plate cannot be recognized by the camera sensor of the roadside unit communication device 2 due to bad weather, and cases where the vehicle cannot transmit the license plate information due to security concerns. Conceivable.
　車両固有情報が一致する場合、車両固有情報を含むＶ２Ｖ（またはＶ２Ｉ）メッセージ内にある車両ＩＤを選択し、路側機通信装置２がＩ２Ｖを介して、車両送信制御情報（送信停止）に、上記で選択した車両ＩＤと車両ＩＤの受信時刻情報を加え、ブロードキャストする（ステップＳ１４）。これは、車両ＩＤがＶ２Ｘ通信プロトコル上の通信ＩＤであるため、通信状況（接続数およびＩＤの使用状況）によって変化してしまう恐れがあるためである。従って、車載通信装置１の動作において説明したように、送信停止の車両送信制御情報が、自車向けに送信された情報であるか否かを車両側が判定できるように、路側機通信装置が送信する車両送信制御情報に、選択した車両ＩＤと受信時刻を加えている。 If the vehicle-specific information matches, the vehicle ID in the V2V (or V2I) message containing the vehicle-specific information is selected, and the roadside unit communication device 2 transmits the vehicle transmission control information (stop transmission) to the vehicle transmission control information (stop transmission) via I2V. The vehicle ID selected in step S14 and the reception time information of the vehicle ID are added and broadcasted (step S14). This is because the vehicle ID is a communication ID on the V2X communication protocol and may change depending on the communication status (the number of connections and the usage status of the ID). Therefore, as described in the operation of the vehicle-mounted communication device 1, the vehicle transmission control information for stopping transmission is transmitted by the roadside unit communication device so that the vehicle can determine whether it is information transmitted to the own vehicle. The selected vehicle ID and reception time are added to the vehicle transmission control information.
　周辺情報提供部２０２が提供した道路周辺センシング情報から、車両へ通知する代理情報を選択し（ステップＳ１５）、選択した情報を、送信部２００を介して車載通信装置１に送信する（ステップＳ１６）。車両がセンシングエリア外に移動したかを検出し（ステップＳ１７）、移動するまでは、ステップＳ１５からステップＳ１７の処理を繰り返す。 Proxy information to be notified to the vehicle is selected from the road surrounding sensing information provided by the surrounding information providing unit 202 (step S15), and the selected information is transmitted to the vehicle-mounted communication device 1 via the transmitting unit 200 (step S16). . It is detected whether the vehicle has moved out of the sensing area (step S17), and the processing from step S15 to step S17 is repeated until the vehicle moves.
　以上のように、本実施の形態の路車間通信システムによれば、車両数の多いエリアにおけるＶ２Ｘの通信帯域の圧迫を抑制しても、代理情報により各車両が緊急度および信頼度の高いメッセージを受信できる As described above, according to the road-to-vehicle communication system of the present embodiment, even if pressure on the V2X communication band is suppressed in an area with a large number of vehicles, each vehicle receives a message with a high degree of urgency and reliability based on the proxy information. can receive
実施の形態２．
　実施の形態１では、路側機通信装置２から代理情報を送信する車両の特定を路側機通信装置２が行っていたが、本実施の形態では、車載通信装置１で車両特定を行う。このためのフローチャートを図１１に示す。 Embodiment 2.
In the first embodiment, the roadside communication device 2 identifies the vehicle to which proxy information is transmitted from the roadside communication device 2, but in the present embodiment, the onboard communication device 1 identifies the vehicle. A flow chart for this is shown in FIG.
<路車間通信システムにおける車載通信装置１の動作>
　路車間通信（Ｉ２Ｖ）を介して、車載通信装置１の受信部１０３が路側機通信装置２からの推測された車両固有情報を受信し、送信制御部１０１に提供する（ステップＳ２１）。 <Operation of vehicle-mounted communication device 1 in road-to-vehicle communication system>
The receiving unit 103 of the vehicle-mounted communication device 1 receives the estimated vehicle-specific information from the roadside device communication device 2 via road-to-vehicle communication (I2V), and provides it to the transmission control unit 101 (step S21).
　送信制御部１０１が、路側機通信装置２から提供された推測された車両固有情報と、車両情報提供部１０２から提供された車両情報とが一致するかを判定する（ステップＳ２２）。判定方法は、実施の形態１と同様、以下の通りである。
（１）車両情報にナンバープレートの情報が含まれている場合、ナンバープレートの番号が一致するかを判定する。
（２）車両情報にナンバープレートの情報が含まれない場合、車幅、車長、位置情報が一致するかを判定する。車両固有情報にナンバープレートが含まれない場合とは、天候不良で路側機通信装置２のカメラセンサでナンバープレートが認識できない場合が考えられる。 The transmission control unit 101 determines whether the estimated vehicle-specific information provided from the roadside device communication device 2 matches the vehicle information provided from the vehicle information providing unit 102 (step S22). Similar to the first embodiment, the determination method is as follows.
(1) If the vehicle information includes license plate information, it is determined whether the license plate numbers match.
(2) If the vehicle information does not include license plate information, determine whether the vehicle width, vehicle length, and position information match. A case where the license plate is not included in the vehicle-specific information may be a case where the license plate cannot be recognized by the camera sensor of the roadside unit communication device 2 due to bad weather.
　一致した場合は、送信制御部１０１が送信部１００を介して路側機通信装置に、車両固有情報と一致していることを示す一致情報を送信する（ステップＳ２３）。その際、Ｖ２Ｉメッセージの車両ＩＤと送信時刻を記憶する。その後、ステップＳ２以後の手順を実行する。また、一致しない場合は、処理を終了する。 If there is a match, the transmission control unit 101 transmits match information indicating a match with the vehicle specific information to the roadside unit communication device via the transmission unit 100 (step S23). At that time, the vehicle ID and transmission time of the V2I message are stored. After that, the procedure after step S2 is executed. If they do not match, the process ends.
<路車間通信システムにおける路側機通信装置２の動作>
　周辺情報提供部２０２が、例えば交差点エリアのセンシング範囲にある各車両の車両固有情報を推測する。推測方法の一例としては、車両固有情報のうち、車幅、車長、車両位置情報、およびナンバープレートは、カメラまたはＬｉＤＡＲなど、センサ２１で取得した画像から認識し、推測する（ステップＳ１１）。 <Operation of roadside unit communication device 2 in road-to-vehicle communication system>
The peripheral information providing unit 202 estimates vehicle specific information of each vehicle in the sensing range of the intersection area, for example. As an example of the estimation method, among the vehicle-specific information, the vehicle width, vehicle length, vehicle position information, and license plate are recognized and estimated from an image acquired by a sensor 21 such as a camera or LiDAR (step S11).
　車両送信制御部２０４が周辺情報提供部２０２から提供された、推測車両固有情報を送信部２００を介して車載通信装置１に送信する（ステップＳ３１）。 The vehicle transmission control unit 204 transmits the estimated vehicle-specific information provided by the peripheral information providing unit 202 to the vehicle-mounted communication device 1 via the transmission unit 200 (step S31).
　車載通信装置１が判定した一致情報を受信部２０１が受信し、車両送信制御部２０４に提供する（ステップＳ３２）。その際、Ｖ２Ｉメッセージの車両ＩＤと受信時刻を記憶する。その後、ステップＳ１４以後の手順を実行する。 The receiving unit 201 receives the match information determined by the in-vehicle communication device 1 and provides it to the vehicle transmission control unit 204 (step S32). At that time, the vehicle ID and reception time of the V2I message are stored. After that, the procedure after step S14 is executed.
　以上のような手順を実行することにより、セキュリティの事情などで、車両がナンバープレート情報を路側機通信装置２に送信できない場合でも、路側機通信装置２からナンバープレート情報を含む推測車両固有情報を車両側に送信することにより確実に車両を特定でき、信頼性の高い路車間通信を実行することが可能となる。また、車両特定処理を車両側に持たせることで、処理分散ができ、路側機通信装置の処理量を抑制することができる。 By executing the above procedure, even if the vehicle cannot transmit the license plate information to the roadside device communication device 2 due to security reasons, etc., the estimated vehicle specific information including the license plate information can be sent from the roadside device communication device 2. By transmitting the information to the vehicle side, the vehicle can be identified with certainty, and highly reliable road-to-vehicle communication can be executed. Further, by allowing the vehicle to carry out the vehicle identification processing, the processing can be distributed, and the processing amount of the roadside communication device can be suppressed.
　本願は、様々な例示的な実施の形態及び実施例が記載されているが、１つ、または複数の実施の形態に記載された様々な特徴、態様、及び機能は特定の実施の形態の適用に限られるのではなく、単独で、または様々な組み合わせで実施の形態に適用可能である。
従って、例示されていない無数の変形例が、本願明細書に開示される技術の範囲内において想定される。例えば、少なくとも１つの構成要素を変形する場合、追加する場合または省略する場合、さらには、少なくとも１つの構成要素を抽出し、他の実施の形態の構成要素と組み合わせる場合が含まれるものとする。 While this application describes various exemplary embodiments and examples, various features, aspects, and functions described in one or more embodiments may not apply to particular embodiments. can be applied to the embodiments singly or in various combinations.
Accordingly, numerous variations not illustrated are envisioned within the scope of the technology disclosed herein. For example, modification, addition or omission of at least one component, extraction of at least one component, and combination with components of other embodiments shall be included.
１：車載通信装置、２：路側機通信装置、２１：センサ、１００：送信部、１０１：送信制御部、１０２：車両情報提供部、１０３：受信部、１０４：車外情報処理部、２００：送信部、２０１：受信部、２０２：周辺情報提供部、２０３：車両特定部、２０４：車両送信制御部、２０５：代理情報通知部。 1: In-vehicle communication device, 2: Roadside device communication device, 21: Sensor, 100: Transmission unit, 101: Transmission control unit, 102: Vehicle information provision unit, 103: Reception unit, 104: External information processing unit, 200: Transmission 201: Receiving unit 202: Surrounding information providing unit 203: Vehicle specifying unit 204: Vehicle transmission control unit 205: Proxy information notifying unit.

Claims (6)

  1. 　車両に搭載され、路上周囲に設置された路側機通信装置および他の車両と送受信を行う車載通信装置において、
    　前記車両の車両情報を前記路側機通信装置および前記他の車両に送信する送信部、
    　前記路側機通信装置から受信した車両送信制御情報を受信する受信部、
    　受信された前記車両送信制御情報に基づいて前記他の車両への送信を停止する送信制御部、
    を備え、
    　送信が停止されている期間、前記路側機通信装置から送信された前記車両と前記他の車両の情報を前記受信部で受信することを特徴とする車載通信装置。     An in-vehicle communication device that is mounted on a vehicle and performs transmission and reception with a roadside communication device installed around the road and other vehicles,
    a transmission unit that transmits vehicle information of the vehicle to the roadside unit communication device and the other vehicle;
    a receiving unit that receives vehicle transmission control information received from the roadside unit communication device;
    a transmission control unit that stops transmission to the other vehicle based on the received vehicle transmission control information;
    with
    An in-vehicle communication device, wherein the information on the vehicle and the other vehicle transmitted from the roadside unit communication device is received by the receiving unit during a period in which transmission is stopped.
  2. 　前記受信部は、前記路側機通信装置に備えられたセンサの検出情報に基づいて出力される前記車両の情報を受信し、前記検出情報に基づいて、前記車両が前記センサの検出範囲を外れる位置まで移動したことを前記送信制御部が判断し、前記他の車両への送信を再開することを特徴とする請求項１に記載の車載通信装置。 The receiving unit receives information about the vehicle output based on detection information of a sensor provided in the roadside device communication device, and based on the detection information, determines a position where the vehicle is out of a detection range of the sensor. 2. The in-vehicle communication device according to claim 1, wherein said transmission control unit determines that said vehicle has moved to said other vehicle, and restarts said transmission to said other vehicle.
  3. 　前記送信制御部は、前記路側機通信装置から受信した前記車両を識別できる車両固有情報と、自車が有する車両固有情報との一致を判定し、一致と判定した場合に、判定結果を前記路側機通信装置に送信することを特徴とする請求項１または２に記載の車載通信装置。 The transmission control unit determines whether or not the vehicle-specific information for identifying the vehicle received from the roadside communication device matches the vehicle-specific information possessed by the own vehicle. 3. The in-vehicle communication device according to claim 1, wherein the data is transmitted to the mobile communication device.
  4. 　前記送信制御部は、前記車両送信制御情報とともに受信した前記路側機通信装置からのメッセージに含まれる、車両送信制御対象の通信ＩＤと、前記送信部から前記路側機通信装置に過去に送信した通信ＩＤとを比較し、一致した場合に、前記車両送信制御情報を自車両の車両送信制御情報であると判断することを特徴とする請求項１から３のいずれか１項に記載の車載通信装置。 The transmission control unit controls a communication ID of a vehicle transmission control target included in a message from the roadside unit communication device received together with the vehicle transmission control information, and a communication transmitted from the transmission unit to the roadside unit communication device in the past. 4. The in-vehicle communication device according to any one of claims 1 to 3, wherein the vehicle transmission control information is determined to be the vehicle transmission control information of the host vehicle when the ID is compared with the ID and the vehicle transmission control information matches. .
  5. 　道路周囲に設置された路側機に取り付けられ、前記道路を走行する車両に搭載された車載通信装置と送受信を行う路側機通信装置において、
    　前記車両から車両情報を受信する受信部、
    　前記車両の存在を検出するセンサ、
    　前記センサの検出情報を取得し、前記車両を識別できる車両固有情報を推測する周辺情報提供部、
    　前記推測された推測車両固有情報と前記車載通信装置から受信した車両固有情報の一致を判定する車両特定部、
    　前記車両特定部で一致と判定された結果に応じて前記車載通信装置の他の車両への送信の停止を指示する車両送信制御情報を送信する車両送信制御部、
    　送信が停止されている期間、前記車両と前記他の車両の情報を前記車両に送信する代理情報通知部、を備えたことを特徴とする路側機通信装置。     A roadside unit communication device that is attached to a roadside unit installed around a road and performs transmission and reception with an in-vehicle communication device mounted on a vehicle traveling on the road,
    a receiving unit that receives vehicle information from the vehicle;
    a sensor that detects the presence of the vehicle;
    a peripheral information providing unit that acquires information detected by the sensor and estimates vehicle-specific information that can identify the vehicle;
    a vehicle identification unit that determines a match between the inferred vehicle-specific information and the vehicle-specific information received from the in-vehicle communication device;
    a vehicle transmission control unit for transmitting vehicle transmission control information for instructing stop of transmission of the in-vehicle communication device to another vehicle according to a result determined as matching by the vehicle identification unit;
    A roadside unit communication device, comprising: a proxy information notification unit that transmits information of the vehicle and the other vehicle to the vehicle during a period in which transmission is suspended.
  6. 　請求項１から４のいずれか１項に記載の車載通信装置と、請求項５に記載の路側機通信装置とを備えた路車間通信システム。 A road-to-vehicle communication system comprising the in-vehicle communication device according to any one of claims 1 to 4 and the roadside device communication device according to claim 5.
PCT/JP2021/046227 2021-12-15 2021-12-15 Vehicle-mounted communication device, roadside machine communication device, and road-to-vehicle communication system WO2023112194A1 (en)

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