WO2023112194A1 - Dispositif de communication monté sur véhicule, dispositif de communication de machine de bord de route et système de communication de route à véhicule - Google Patents

Dispositif de communication monté sur véhicule, dispositif de communication de machine de bord de route et système de communication de route à véhicule 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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WO
WIPO (PCT)
Prior art keywords
vehicle
communication device
information
unit
transmission
Prior art date
Application number
PCT/JP2021/046227
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English (en)
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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Filing date
Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to JP2023567379A priority Critical patent/JP7462858B2/ja
Priority to PCT/JP2021/046227 priority patent/WO2023112194A1/fr
Publication of WO2023112194A1 publication Critical patent/WO2023112194A1/fr

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • 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

Selon la présente invention, dans le cas d'intersections dans de grandes villes, l'augmentation des communications V2V due au nombre accru de véhicules serre les bandes de communication V2I et I2V d'un dispositif de communication de machine de bord de route (2) monté sur un feu de circulation. Ceci peut provoquer des problèmes tels que l'incapacité de véhicules à acquérir des informations à partir du dispositif de communication de machine de bord de route (2). Par conséquent, dans une plage de détection dans laquelle un capteur (21) fourni au dispositif de communication de machine de bord de route (2) peut détecter des véhicules voisins, un signal de commande pour arrêter la transmission V2V d'un dispositif de communication monté sur véhicule (1) dans chaque véhicule voisin est transmis à partir du dispositif de communication de machine de bord de route (2) au dispositif de communication monté sur véhicule (1), et des informations concernant d'autres véhicules qui ne peuvent pas être obtenues en raison dudit arrêt sont transmises à chaque véhicule en tant qu'informations proxy.
PCT/JP2021/046227 2021-12-15 2021-12-15 Dispositif de communication monté sur véhicule, dispositif de communication de machine de bord de route et système de communication de route à véhicule WO2023112194A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2023567379A JP7462858B2 (ja) 2021-12-15 2021-12-15 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
PCT/JP2021/046227 WO2023112194A1 (fr) 2021-12-15 2021-12-15 Dispositif de communication monté sur véhicule, dispositif de communication de machine de bord de route et système de communication de route à véhicule

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Application Number Priority Date Filing Date Title
PCT/JP2021/046227 WO2023112194A1 (fr) 2021-12-15 2021-12-15 Dispositif de communication monté sur véhicule, dispositif de communication de machine de bord de route et système de communication de route à véhicule

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004246687A (ja) * 2003-02-14 2004-09-02 Matsushita Electric Ind Co Ltd 車載無線装置
JP2008294646A (ja) * 2007-05-23 2008-12-04 Mitsubishi Electric Corp 車載通信装置
JP2009272883A (ja) * 2008-05-07 2009-11-19 Fujitsu Ltd 無線リソース割当装置、車載装置、無線リソース割当システムおよび無線リソース割当方法
JP2015177370A (ja) * 2014-03-14 2015-10-05 三菱自動車工業株式会社 車両通信装置
JP2015207940A (ja) * 2014-04-22 2015-11-19 株式会社デンソー 車載通信端末、及び移動体通信システム
WO2017175395A1 (fr) * 2016-04-08 2017-10-12 三菱電機株式会社 Dispositif de commande de communication

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004246687A (ja) * 2003-02-14 2004-09-02 Matsushita Electric Ind Co Ltd 車載無線装置
JP2008294646A (ja) * 2007-05-23 2008-12-04 Mitsubishi Electric Corp 車載通信装置
JP2009272883A (ja) * 2008-05-07 2009-11-19 Fujitsu Ltd 無線リソース割当装置、車載装置、無線リソース割当システムおよび無線リソース割当方法
JP2015177370A (ja) * 2014-03-14 2015-10-05 三菱自動車工業株式会社 車両通信装置
JP2015207940A (ja) * 2014-04-22 2015-11-19 株式会社デンソー 車載通信端末、及び移動体通信システム
WO2017175395A1 (fr) * 2016-04-08 2017-10-12 三菱電機株式会社 Dispositif de commande de communication

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