WO2023176587A1

WO2023176587A1 - Traffic communication system, first terminal, program, and communication method

Info

Publication number: WO2023176587A1
Application number: PCT/JP2023/008550
Authority: WO
Inventors: 武紀富野
Original assignee: 京セラ株式会社
Priority date: 2022-03-14
Filing date: 2023-03-07
Publication date: 2023-09-21

Abstract

This first terminal has a communication unit, a positioning signal reception unit, an output unit, and a control unit. The communication unit receives the movement information of a second vehicle from a second terminal. When it is determined, on the basis of the movement information of a first vehicle calculated on the basis of the position information of the first vehicle acquired by the positioning signal reception unit and the movement information of the second vehicle, that there is a risk of the first vehicle colliding the second vehicle at a prescribed point, the control unit outputs the result of the determination to the driver of the first vehicle by the output unit and broadcasts a notification that indicates the result of the determination to the second terminal by the communication unit.

Description

Transportation communication system, first terminal, program, and communication method

The present disclosure relates to a transportation communication system, a first terminal, a program, and a communication method.

Conventionally, as a wireless communication system capable of vehicle-to-vehicle communication and/or road-to-vehicle communication, a wireless communication system is known that exchanges position information of each vehicle between vehicles and/or between road and vehicle in order to ensure vehicle safety. There is. In this type of communication system, for example, each vehicle determines the situation around its own vehicle from approaching vehicle information obtained from a roadside unit through road-to-vehicle communication and/or vehicle information obtained from surrounding vehicles through vehicle-to-vehicle communication, and A known vehicle is capable of outputting a warning to the driver of the own vehicle if it is determined that there is a vehicle in the vicinity that is at risk of colliding with the vehicle. (For example, see Patent Document 1)

Patent No. 4957633 specification

A traffic communication system according to an embodiment includes a first terminal, which is either a first vehicle or a first electronic device mounted on the first vehicle, and a second terminal, which is either a first vehicle or a first electronic device mounted on the first vehicle, and a second terminal, which is either a first vehicle or a first electronic device mounted on the first vehicle. a second terminal that is one of second electronic devices mounted on a vehicle, the first terminal representing information related to movement of the first vehicle. There is a risk that the first vehicle will collide with the second vehicle at a predetermined point based on first movement information and second movement information representing information related to movement of the second vehicle. When the first determination is made, the first vehicle outputs a first notification based on the first determination result, and the first determination result is transmitted to the second terminal.

The first terminal according to one embodiment is a first terminal mounted on a first vehicle or the first vehicle, which includes a positioning signal receiving section, a communication section, an output section, and a control section. A first terminal that is one of the electronic devices, wherein the control unit acquires first position information representing the position of the first vehicle by the positioning signal receiving unit, and Based on the position information, first movement information representing information related to movement of the first vehicle is calculated, and the first movement information representing the movement of the first vehicle is calculated, and the first movement information is calculated based on the position information of the second vehicle or the second electronic device mounted on the second vehicle. On the other hand, second movement information representing information related to movement of the second vehicle is acquired from a second terminal by the communication unit, and based on the first movement information and the second movement information, , when a first determination is made indicating that there is a risk of the first vehicle colliding with the second vehicle at a predetermined point, the output unit sends a notification based on the result of the first determination to the second vehicle. The output is made to the driver of the first vehicle, and the result of the first determination is sent to the second terminal by the communication unit.

The program according to one embodiment transmits information regarding the movement of the first vehicle to a first terminal, which is either a first vehicle or a first electronic device installed in the first vehicle. a process of acquiring first movement information representing movement of the second vehicle from a second terminal that is either a second vehicle or a second electronic device mounted on the second vehicle; a collision between the first vehicle and the second vehicle at a predetermined point based on the first movement information and the second movement information; When a first determination is made indicating that there is a risk of The process of transmitting data to the second terminal is executed.

A communication method according to one embodiment is a communication method related to a first terminal that is either a first vehicle or a first electronic device installed in the first vehicle, the first terminal is first movement information representing information related to movement of the first terminal, and a second terminal that is either a second vehicle or a second electronic device mounted on the second vehicle. indicating that there is a risk that the first vehicle will collide with the second vehicle at a predetermined point based on second movement information that is received from the second vehicle and represents information related to movement of the second vehicle. When the first determination is made, the first vehicle outputs a first notification based on the result of the first determination, and the result of the first determination is transmitted to the second terminal.

1 is a diagram showing the configuration of a transportation communication system according to an embodiment. FIG. 2 is a diagram showing configurations of a first vehicle and a first electronic device, and a second vehicle and a second electronic device according to an embodiment. It is a diagram showing the configuration of a roadside machine according to an embodiment. FIG. 2 is a diagram for explaining the operation of the transportation communication system according to one embodiment. FIG. 7 is a sequence diagram illustrating a process of notifying a second terminal according to a result of a risk determination, which is executed by a control unit of a first terminal according to an embodiment. FIG. 2 is a sequence diagram showing a process of determining the risk of a first vehicle colliding with a second vehicle at a predetermined point, performed by the first terminal according to an embodiment. FIG. 7 is a sequence diagram showing a process of notifying a second terminal according to a result of risk determination, which is executed by a control unit of a first terminal according to another embodiment.

However, in conventional wireless communication systems, if it is determined that there is a risk of a collision between the own vehicle and another vehicle, the driver of the own vehicle is the one who can take action to avoid the collision based on the warning. It was only.

As a result, if the driver of the vehicle did not take action to avoid a collision due to carelessness or other causes, there was a risk of an accident.

Therefore, in the present disclosure, when it is determined that there is a risk that the own vehicle will collide with another vehicle, a warning is output to the driver of the own vehicle, and a warning is sent to the driver of the other vehicle. The purpose is to notify that there is a risk of collision.

Embodiments will be described with reference to the drawings. In the description of the drawings, the same or similar parts are designated by the same or similar symbols.

<Transportation communication system configuration>
First, the configuration of a traffic communication system according to an embodiment will be described. In the following, a transportation communication system that performs wireless communication based on ARIB (Association of Radio Industries and Businesses)-STD-T109 will be mainly explained, but it is not limited to this standard. p Project) Wireless communication based on the V2X (Vehicle to Everything) standard may be performed.

FIG. 1 is a diagram showing a configuration example of a traffic communication system 1 according to an embodiment. As shown in FIG. 1, the transportation communication system 1 includes a first terminal 100A and a second terminal 100B. The first terminal 100A is either a first vehicle 110A or a first electronic device 120A mounted on the first vehicle 110A. The second terminal 100B is either a second vehicle 110B or a second electronic device 120B mounted on the second vehicle 110B. Here, a case is illustrated in which the first terminal 100A is the first electronic device 120A and the second terminal 100B is the second electronic device 120B. In the following description, unless otherwise specified, the first terminal 100A and the second terminal 100B will be referred to as the terminal 100, the first vehicle 110A and the second vehicle 110B will be referred to as the vehicle 110, and the first electronic device 120A will be referred to as the vehicle 110. and the second electronic device 120B is referred to as an electronic device 120. The first vehicle 110A runs on the road 10, and the second vehicle 110B runs on the road 20. The road 10 and the road 20 may intersect at a predetermined point. Here, a case where the predetermined point is an intersection 30 will be exemplified. The intersection 30 is a point where the road 10 and the road 20 intersect and merge. In the traffic communication system 1, the roadside device 200 may be provided on the roadside of the road 10 and the road 20, or may be provided on the road 10 and the road 20. Further, the roadside machine 200 may be provided on the roadside of the intersection 30. Here, a case where the roadside machine 200 is provided on the roadside of the intersection 30 will be exemplified. Roadside device 200 is an example of a base station.

The vehicle 110 may be a motor vehicle such as a motorcycle, a tricycle, or a four-wheel vehicle. Alternatively, vehicle 110 may be a bicycle. Further, the vehicle 110 may be an emergency vehicle such as an ambulance. Alternatively, vehicle 110 may be a specific vehicle such as a bus. Furthermore, vehicle 110 may be a fully or partially self-driving vehicle. Vehicle 110 may perform both communication with other vehicles 110 (vehicle-to-vehicle communication) and communication with roadside device 200 (road-vehicle communication). Vehicle 110 may perform only one of communication with other vehicles 110 (vehicle-to-vehicle communication) and communication with roadside device 200 (road-vehicle communication). Here, the vehicle 110 may include an electronic device 120 that communicates with at least one of another vehicle 110 and the roadside device 200. Alternatively, the vehicle 110 itself may communicate with at least one of another vehicle 110 and the roadside device 200. Here, a case will be exemplified in which a first electronic device 120A included in the first vehicle 110A and a second electronic device included in the second vehicle 110B communicate with each other. The electronic device 120 may be an in-vehicle device (ECU; Electronic Control Unit, car navigation system) mounted on the vehicle 110. Electronic device 120 may be a terminal such as a smartphone owned by the driver of vehicle 110. Details of the vehicle 110 and the electronic device 120 will be described later (see FIG. 2).

The road 10 is an example of a first road that the first vehicle 110A passes through. The road 10 may be a motorway. The road 10 may be a dedicated road for the second vehicle 110B and the first vehicle 110A, where entry by passersby is restricted. Alternatively, the road 10 may be a road where the second vehicle 110B and passersby are allowed to enter.

The road 20 is an example of a second road that the second vehicle 110B passes. The road 20 may be a motorway. The road 20 may be a dedicated road for the first vehicle 110A and the second vehicle 110B where entry by passersby is restricted. Alternatively, the road 20 may be a road where the first vehicle 110A and passersby are allowed to enter.

The intersection 30 is a point where the road 10 and the road 20 intersect and merge, and may be located on a T-shaped road as shown in FIG. Further, the intersection 30 may be located at a crossroads, or may be a portion where two or more roads intersect.

The roadside device 200 may communicate (road-to-vehicle communication) with the first terminal 100A and the second terminal 100B. Road-to-vehicle communication may be performed at a timing when vehicle-to-vehicle communication is not being performed. Details of the roadside machine 200 will be described later (see FIG. 3).

In such a traffic communication system 1, inter-vehicle communication may be performed between the first terminal 100A and the second terminal 100B. For example, through vehicle-to-vehicle communication, the first terminal 100A receives vehicle information about the second vehicle 110B transmitted from the second terminal 100B. Through vehicle-to-vehicle communication, it is possible to recognize the status of surrounding vehicles, traffic information, etc., and provide support to avoid the risk of traffic accidents. For example, the first terminal 100A, based on the movement information of the second vehicle 110B and the movement information of the first vehicle 110A included in the vehicle information of the second vehicle 110B received from the second terminal 100B, It is determined that there is a risk that the first vehicle 110A will collide with the second vehicle 110B at a predetermined point (intersection 30). At this time, the first terminal 100A can urge the driver of the first vehicle 110A to avoid danger by outputting a notification based on the determination result in the first vehicle 110A. Further, the first terminal 100A may transmit a danger notification including information regarding the determination result to the second terminal 100B. The first terminal 100A calculates the required time t1 for the first vehicle 110A to reach a predetermined point (intersection 30) and the time required for the second vehicle 110B to reach a predetermined point (intersection 30). When the difference in required time t2 is less than or equal to a threshold value, it may be determined that there is a risk that the first vehicle 110A will collide with the second vehicle 110B at a predetermined point (intersection 30).

The movement information may include at least one of position information, movement speed information, movement direction information, information acquisition time, etc. The position information represents the position of the vehicle 110, the movement speed information represents the movement speed of the vehicle 110, the movement direction information represents the movement direction of the vehicle 110, and the information acquisition time represents the time at which these pieces of information were acquired. represent. For example, the movement information of the first vehicle 110A includes position information of the first vehicle 110A, movement speed information of the first vehicle 110A, movement direction information of the first vehicle 110A, and the like. Further, the movement information of the first vehicle 110A may include an information acquisition time indicating the time when the first vehicle 110A acquired this information. For example, the movement information of the second vehicle 110B includes position information of the second vehicle 110B, movement speed information of the second vehicle 110B, and movement direction information of the second vehicle 110B. Further, the movement information of the second vehicle 110B may include an information acquisition time indicating the time when the second vehicle 110B acquired this information.

The vehicle information includes information regarding the vehicle 110 and is information transmitted and received between the terminals 100 or between the terminal 100 and the roadside device 200. The vehicle information has, for example, a predetermined format based on "ITS Connect System Using Vehicle-to-Vehicle Communication Messages" published by the ITS Connect Promotion Council. The vehicle information includes movement information of the vehicle 110 representing information related to movement of the vehicle 110. Further, the vehicle information may include identification information such as an ID assigned to identify the terminal 100. Furthermore, the vehicle information may include information regarding the shape of the vehicle 110, such as the width of the vehicle 110 and the length of the vehicle 110. The vehicle information may be periodically broadcast by the terminal 100. Alternatively, the vehicle information may be broadcast at a timing according to the result of carrier sense by the terminal 100.

The danger notification may include notification information indicating that there is a risk that the vehicle 110 (first vehicle 110A) will collide with another vehicle 110 (second vehicle 110B) at a predetermined point (intersection 30). The danger notification is transmitted and received between vehicles 110 or between vehicles 110 and roadside device 200. The danger notification may include request information indicating that the driver of the other vehicle 110 (second vehicle 110B) is requested to perform predetermined control. Further, the danger notification may include identification information of the terminal 100 (second terminal 100B).

Furthermore, in such a traffic communication system 1, road-to-vehicle communication may be performed between the roadside device 200 and the terminal 100, and vehicle-to-vehicle communication may be performed between the first terminal 100A and the second terminal 100B. . In one embodiment, the terminal 100 shares a carrier frequency (frequency band) of, for example, 700 MHz with the roadside device 200 in a time-sharing manner.

For example, through road-to-vehicle communication, the terminal 100 receives roadside machine information transmitted from the roadside machine 200, and the roadside machine 200 receives vehicle information transmitted from the terminal 100. Furthermore, vehicle information transmitted from one terminal 100 is received by the other terminal 100 through vehicle-to-vehicle communication. Through road-to-vehicle communication and vehicle-to-vehicle communication, it is possible to recognize the status of surrounding vehicles, traffic information, etc., and provide support to avoid the risk of traffic accidents. Further, the vehicle information received by the roadside device 200 can be used for smoothing traffic flow, etc.

The roadside device information is information that includes information regarding the road. The roadside device information is, for example, the "ITS wireless roadside device communication application common standard" or the "5.8GHz/700MHz band wireless DSSS communication application (optical/radio wave experiment) standard" published by the UTMS (Universal Traffic Management System) Association. It has a predetermined format based on .

Furthermore, in such a traffic communication system 1, road-to-vehicle communication is performed between the roadside device 200 and the terminal 100, and vehicle-to-vehicle communication is not performed between the first terminal 100A and the second terminal 100B. good. For example, vehicle information may be exchanged between the roadside device 200 and the terminal 100 in addition to roadside device information. Furthermore, in the traffic communication system 1, only vehicle information may be exchanged between the roadside device 200 and the terminal 100 through road-to-vehicle communication. For example, the roadside device 200 may transmit vehicle information about the second vehicle 110B received from the second terminal 100B to the first terminal 100A.

Furthermore, in the traffic communication system 1, road-to-road communication may be performed between the roadside devices 200. Through road-to-road communication, information transmitted from one roadside machine 200 is received by another roadside machine 200.

Broadcast wireless communication may be used for each of road-to-vehicle communication, vehicle-to-vehicle communication, and road-to-road communication. For example, only a broadcast address may be defined as a destination address (destination MAC address) for a wireless signal (communication packet) to be transmitted. Furthermore, the wireless signal (communication packet) broadcast in the road-to-vehicle communication and the vehicle-to-vehicle communication may include the identification number of the terminal 100, and the terminal 100 receives the wireless signal based on the identification information included in the received communication packet. It may be determined that the signal is addressed to terminal 100.

<Configuration of vehicle and electronic equipment>
Next, the configurations of the first vehicle 110A and the first electronic device 120A and the second vehicle 110B and the second electronic device 120B according to one embodiment will be described. FIG. 2 is a diagram showing an example of the configuration of the first vehicle 110A and the first electronic device 120A, and the second vehicle 110B and the second electronic device 120B.

As shown in FIG. 2, the first vehicle 110A includes a first electronic device 120A and a driving control section 14A. The first electronic device 120A includes a communication section 11A, a positioning signal reception section 12A, an output section 13A, and a control section 15A.

The communication unit 11A performs wireless communication via the antenna 11Aa. Antenna 11Aa may be located outside of first vehicle 110A. Alternatively, the antenna 11Aa may be located inside the first vehicle 110A. The antenna 11Aa may be an omnidirectional antenna. Alternatively, the antenna 11Aa may be a directional antenna having directivity. The antenna 11Aa may be an adaptive array antenna whose directivity can be dynamically changed. In one embodiment, the communication unit 11A performs inter-vehicle communication by broadcasting with another vehicle 110 (second vehicle 110B). Further, the communication unit 11A may perform road-to-vehicle communication with the roadside device 200 by broadcasting. The communication unit 11A may have a function of performing carrier sense to determine the availability of a radio wave frequency (for example, 700 MHz band). In this case, the communication unit 11A transmits the packet at a timing when the radio wave frequency is available. One piece of vehicle information may be composed of one or more packets. The packet includes identification information used to identify the transmission source, synchronization information indicating a synchronization method for the roadside device 200, transmission time of the packet, and/or period information indicating the period of road-to-vehicle communication (transfer count of road-to-vehicle communication, and/or (or period length of road-to-vehicle communication).

It is assumed that the wireless communication method of the communication unit 11A is a method compliant with ARIB (Association of Radio Industries and Businesses) STD-T109. However, the wireless communication method of the communication unit 11A may be a method based on the 3GPP V2X standard. Alternatively, the wireless communication method may be a method based on a wireless LAN standard such as the Institute of Electrical and Electronics Engineers (IEEE) 802.11 series. The communication unit 11A may be configured to be compatible with all of these communication standards.

The communication unit 11A includes a transmitting unit 11Ab that performs signal processing on the baseband signal output by the control unit 15A, converts it into a wireless signal, and transmits the wireless signal from the antenna 11Aa. Furthermore, the communication unit 11A includes a receiving unit 11Ac that converts a radio signal received by the antenna 11Aa into a baseband signal, performs signal processing, and outputs the signal after signal processing to the control unit 15A.

If the communication unit 11A complies with the ARIB STD-T109 standard, the communication unit 11A may transmit vehicle information at a timing according to the carrier sense result. Furthermore, the communication unit 11A may periodically broadcast vehicle information. The vehicle information may include identification information of the first terminal 100A.

The positioning signal receiving unit 12A performs positioning based on, for example, a GNSS satellite signal, and outputs position information indicating the current geographical position (latitude and longitude) of the first vehicle 110A to the control unit 15A. The positioning signal receiving unit 12A uses, for example, GPS (Global Positioning System), GLONASS (Global Navigation Satellite System), Galileo, BeiDou, NavIC (NavIC). GNSS of at least one of the Indian Constellation) and QZSS (Quasi-Zenith Satellite System) It consists of a receiver such as

In the embodiment, a case has been described in which the positioning signal receiving unit 12A includes a receiver such as GNSS and directly receives a GNSS satellite signal from the GNSS satellite. However, embodiments are not limited thereto. The positioning signal receiving unit 12A may receive a GNSS satellite signal received by a GNSS receiver (not shown) separately mounted on the first vehicle 110A. Further, based on the GNSS satellite signal received by the GNSS receiver mounted on the first vehicle 110A, the positioning signal receiving unit 12A may receive the result of positioning performed by the GNSS receiver.

The output unit 13A outputs information to the driver of the first vehicle 110A under the control of the control unit 15A. For example, when the first electronic device 120A is a car navigation system, the output unit 13A includes at least one of a display that displays information and a speaker that outputs information as audio. Further, for example, when the first electronic device 120A is an ECU, the output unit 13A outputs information to at least one of a display and a speaker (not shown) that are separately provided in the first vehicle 110A.

The driving control unit 14A controls the engine or motor as the power source of the first vehicle 110A, the power transmission mechanism, the steering mechanism, the brake, etc. When the first vehicle 110A is a self-driving vehicle, the driving control section 14A may cooperate with the control section 15A to control the driving and steering of the first vehicle 110A.

The control unit 15A controls various functions in the first electronic device 120A (and the first vehicle 110A). For example, the control unit 15A controls the communication unit 11A. The control unit 15A includes at least one memory and at least one processor electrically connected to the memory. The memory includes volatile memory and nonvolatile memory, and stores information used for processing by the processor and programs executed by the processor. A processor performs various types of processing by executing programs stored in memory. The control unit 15A may store identification information of the first terminal 100A, map information (for example, dynamic map), etc. in the memory as information used for processing in the processor.

The control unit 15A may control the output unit 13A based on the danger notification that the communication unit 11A (receiving unit 11Ac) receives from the other terminal 100. Such a danger notification may include notification information indicating that there is a risk that the first vehicle 110A will collide with another vehicle 110 at a predetermined point (intersection 30), It may also include request information indicating that the driver is requested to perform predetermined control. The danger notification may include identification information of the first terminal 100A. In this case, when the control unit 15A recognizes that the danger notification is addressed to the first terminal 100A based on the identification information included in the received danger notification, the control unit 15A detects the information contained in the received danger notification. The output unit 13A is controlled to notify the driver of the first vehicle 110A of the notification information. When the first vehicle 110A is a self-driving vehicle, the control unit 15A cooperates with the driving control unit 14A to control the drive of the first vehicle 110A (for example, deceleration control or acceleration control) based on the notification information. It's okay.

The control unit 15A may control the output unit 13A based on the roadside machine information that the communication unit 11A (receiving unit 11Ac) receives from the roadside machine 200. Such roadside device information may include signal information regarding the color of the traffic light device. In this case, the control unit 15A controls the output unit 13A to notify the driver of the first vehicle 110A of the signal information. When the first vehicle 110A is a self-driving vehicle, the control unit 15A cooperates with the driving control unit 14A to control the drive of the first vehicle 110A (for example, deceleration control or acceleration control) based on signal information. It's okay.

The control unit 15A creates vehicle information for the first vehicle 110A, and outputs the created vehicle information to the communication unit 11A (transmission unit 11Ab). The communication unit 11A (transmission unit 11Ab) broadcasts vehicle information at a timing determined according to the result of carrier sense. The control unit 15A may store the identification information of the first terminal 100A, and may include the identification information of the first terminal 100A in the vehicle information broadcast by the communication unit 11A (transmission unit 11Ab).

The control unit 15A acquires the position information of the first vehicle 110A output by the positioning signal receiving unit 12A, and stores it in the memory together with the time at which the position information of the first vehicle 110A was acquired. The control unit 15A generates moving speed information of the first vehicle 110A based on a plurality of pieces of positional information regarding the first vehicle 110A acquired at different times and stored in the memory and the time at which the positional information was acquired. , and the moving direction information of the first vehicle 110A. The moving speed information of the first vehicle 110A can be calculated based on the reception cycle of the position information of the first vehicle 110A and the amount of movement of the position of the first vehicle 110A. The moving direction information of the first vehicle 110A can be calculated based on a plurality of position information of the first vehicle 110A.

Furthermore, the control unit 15A may acquire the moving speed information of the first vehicle 110A from a speed sensor (not shown) separately provided in the first vehicle 110A. The control unit 15A may acquire the moving direction information of the first vehicle 110A from a gyro sensor (not shown) provided separately in the first vehicle 110A.

The control unit 15A may read junction point information indicating the position of a predetermined point (intersection 30) from map information (for example, a dynamic map) stored by the control unit 15A.

The control unit 15A may calculate the time t1 required for the first vehicle 110A to reach a predetermined point (intersection 30) based on the movement information and merging point information of the first vehicle 110A. The control unit 15A also controls the movement of the second vehicle 110B based on the movement information of the second vehicle 110B included in the vehicle information acquired by the communication unit 11A (receiving unit 11Ac) from the second terminal 100B and the meeting point information. The time t2 required for the vehicle 110B to reach a predetermined point (intersection 30) may be calculated.

Based on the required time t1 and the required time t2, the control unit 15A may determine that there is a risk that the first vehicle 110A will collide with the second vehicle 110B at a predetermined point (intersection 30). In this case, the control unit 15A creates a notification indicating the result of the determination, and controls the output unit 13A to output the created notification. The control unit 15A also controls the communication unit 11A (transmission unit 11Ab) to create a danger notification that includes at least one of notification information or request information, and to broadcast the created danger notification. Details of the risk determination will be described later (see FIG. 6).

If the vehicle information received by the communication unit 11A (receiving unit 11Ac) from the second terminal 100B includes the identification information of the second terminal 100B, the control unit 15A creates the vehicle information according to the result of the risk determination. The danger notification may include identification information of the second terminal 100B.

As shown in FIG. 2, the second vehicle 110B includes a second electronic device 120B and an operation control section 14B. The second electronic device 120B includes a communication section 11B, a positioning signal reception section 12B, an output section 13B, and a control section 15B.

The communication unit 11B performs wireless communication via the antenna 11Ba. Antenna 11Ba may be located outside of second vehicle 110B. Alternatively, antenna 11Ba may be located inside second vehicle 110B. The antenna 11Ba may be an omnidirectional antenna. Alternatively, the antenna 11Ba may be a directional antenna having directivity. The antenna 11Ba may be an adaptive array antenna whose directivity can be dynamically changed. In one embodiment, the communication unit 11B performs inter-vehicle communication by broadcasting with another terminal 100 (first terminal 100A). Further, the communication unit 11B may perform road-to-vehicle communication with the roadside device 200 by broadcasting. The communication unit 11B may have a function of performing carrier sense to determine the availability of a radio wave frequency (for example, 700 MHz band). In this case, the communication unit 11B transmits the packet at a timing when the radio wave frequency is available. One piece of vehicle information may be composed of one or more packets. The packet includes identification information used to identify the transmission source, synchronization information indicating a synchronization method for the roadside device 200, transmission time of the packet, and/or period information indicating the period of road-to-vehicle communication (transfer count of road-to-vehicle communication, and/or (or period length of road-to-vehicle communication).

It is assumed that the wireless communication method of the communication unit 11B is a method compliant with ARIB (Association of Radio Industries and Businesses) STD-T109. However, the wireless communication method of the communication unit 11B may be a method based on the 3GPP V2X standard. Alternatively, the wireless communication method may be a method based on a wireless LAN standard such as the Institute of Electrical and Electronics Engineers (IEEE) 802.11 series. The communication unit 11B may be configured to be compatible with all of these communication standards.

The communication unit 11B includes a transmitting unit 11Bb that performs signal processing on the baseband signal output by the control unit 15B, converts it into a wireless signal, and transmits the wireless signal from the antenna 11Ba. Furthermore, the communication unit 11B includes a receiving unit 11Bc that converts a radio signal received by the antenna 11Ba into a baseband signal, performs signal processing, and outputs the signal after the signal processing to the control unit 15B.

If the communication unit 11B complies with the ARIB STD-T109 standard, the communication unit 11B may transmit vehicle information at a timing according to the carrier sense result. Furthermore, the communication unit 11B may periodically broadcast vehicle information.

The positioning signal receiving unit 12B performs positioning based on, for example, a GNSS satellite signal, and outputs position information indicating the current geographical position (latitude and longitude) of the second vehicle 110B to the control unit 15B. The positioning signal receiving unit 12B uses, for example, GPS (Global Positioning System), GLONASS (Global Navigation Satellite System), Galileo, BeiDou, NavIC (Nav GNSS of at least one of the Indian Constellation) and QZSS (Quasi-Zenith Satellite System) It consists of a receiver such as

In the embodiment, a case has been described in which the positioning signal receiving unit 12B includes a receiver such as a GNSS and receives a GNSS satellite signal directly from the GNSS satellite. However, embodiments are not limited thereto. The positioning signal receiving unit 12B may receive a GNSS satellite signal received by a GNSS receiver (not shown) separately mounted on the second vehicle 110B. Further, based on the GNSS satellite signal received by the GNSS receiver mounted on the second vehicle 110B, the positioning signal receiving unit 12B may receive the result of positioning performed by the GNSS receiver.

The output unit 13B outputs information to the driver of the second vehicle 110B under the control of the control unit 15B. For example, when the second electronic device 120B is a car navigation system, the output unit 13B includes at least one of a display that displays information and a speaker that outputs information as audio. Further, for example, when the second electronic device 120B is an ECU, the output unit 13B outputs information to at least one of a display and a speaker (not shown) that are separately provided in the second vehicle 110B.

The driving control unit 14B controls the engine or motor as a power source of the second vehicle 110B, a power transmission mechanism, a steering mechanism, a brake, etc. When the second vehicle 110B is a self-driving vehicle, the driving control unit 14B may cooperate with the control unit 15B to control the driving and steering of the second vehicle 110B.

The control unit 15B controls various functions in the second electronic device 120B (and the second vehicle 110B). For example, the control unit 15B controls the communication unit 11B. The control unit 15B includes at least one memory and at least one processor electrically connected to the memory. The memory includes volatile memory and nonvolatile memory, and stores information used for processing by the processor and programs executed by the processor. A processor performs various types of processing by executing programs stored in memory. The control unit 15B may store identification information of the second terminal 100B, map information (for example, dynamic map), etc. in the memory as information used for processing in the processor.

The control unit 15B may control the output unit 13B based on the danger notification that the communication unit 11B (receiving unit 11Bc) receives from the other terminal 100. Such a danger notification may include notification information indicating that there is a risk that the second vehicle 110B will collide with another vehicle 110 at a predetermined point (intersection 30), It may also include request information indicating that the driver is requested to perform predetermined control. Further, the danger notification may include identification information of the second terminal 100B. In this case, when the control unit 15B recognizes that the danger notification is addressed to the second terminal 100B based on the identification information included in the received danger notification, the control unit 15B transmits the notification information to the second vehicle. The output unit 13B is controlled to notify the driver of the vehicle 110B. When the second vehicle 110B is a self-driving vehicle, the control unit 15B cooperates with the driving control unit 14B to control the drive of the second vehicle 110B (for example, deceleration control or acceleration control) based on the notification information. It's okay.

The control unit 15B may control the output unit 13B based on the roadside machine information that the communication unit 11B (receiving unit 11Bc) receives from the roadside machine 200. Such roadside device information may include signal information regarding the color of the traffic light device. In this case, the control unit 15B controls the output unit 13B to notify the driver of the second vehicle 110B of the signal information. When the second vehicle 110B is an automatic driving vehicle, the control unit 15B cooperates with the driving control unit 14B to control the drive of the second vehicle 110B (for example, deceleration control or acceleration control) based on signal information. It's okay.

The control unit 15B creates vehicle information for the second vehicle 110B, and outputs the created vehicle information to the communication unit 11B (transmission unit 11Bb). The communication unit 11B (transmission unit 11Bb) broadcasts vehicle information at a timing determined according to the result of carrier sense. The control unit 15B may store the identification information of the second terminal 100B, and may include the identification information of the second terminal 100B in the vehicle information broadcast by the communication unit 11B (transmission unit 11Bb).

The control unit 15B acquires the position information of the second vehicle 110B output by the positioning signal reception unit 12B, and stores it in the memory together with the time at which the position information of the second vehicle 110B was acquired. The control unit 15B generates moving speed information of the second vehicle 110B based on a plurality of pieces of position information regarding the second vehicle 110B acquired at different times and stored in the memory and the time at which the position information was acquired. and calculates moving direction information of the second vehicle 110B. The moving speed information of the second vehicle 110B can be calculated based on the reception cycle of the position information of the second vehicle 110B and the amount of movement of the position of the second vehicle 110B. The moving direction information of the second vehicle 110B can be calculated based on a plurality of position information of the second vehicle 110B.

Furthermore, the control unit 15B may acquire the moving speed information of the second vehicle 110B from a speed sensor (not shown) separately provided in the second vehicle 110B. The control unit 15B may acquire the moving direction information of the second vehicle 110B from a gyro sensor (not shown) separately provided in the second vehicle 110B.

In the embodiment, a case has been described in which the vehicle 110 has the electronic device 120. However, embodiments are not limited thereto. The vehicle 110 may not include the electronic device 120; in that case, the vehicle 110 may include the communication section 11, the positioning signal receiving section 12, the output section 13, the driving control section 14, and the control section 15. may have.

Furthermore, in the embodiment, a case has been described in which the electronic device 120 includes the communication section 11, the positioning signal reception section 12, the output section 13, and the control section 15. However, embodiments are not limited thereto. For example, the electronic device 120 may include only the control unit 15, and the vehicle 110 may include the communication unit 11, the positioning signal receiving unit 12, the output unit 13, and the driving control unit 14.

Furthermore, in the embodiment, a case has been described in which the vehicle 110 and the electronic device 120 include the communication section 11, the positioning signal reception section 12, the output section 13, the driving control section 14, and the control section 15. However, embodiments are not limited thereto. The vehicle 110 and the electronic device 120 may not have the driving control unit 14; in that case, the control unit 15 of the vehicle 110 or the electronic device 120 controls the engine or motor as the power source of the vehicle 110, the power transmission Mechanisms, steering mechanisms, brakes, etc. may also be controlled.

<Roadside unit configuration>
Next, the configuration of the roadside machine 200 according to one embodiment will be described. FIG. 3 is a diagram showing the configuration of the roadside machine 200 according to one embodiment.

As shown in FIG. 3, the roadside device 200 includes a communication section 21, a control section 22, and an interface 23.

The communication unit 21 performs wireless communication via the antenna 21a. The antenna 21a may be located outside the roadside machine 200. Alternatively, the antenna 21a may be located inside the roadside machine 200. The antenna 21a may be an omnidirectional antenna. Alternatively, the antenna 21a may be a directional antenna. The antenna 21a may be an adaptive array antenna whose directivity can be dynamically changed. In one embodiment, the communication unit 21 performs broadcast-based road-to-vehicle communication with the vehicle 110 (electronic device 120).

Furthermore, it is assumed that the wireless communication method of the communication unit 21 is a method compliant with ARIB STD-T109. However, the wireless communication method of the communication unit 21 may be a method based on the 3GPP V2X standard. Alternatively, the wireless communication method may be a method based on a wireless LAN standard such as the IEEE802.11 series. The communication unit 21 may be configured to be compatible with all of these communication standards.

The communication unit 21 includes a transmitting unit 21b that performs signal processing on the baseband signal output by the control unit 22, converts it into a wireless signal, and transmits the wireless signal from the antenna 21a. Further, the communication unit 21 includes a receiving unit 21 c that converts a radio signal received by the antenna 21 a into a baseband signal, performs signal processing on the baseband signal, and outputs the signal after the signal processing to the control unit 22 .

The control unit 22 controls various functions in the roadside machine 200. For example, the control unit 22 controls the communication unit 21. The control unit 22 includes at least one memory and at least one processor electrically connected to the memory. The memory includes volatile memory and nonvolatile memory, and stores information used for processing in the processor and programs executed by the processor. A processor performs various types of processing by executing programs stored in memory.

The control unit 22 creates roadside machine information and outputs the roadside machine information to the communication unit 21 (transmission unit 21b). The communication unit 21 (transmission unit 21b) broadcasts roadside device information during the road-to-vehicle communication period assigned to the roadside device 200.

Furthermore, the control unit 22 may receive vehicle information of the vehicle 110 from the terminal 100 through the communication unit 21 (receiving unit 21c). Furthermore, the control unit 22 may broadcast the received vehicle information to other terminals 100.

The interface 23 may be connected to the server device via a wired line and/or a wireless line. The interface 23 may be connected to the roadside sensor 500 via a wired line and/or a wireless line. The roadside sensor 500 may be incorporated into the roadside machine 200. The roadside sensor 500 includes an image sensor (camera) that outputs image data, a LiDAR (Light Detection and Ranging) sensor that detects a moving object and outputs detection data (point cloud data), a millimeter wave sensor, an ultrasonic sensor, and It may be at least one of the infrared sensors.

<Operation of traffic communication system>
Next, the operation of the traffic communication system 1 according to one embodiment will be explained.

FIG. 4 is a diagram for explaining the operation of the traffic communication system 1 according to one embodiment.

As shown in FIG. 4, the first terminal 100A and the second terminal 100B communicate. The first terminal 100A is a first vehicle 110A or a first electronic device 120A mounted on the first vehicle 110A, and the second terminal 100B is a second vehicle 110B or a first electronic device 120A mounted on the second vehicle 110B. This is a second electronic device 120B to be mounted. The first terminal 100A and the second terminal 100B may communicate directly through vehicle-to-vehicle communication. Alternatively, the first terminal 100A and the second terminal 100B may communicate via the roadside device 200. Here, a case will be exemplified in which the first terminal 100A directly communicates with the second terminal 100B through vehicle-to-vehicle communication. It is assumed that the first vehicle 110A travels on the road 10 toward the intersection 30, and the second vehicle 110B travels on the road 20 toward the intersection 30. The intersection 30 is a point where the road 10 and the road 20 intersect and merge.

The roadside machine 200 may be provided on the roadside of the intersection 30. The roadside machine 200 may be connected to the roadside sensor 500. The roadside sensor 500 may create sensor data regarding the first vehicle 110A traveling on the road 10 and output the created data to the roadside machine 200. Furthermore, the roadside sensor 500 may create sensor data regarding the second vehicle 110B traveling on the road 20 and output the created data to the roadside device 200.

In such an operating environment, the first terminal 100A acquires vehicle information of the second vehicle 110B including movement information of the second vehicle 110B from the second terminal 100B. The first terminal 100A determines that there is a risk that the first vehicle 110A will collide with the second vehicle 110B at the intersection 30, based on the movement information of the first vehicle 110A and the movement information of the second vehicle 110B. When it is determined that this is the case, a notification indicating the determination result is output. Thereby, the driver of the first vehicle 110A can be urged to avoid danger. Further, the first terminal 100A creates a danger notification that includes at least one of notification information and request information, and broadcasts the created danger notification to the second terminal 100B. Thereby, the second terminal 100B that has received the danger notification can urge the driver of the second vehicle 110B to avoid the danger by outputting the information included in the danger notification.

In one embodiment, the first terminal 100A obtains second movement information and identification information of the second terminal 100B from the second terminal 100B. When the first terminal 100A determines that there is a risk that the first vehicle 110A will collide with the second vehicle 110B at the intersection 30, the first terminal 100A creates a danger notice including the identification information of the second terminal 100B, and The data is transmitted to the second terminal 100B. That is, the first terminal 100A may include the identification information of the second terminal 100B included in the vehicle information of the second vehicle 110B received from the second terminal 100B in the danger notification and broadcast it. In this case, the second terminal 100B that has received the danger notification determines whether the danger notification is addressed to the second terminal 100B based on the identification information included in the danger notification, and sends the danger notification to the second terminal 100B. 100B, the output is sent to the driver of the second vehicle 110B. On the other hand, when the danger notification is not addressed to the second terminal 100B, the second terminal 100B does not output to the driver of the second vehicle 110B. Thereby, the second terminal 100B can notify only the information that should be notified to the driver of the second vehicle 110B.

In one embodiment, the first terminal 100A receives movement information of the second vehicle 110B via the roadside device 200, and based on the movement information of the first vehicle 110A and the movement information of the second vehicle 110B. When it is determined that there is a risk of the first vehicle 110A colliding with the second vehicle 110B at the intersection 30, a danger notification is created and broadcast to the second terminal 100B via the roadside device 200. do. That is, the first terminal 100A and the second terminal 100B perform only road-to-vehicle communication with the roadside device 200, and there is no need to perform vehicle-to-vehicle communication between the first terminal 100A and the second terminal 100B. good. Thereby, even when the visibility between the first terminal 100A and the second terminal 100B is poor and vehicle-to-vehicle communication is not possible, communication can be performed between the first terminal 100A and the second terminal 100B.

<An example of a sequence executed by the control unit of the first terminal and related to notification to the second terminal according to the result of risk determination>
Next, an example of a sequence executed by the control unit 15A of the first terminal 100A according to an embodiment and related to notification to the second terminal 100B according to the result of the risk determination will be described. FIG. 5 is a diagram illustrating an example of a sequence executed by the control unit 15A of the first terminal 100A according to an embodiment and related to notification to the second terminal 100B according to the result of the risk determination. This sequence is started when the receiving unit 11Ac of the first terminal 100A receives the vehicle information of the second vehicle 110B from the second terminal 100B. The receiving unit 11Ac may directly receive the movement information of the second vehicle 110B transmitted from the second terminal 100B from the second terminal 100B through vehicle-to-vehicle communication. Alternatively, the receiving unit 11Ac may receive the movement information via the roadside machine 200.

As shown in FIG. 5, in step S101, the control unit 15A acquires movement information of the second vehicle 110B included in the vehicle information of the second vehicle 110B from the receiving unit 11Ac.

In step S102, the control unit 15A acquires movement information of the first vehicle 110A from the positioning signal receiving unit 12A.

In step S103, the control unit 15A, based on the map information stored in the memory, the movement information of the second vehicle 110B acquired in step S101, and the movement information of the first vehicle 110A acquired in step S102, The merging point information indicating the position of the intersection 30 is acquired.

In step S104, the control unit 15A determines whether there is a risk that the first vehicle 110A will collide with the second vehicle 110B at the intersection 30. An example of a sequence related to the determination of the risk will be described later (see FIG. 6). If "YES" in step S104, the process advances to step S105. On the other hand, if "NO" in step S104, the control unit 15A ends the notification process to the second terminal 100B according to the result of the risk determination.

In step S105, the control unit 15A creates a danger notification indicating that it has been determined that there is a risk of the first vehicle 110A colliding with the second vehicle 110B at the intersection 30, and the transmission unit 11Ab sends the second Send to terminal 100B. The transmitter 11Ab may directly transmit the notification to the second terminal 100B through vehicle-to-vehicle communication. Alternatively, the transmitter 11Ab may transmit the notification via the roadside device 200. The danger notification may include identification information of the second vehicle 110B included in the vehicle information of the second vehicle 110B acquired by the control unit 15A in step S101.

In step S106, the control unit 15A creates a notification indicating that there is a risk that the first vehicle 110A will collide with the second vehicle 110B at the intersection 30, and the output unit 13A outputs a notification indicating that the first vehicle 110A is at risk of colliding with the second vehicle 110B. Output to the person. The notification may include, for example, a statement that there is a risk of collision, such as "There is a risk of collision." It may also include a message to the effect that this is the case and a message to urge the driver to slow down. Further, the notification may include only a message urging the driver to slow down, such as "Please slow down." When the control unit 15A outputs the notification through the output unit 13A, the control unit 15A ends the processing related to the notification to the second terminal 100B according to the result of the risk determination.

When the first terminal 100A repeatedly receives vehicle information about the second vehicle 110B from the second terminal 100B, the first terminal 100A determines that either the first vehicle 110A or the second vehicle 110B has passed through the intersection 30. Until. The processing in the sequence of FIG. 5 may be repeated. The first terminal 100A may determine that the first vehicle 110A has passed through the intersection 30 based on the merging point information and the position information and movement direction information included in the movement information of the first vehicle 110A. . Further, the first terminal 100A determines that the second vehicle 110B has passed through the intersection 30 based on the merging point information and the position information and movement direction information included in the movement information of the second vehicle 110B. Good too.

<An example of a sequence executed by the control unit of the first terminal to determine the risk of the first vehicle colliding with the second vehicle at a predetermined point>
Next, an example of a sequence related to determining the risk of the first vehicle 110A colliding with the second vehicle 110B at a predetermined point, which is executed by the control unit 15A of the first terminal 100A according to one embodiment, will be described. do. FIG. 6 relates to the determination of the risk that the first vehicle 110A will collide with the second vehicle 110B at a predetermined point (intersection 30), which is executed by the control unit 15A of the first terminal 100A according to an embodiment. FIG. 3 is a diagram showing an example of a sequence. This sequence is started during a process in which the first terminal 100A notifies the second terminal 100B according to the result of the risk determination.

As shown in FIG. 6, in step S201, the control unit 15A determines whether the first vehicle 110A is at the intersection 3 Calculate the time t1 required to reach . Specifically, the distance d1 between the first vehicle 110A and the intersection 30 is calculated based on the position information and merging point information of the first vehicle 110A included in the movement information of the first vehicle 110A. Subsequently, the time t1 required for the first vehicle 110A to reach the intersection 30 is calculated based on the distance d1 and the moving speed information of the first vehicle 110A.

In step S202, the control unit 15A determines the time required for the second vehicle 110B to reach the intersection 30 based on the merging point information acquired in step S103 and the movement information of the second vehicle 110B acquired in step S102. Calculate t2. Specifically, the distance d2 between the second vehicle 110B and the intersection 30 is calculated based on the position information and merging point information of the second vehicle 110B included in the movement information of the second vehicle 110B. Subsequently, the time t2 required for the second vehicle 110B to reach the intersection 30 is calculated based on the distance d2 and the moving speed information of the second vehicle 110B.

In step S203, the control unit 15A determines whether the difference between t1 calculated in step S201 and t2 calculated in step S202 is less than or equal to a threshold value. If "YES" in step S203, the process advances to step S204.

In step S204, the control unit 15A determines that there is a risk that the first vehicle 110A will collide with the second vehicle 110B at the intersection 30, and that there is a risk that the first vehicle 110A will collide with the second vehicle 110B. The determination process ends.

On the other hand, if "NO" in step S203, the process advances to step S205. In step S205, the control unit 15A determines that there is no risk of the first vehicle 110A colliding with the second vehicle 110B at the intersection 30, and that there is no risk of the first vehicle 110A colliding with the second vehicle 110B. The determination process ends.

As described above, in one embodiment, the first terminal 100A calculates the time t1 required for the first vehicle 110A to reach the intersection 30 based on the movement information of the first vehicle 110A, and Based on the movement information of the second vehicle 110B, the time t2 required for the second vehicle 110B to reach the intersection 30 is calculated. The first terminal 100A determines that there is a risk that the first vehicle 110A will collide with the second vehicle 110B at the intersection 30 based on the required time t1 and the required time t2. Thereby, the first terminal 100A can accurately determine the risk. Note that the movement information of the first vehicle 110A includes position information of the first vehicle 110A, movement speed information of the first vehicle 110A, and movement direction information of the first vehicle 110A. The movement information of vehicle 110B includes position information of second vehicle 110B, movement speed information of second vehicle 110B, and movement direction information of second vehicle 110B.

<Example of change in operation of transportation communication system>
Next, an example of a change in the operation of the traffic communication system 1 will be described. In the embodiment described above, when the first terminal 100A determines that there is a risk that the first vehicle 110A will collide with the second vehicle 110B at the intersection 30, it outputs a notification indicating the result of the determination, and , an example of broadcasting a danger notification to the second terminal 100B has been described. In contrast, in this modified example, an example will be described in which the first terminal 100A outputs a notification and broadcasts a danger notification, and then subsequently performs a predetermined process.

Specifically, the first terminal 100A according to this modification example outputs the notification and broadcasts the danger notification, and then acquires the movement information of the first vehicle 110A again. Moreover, the first terminal 100A again receives vehicle information of the second vehicle 110B from the second terminal 100B. Thereafter, the first terminal 100A determines whether the first vehicle 110A is moving based on the movement information of the first vehicle 110A and the movement information of the second vehicle 110B included in the received vehicle information of the second vehicle 110B. It is determined that there is no risk of collision with the second vehicle 110B at the intersection 30. In this case, the first terminal 100A creates a notification indicating that there is no risk of collision between the first vehicle 110A and the second vehicle 110B, and outputs the created notification. Thereby, it is possible to notify the driver of the first vehicle 110A that the danger has been avoided. Further, the first terminal 100A creates a danger avoidance notification indicating that there is no risk of collision, and broadcasts the created danger avoidance notification to the second terminal 100B. Thereby, the second terminal 100B that has received the danger avoidance notification notifies the driver of the second vehicle 110B that the danger has been avoided by outputting the information included in the danger avoidance notification. can do.

Furthermore, after outputting the notification and broadcasting the danger notification, the first terminal 100A determines whether the first vehicle 110A is moving based on the position information and movement direction information included in the reacquired movement information of the first vehicle 110A. When it is detected that the first vehicle 110A has passed the intersection 30, it may be determined that there is no risk of the first vehicle 110A colliding with the second vehicle 110B at the intersection 30. In addition, the first terminal 100A, based on the position information and movement direction information of the movement information of the second vehicle 110B included in the vehicle information of the second vehicle 110B acquired again from the second terminal 100B, When it is detected that the second vehicle 110B has passed the intersection 30, it may be determined that there is no risk of the first vehicle 110A colliding with the second vehicle 110B at the intersection 30. Thereby, it can be appropriately determined that the risk of the first vehicle 110A colliding with the second vehicle 110B at the intersection 30 has disappeared.

<Another example of the sequence executed by the control unit of the first terminal and related to notification to the second terminal according to the result of risk determination>
Next, an example of a sequence executed by the control unit 15A of the first terminal 100A according to another embodiment and related to notification to the second terminal 100B according to the result of the risk determination will be described. FIG. 7 is a diagram illustrating an example of a sequence executed by the control unit 15A of the first terminal 100A according to another embodiment and related to notification to the second terminal 100B according to the result of the risk determination. This sequence is started when the receiving unit 11Ac of the first terminal 100A receives the movement information of the second vehicle 110B from the second terminal 100B.

The processing from step S101 to step S106 is the same as the processing in the sequence of FIG. 5, so the explanation will be omitted.

In step S301, the control unit 15A acquires, from the receiving unit 11Ac, the movement information of the second vehicle 110B included in the vehicle information of the second vehicle 110B newly received by the receiving unit 11Ac.

In step S302, the control unit 15A newly acquires movement information of the first vehicle 110A from the positioning signal receiving unit 12A.

In step S303, the control unit 15A determines whether there is a risk that the first vehicle 110A will collide with the second vehicle 110B at the intersection 30. If "NO" in step S303, the process advances to step S304. On the other hand, if "YES" in step S303, the control unit 15A ends the notification process to the second terminal 100B according to the result of the risk determination.

In step S304, the control unit 15A creates a risk avoidance notification indicating that there is no longer a risk of the first vehicle 110A colliding with the second vehicle 110B at the intersection 30, and sends the notification to the second terminal using the transmission unit 11Ab. Broadcast to 100B.

In step S305, the control unit 15A creates a notification indicating that there is no longer a risk of the first vehicle 110A colliding with the second vehicle 110B at the intersection 30, and the output unit 13A outputs a notification that the first vehicle 110A collides with the second vehicle 110B at the intersection 30. Output to the driver. After outputting the notification, the control unit 15A ends the process related to notification to the second terminal 100B according to the result of the risk determination.

<Other embodiments>
In the embodiment described above, when broadcasting a notification such as a danger notification or a danger avoidance notification from the first terminal 100A to the second terminal 100B, it is indicated that the notification is addressed to the second terminal 100B. Although an example has been described in which the notification includes the identification information of the second terminal 100B, the notification does not necessarily need to include the identification information of the second terminal 100B. For example, the antenna 11Aa of the first terminal 100A may be an adaptive array antenna whose directivity can be dynamically changed, and the first terminal 100A may be connected to the second vehicle 110B acquired from the second terminal 100B. Based on the movement information of You can also send it.

A program may be provided that causes the control unit 15 of the terminal 100 to execute each of the above-described processes. The program may be recorded on a computer readable medium. Computer-readable media allow programs to be installed on a computer. Here, the computer-readable medium on which the program is recorded may be a non-transitory recording medium. The non-transitory recording medium may be a recording medium such as a CD-ROM or a DVD-ROM.

As used in this disclosure, the terms "based on" and "depending on" refer to "based solely on" and "depending solely on," unless expressly stated otherwise. ” does not mean. Reference to "based on" means both "based solely on" and "based at least in part on." Similarly, the phrase "in accordance with" means both "in accordance with" and "in accordance with, at least in part." Furthermore, "obtain/acquire" may mean obtaining information from among stored information, or may mean obtaining information from among information received from other nodes. Alternatively, it may mean obtaining the information by generating the information. The terms "include", "comprise", and variations thereof do not mean to include only the listed items, but may include only the listed items or in addition to the listed items. This means that it may contain further items. Also, as used in this disclosure, the term "or" is not intended to be exclusive OR. Furthermore, any reference to elements using the designations "first," "second," etc. used in this disclosure does not generally limit the amount or order of those elements. These designations may be used herein as a convenient way of distinguishing between two or more elements. Thus, reference to a first and second element does not imply that only two elements may be employed therein or that the first element must precede the second element in any way. In this disclosure, when articles are added by translation, for example, a, an, and the in English, these articles are used in the plural unless the context clearly indicates otherwise. shall include things.

Although the embodiments have been described above in detail with reference to the drawings, the specific configuration is not limited to the above, and various design changes can be made without departing from the scope of the invention.

This application claims priority to Japanese Patent Application No. 2022-039302 (filed on March 14, 2022), the entire content of which is incorporated into the specification of the present application.

(Additional note)
Additional notes will be made regarding the features of the above-described embodiments.

(1)
a first terminal that is either a first vehicle or a first electronic device installed in the first vehicle;
a second terminal that is either a second vehicle or a second electronic device mounted on the second vehicle;
has
The first terminal is
Based on first movement information representing information related to movement of the first vehicle and second movement information representing information related to movement of the second vehicle, the first vehicle When the first determination is made indicating that there is a risk of collision with a second vehicle,
outputting a first notification based on the result of the first determination by the first vehicle;
A traffic communication system that transmits a result of the first determination to the second terminal.

(2)
The first terminal is
acquiring the second movement information and identification information of the second terminal from the second terminal;
The traffic communication system according to (1) above, wherein the first determination result and the identification information are transmitted to the second terminal.

(3)
The first terminal is
acquiring the second movement information from the roadside machine;
The traffic communication system according to (1) or (2) above, wherein the result of the first determination is transmitted to the second terminal via the roadside device.

(4)
The first movement information includes first position information representing the position of the first vehicle, first movement speed information representing the movement speed of the first vehicle, and movement direction of the first vehicle. and first movement direction information representing
The second movement information includes second position information representing the position of the second vehicle, second movement speed information representing the movement speed of the second vehicle, and movement direction of the second vehicle. and second movement direction information representing
The first terminal is
Based on the first movement information and the second movement information, the first vehicle determines a first time representing the time required to reach the predetermined point, and the second vehicle determines the time required to reach the predetermined point. Calculating a second required time representing the time required to reach a predetermined point,
The traffic communication system according to any one of (1) to (3) above, wherein the first determination is made based on the first required time and the second required time.

(5)
The first terminal is
After transmitting the result of the first determination to the second terminal, third movement information representing information related to movement of the first vehicle, which is different from the first movement information, and the second obtaining fourth movement information representing information related to movement of the second vehicle, which is different from the movement information of
a second vehicle indicating that there is no risk of the first vehicle colliding with the second vehicle at the predetermined point based on at least one of the third movement information and the fourth movement information; When the judgment is made,
outputting a second notification based on the result of the second determination by the first vehicle;
The traffic communication system according to any one of (1) to (4) above, wherein a result of the second determination is transmitted to the second terminal.

(6)
The third movement information includes third position information representing the position of the first vehicle and third movement direction information representing the movement direction of the first vehicle,
The fourth movement information includes fourth position information representing the position of the second vehicle and fourth movement direction information representing the movement direction of the second vehicle,
The first terminal is
When it is detected that the first vehicle has passed the predetermined point based on the third position information and the third movement direction information, or when the fourth position information and the fourth movement direction information are detected. When it is detected that the second vehicle has passed the predetermined point based on movement direction information, there is no risk that the first vehicle will collide with the second vehicle at the predetermined point. Make a second judgment indicating that
outputting a second notification indicating the result of the second determination by the first vehicle;
The traffic communication system according to (5) above, wherein the result of the second determination is transmitted to the second terminal.

(7)
The third movement information includes third position information representing the position of the first vehicle, third movement speed information representing the movement speed of the first vehicle, and movement direction of the first vehicle. and third movement direction information representing
The fourth movement information includes fourth position information representing the position of the second vehicle, fourth movement speed information representing the movement speed of the second vehicle, and movement direction of the second vehicle. and fourth movement direction information representing
The first terminal is
Based on the third movement information and the fourth movement information, a third required time representing the time required for the first vehicle to reach the predetermined point and a time required for the second vehicle to reach the predetermined point are determined. Calculating a fourth required time representing the time required to reach a predetermined point,
The traffic communication system according to (5) above, wherein the second determination is made based on the third required time and the fourth required time.

(8)
A first terminal that is either a first vehicle or a first electronic device mounted on the first vehicle,
Comprising a positioning signal receiving section, a communication section, an output section, and a control section,
The control unit includes:
acquiring first position information representing the position of the first vehicle by the positioning signal receiving unit;
Calculating first movement information representing information related to movement of the first vehicle based on the plurality of first position information,
The second movement information representing information related to the movement of the second vehicle is transmitted from a second terminal, which is either a second vehicle or a second electronic device mounted on the second vehicle, to the Obtained by the Communications Department,
When a first determination is made based on the first movement information and the second movement information indicating that there is a risk of the first vehicle colliding with the second vehicle at a predetermined point;
causing the output unit to output a notification based on the result of the first determination to the driver of the first vehicle;
A first terminal that causes the communication unit to transmit a result of the first determination to the second terminal.

(9)
The control unit acquires the second movement information and the identification information of the second terminal from the second terminal by the communication unit,
The first terminal according to (8) above, wherein the communication unit transmits the first determination result and the identification information to the second terminal.

(10)
The first movement information includes the first position information, first movement speed information representing the movement speed of the first vehicle, and first movement direction information representing the movement direction of the first vehicle. and,
The second movement information includes second position information representing the position of the second vehicle, second movement speed information representing the movement speed of the second vehicle, and movement direction of the second vehicle. and second movement direction information representing
The control unit includes:
Based on the first movement information and the second movement information, a first required time representing the time required for the first vehicle to reach the predetermined point and a time required for the second vehicle to reach the predetermined point are determined. Calculate the second required time representing the time required to reach the point,
The first terminal according to (8) or (9) above, wherein the first determination is made based on the first required time and the second required time.

(11)
The first terminal according to (10), wherein the control unit makes the first determination when the difference between the first required time and the second required time is less than or equal to a threshold value.

(12)
The communication department includes:
acquiring the second movement information from the roadside machine;
The first terminal according to any one of (8) to (11) above, wherein the first determination result is transmitted to the second terminal via the roadside device.

(13)
a first terminal that is either a first vehicle or a first electronic device installed in the first vehicle;
a process of acquiring first movement information representing information related to movement of the first vehicle;
Obtaining second movement information representing information related to movement of the second vehicle from a second terminal that is either a second vehicle or a second electronic device installed in the second vehicle. processing and
When a first determination is made based on the first movement information and the second movement information indicating that there is a risk of the first vehicle colliding with the second vehicle at a predetermined point;
A process of outputting a first notification based on the result of the first determination by the first vehicle;
a process of transmitting the result of the first determination to the second terminal;
A program to run.

(14)
A communication method executed by a first terminal that is either a first vehicle or a first electronic device installed in the first vehicle,
First movement information representing information related to movement of the first terminal and received from a second terminal that is either a second vehicle or a second electronic device mounted on the second vehicle. a first vehicle indicating that there is a risk that the first vehicle will collide with the second vehicle at a predetermined point based on second movement information representing information related to the movement of the second vehicle When the judgment is made,
outputting a first notification based on the result of the first determination by the first vehicle;
transmitting the result of the first determination to the second terminal;
Communication method.

10, 20: Road 100A: First terminal 100B: Second terminal 110A: First vehicle 110B: Second vehicle 120A: First electronic device 11A: Communication section 11Aa: Antenna 11Ab: Transmission section 11Ac: Reception Section 12A: Positioning signal receiving section 13A: Output section 14A: Operation control section 15A: Control section 120B: Second electronic device 11B: Communication section 11Ba: Antenna 11Bb: Transmitting section 11Bc: Receiving section 12B: Positioning signal receiving section 13B: Output section 14B: Operation control section 15B: Control section 200: Roadside machine 21: Communication section 21a: Antenna 21b: Transmission section 21c: Receiving section 22: Control section 23: Interface 30: Intersection 500: Roadside sensor

Claims

a first terminal that is either a first vehicle or a first electronic device installed in the first vehicle;
a second terminal that is either a second vehicle or a second electronic device mounted on the second vehicle;
has
The first terminal is
Based on first movement information representing information related to movement of the first vehicle and second movement information representing information related to movement of the second vehicle, the first vehicle When the first determination is made indicating that there is a risk of collision with a second vehicle,
outputting a first notification based on the result of the first determination by the first vehicle;
A traffic communication system that transmits a result of the first determination to the second terminal.
The first terminal is
acquiring the second movement information and identification information of the second terminal from the second terminal;
The traffic communication system according to claim 1, wherein the first determination result and the identification information are transmitted to the second terminal.
The first terminal is
acquiring the second movement information from the roadside machine;
The traffic communication system according to claim 1, wherein the result of the first determination is transmitted to the second terminal via the roadside device.
The first movement information includes first position information representing the position of the first vehicle, first movement speed information representing the movement speed of the first vehicle, and movement direction of the first vehicle. and first movement direction information representing
The second movement information includes second position information representing the position of the second vehicle, second movement speed information representing the movement speed of the second vehicle, and movement direction of the second vehicle. and second movement direction information representing
The first terminal is
Based on the first movement information and the second movement information, the first vehicle determines a first time representing the time required to reach the predetermined point, and the second vehicle determines the time required to reach the predetermined point. Calculating a second required time representing the time required to reach a predetermined point,
The traffic communication system according to any one of claims 1 to 3, wherein the first determination is made based on the first required time and the second required time.
The first terminal is
After transmitting the result of the first determination to the second terminal, third movement information representing information related to movement of the first vehicle, which is different from the first movement information, and the second obtaining fourth movement information representing information related to movement of the second vehicle, which is different from the movement information of
a second vehicle indicating that there is no risk of the first vehicle colliding with the second vehicle at the predetermined point based on at least one of the third movement information and the fourth movement information; When the judgment is made,
outputting a second notification based on the result of the second determination by the first vehicle;
The traffic communication system according to any one of claims 1 to 3, wherein a result of the second determination is transmitted to the second terminal.
The third movement information includes third position information representing the position of the first vehicle and third movement direction information representing the movement direction of the first vehicle,
The fourth movement information includes fourth position information representing the position of the second vehicle and fourth movement direction information representing the movement direction of the second vehicle,
The first terminal is
When it is detected that the first vehicle has passed the predetermined point based on the third position information and the third movement direction information, or when the fourth position information and the fourth movement direction information are detected. When it is detected that the second vehicle has passed the predetermined point based on movement direction information, there is no risk that the first vehicle will collide with the second vehicle at the predetermined point. Make a second judgment indicating that
outputting a second notification indicating the result of the second determination by the first vehicle;
The traffic communication system according to claim 5, wherein the result of the second determination is transmitted to the second terminal.
The third movement information includes third position information representing the position of the first vehicle, third movement speed information representing the movement speed of the first vehicle, and movement direction of the first vehicle. and third movement direction information representing
The fourth movement information includes fourth position information representing the position of the second vehicle, fourth movement speed information representing the movement speed of the second vehicle, and movement direction of the second vehicle. and fourth movement direction information representing
The first terminal is
Based on the third movement information and the fourth movement information, a third required time representing the time required for the first vehicle to reach the predetermined point and a time required for the second vehicle to reach the predetermined point are determined. Calculating a fourth required time representing the time required to reach a predetermined point,
The traffic communication system according to claim 5, wherein the second determination is made based on the third required time and the fourth required time.
A first terminal that is either a first vehicle or a first electronic device mounted on the first vehicle,
Comprising a positioning signal receiving section, a communication section, an output section, and a control section,
The control unit includes:
acquiring first position information representing the position of the first vehicle by the positioning signal receiving unit;
Calculating first movement information representing information related to movement of the first vehicle based on the plurality of first position information,
The second movement information representing information related to the movement of the second vehicle is transmitted from a second terminal, which is either a second vehicle or a second electronic device mounted on the second vehicle, to the Obtained by the Communications Department,
When a first determination is made based on the first movement information and the second movement information indicating that there is a risk of the first vehicle colliding with the second vehicle at a predetermined point;
causing the output unit to output a notification based on the result of the first determination to the driver of the first vehicle;
A first terminal that causes the communication unit to transmit a result of the first determination to the second terminal.
The control unit acquires the second movement information and the identification information of the second terminal from the second terminal by the communication unit,
The first terminal according to claim 8, wherein the communication unit transmits the first determination result and the identification information to the second terminal.
The first movement information includes the first position information, first movement speed information representing the movement speed of the first vehicle, and first movement direction information representing the movement direction of the first vehicle. and,
The second movement information includes second position information representing the position of the second vehicle, second movement speed information representing the movement speed of the second vehicle, and movement direction of the second vehicle. and second movement direction information representing
The control unit includes:
Based on the first movement information and the second movement information, a first required time representing the time required for the first vehicle to reach the predetermined point and a time required for the second vehicle to reach the predetermined point are determined. Calculate the second required time representing the time required to reach the point,
The first terminal according to claim 8, wherein the first determination is made based on the first required time and the second required time.
The first terminal according to claim 10, wherein the control unit makes the first determination when a difference between the first required time and the second required time is less than or equal to a threshold.
The communication department includes:
acquiring the second movement information from the roadside machine;
The first terminal according to any one of claims 8 to 11, wherein the first determination result is transmitted to the second terminal via the roadside device.
a first terminal that is either a first vehicle or a first electronic device installed in the first vehicle;
a process of acquiring first movement information representing information related to movement of the first vehicle;
Obtaining second movement information representing information related to movement of the second vehicle from a second terminal that is either a second vehicle or a second electronic device installed in the second vehicle. processing and
When a first determination is made based on the first movement information and the second movement information indicating that there is a risk of the first vehicle colliding with the second vehicle at a predetermined point;
A process of outputting a first notification based on the result of the first determination by the first vehicle;
a process of transmitting the result of the first determination to the second terminal;
A program to run.
A communication method executed by a first terminal that is either a first vehicle or a first electronic device installed in the first vehicle,
First movement information representing information related to movement of the first terminal and received from a second terminal that is either a second vehicle or a second electronic device mounted on the second vehicle. a first vehicle indicating that there is a risk that the first vehicle will collide with the second vehicle at a predetermined point based on second movement information representing information related to the movement of the second vehicle When the judgment is made,
outputting a first notification based on the result of the first determination by the first vehicle;
transmitting the result of the first determination to the second terminal;
Communication method.